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

Abstract

The invention provides a vehicle braking method, a vehicle braking device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method is applied to a braking system in a vehicle, the braking system comprises a main power source and a slave power source, and a power source in the vehicle is connected with the main power source and the slave power source. The method includes: detecting whether a power supply normally supplies power to a brake system; if it is detected that the power supply supplies power to the braking system abnormally, first current electric quantity of the main power supply is obtained; if the braking request of the vehicle is detected, determining a target power supply for supplying power to the braking system in the main power supply and the slave power supply based on the first current electric quantity; and controlling the target power supply to supply the braking electric quantity corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake. Based on the scheme, when the power supply in the vehicle cannot supply power to the braking system, the braking safety of the vehicle can be ensured.

Description

Technical Field

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

[0002] The braking system in a vehicle can provide braking force for the vehicle, slowing down or stopping the vehicle to ensure the driving safety of the vehicle.

[0003] Since the operation of the braking system depends on the power supply in the vehicle, when the power supply in the vehicle cannot supply power to the braking system, the braking system may not operate normally, thereby making the vehicle unable to brake.

[0004] Therefore, when the power source in the vehicle cannot supply power to the braking system, how to ensure the safety of vehicle braking is an issue that urgently needs to be addressed. Summary of the invention

[0005] The present application provides a vehicle braking method, a vehicle braking device, a vehicle and a storage medium. The method can ensure the safety of vehicle braking when a power source in the vehicle cannot supply power to the braking system.

[0006] In a first aspect, the present application provides a vehicle braking method, which is applied to a braking system in a vehicle, wherein the braking system includes a main power supply and a slave power supply, and a power supply in the vehicle is connected to the main power supply and the slave power supply respectively; the method includes: Detect whether the power supply to the brake system is normal; if it is detected that the power supply to the brake system is abnormal, obtain the first current power of the main power supply; if a braking request of the vehicle is detected, determine the target power supply to the brake system from the main power supply and the slave power supply based on the first current power; control the target power supply to supply the brake system with the braking power corresponding to the braking request, so that the brake system controls the vehicle to brake.

[0007] In the embodiment of the present application, when it is detected that the power supply in the vehicle supplies power to the brake system abnormally, it means that the power supply cannot output power to the brake system, which causes the brake system to be unable to control the vehicle to brake normally. Therefore, in order to enable the brake system to control the vehicle to brake, the current power of the main power supply (i.e., the first current power) can be obtained, and when it is detected that the vehicle has a braking request, the power supply (i.e., the target power supply) that can supply power to the brake system is determined from the main power supply and the slave power supply through the first current power, and then the brake system is supplied with power through the power supply, so that the brake system can normally control the vehicle to brake, so that when the power supply in the vehicle cannot supply power to the brake system, the brake system can have power supply to control the vehicle to brake normally, thereby ensuring the safety of vehicle braking.

[0008] In combination with the first aspect, in certain implementations of the first aspect, determining a target power source for supplying power to the braking system from a main power source and a slave power source based on the first current power includes: Determine whether the first current power is greater than or equal to the braking power; if the first current power is greater than or equal to the braking power, determine the main power supply as the target power supply; if the first current power is less than the braking power, determine the main power supply and the slave power supply, or the slave power supply as the target power supply.

[0009] In the embodiment of the present application, when the current power of the main power supply is ≥ the braking power corresponding to the braking request, it means that the first current power of the main power supply can meet the required power of the vehicle braking. Therefore, the main power supply can be determined as the above-mentioned target power supply, and the main power supply outputs the required power of the vehicle braking to the braking system, thereby further ensuring the safety of the vehicle braking. When the first current power of the main power supply is < the braking power corresponding to the braking request, it means that the first current power of the main power supply cannot meet the required power of the vehicle braking. The main power supply and the slave power supply, or the slave power supply can be determined as the target power supply, thereby ensuring that the required power of the vehicle braking can be output to the braking system, thereby further ensuring the safety of the vehicle braking.

[0010] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the above determining the master power supply and the slave power supply, or the slave power supply as the target power supply includes: If the first current power is greater than or equal to the first preset power and less than the braking power, the main power supply and the slave power supply are determined as target power supplies; if the first current power is less than the first preset power, the slave power supply is determined as the target power supply.

[0011] In the embodiment of the present application, when the first preset power ≤ the first current power of the main power supply < the braking power corresponding to the braking request, it means that a small amount of power is still stored in the main power supply, but the small amount of power can no longer meet the required power of the vehicle braking. Therefore, the main power supply and the slave power supply can be determined as the above-mentioned target power supplies, so that the power can be supplemented by the slave power supply, thereby ensuring that the braking system can output power that can meet the required power of the vehicle braking, and further ensuring the safety of the vehicle braking.

[0012] Furthermore, when the first current power level of the main power supply is less than the first preset power level, it indicates that the power in the main power supply is about to be consumed. In order to avoid the power in the main power supply being completely consumed and thus reducing the service life of the main power supply, the main power supply can be controlled to no longer output power, and only power is output from the slave power supply, that is, the slave power supply is determined as the above-mentioned target power supply, thereby protecting the service life of the main power supply.

[0013] In combination with the first aspect and the above implementations, in some implementations of the first aspect, after determining the slave power source as the target power source, the method further includes: Obtain a second current power level from the power supply; the above-mentioned control target power supply supplies the braking power corresponding to the braking request to the braking system, including: if the second current power level is greater than or equal to the second preset power level, control the braking power supplied from the power supply to the braking system; if the second current power level is less than the second preset power level, and the number of braking requests detected reaches the preset number of times, control the target power level supplied from the power supply to the braking system; wherein the second preset power level is greater than the first preset power level; the target power level is used to represent the power required for active braking of the vehicle.

[0014] In the embodiment of the present application, when the current power of the slave power source (i.e., the second current power) ≥ the second preset power, it means that the power of the slave power source is relatively sufficient and can meet the power required for vehicle braking. Therefore, the slave power source can be controlled to output power to the braking system that can meet the braking demand of the vehicle, further ensuring the safety of vehicle braking. When the current power of the slave power source is < the second preset power, it means that the power of the slave power source is low. In order to avoid the problem that the current power of the slave power source is too low due to multiple braking of the vehicle, resulting in vehicle braking failure, when the number of braking requests reaches the preset number, the power required for active braking of the vehicle can be supplied to the braking system from the power source, so that the vehicle can be actively braked, further ensuring the safety of vehicle braking.

[0015] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the braking system further includes a first braking control unit and a second braking control unit, the main power supply is connected to the first braking control unit, the slave power supply is connected to the second braking control unit, the first target wheels corresponding to the first braking control unit are diagonally opposite to each other, the second target wheels corresponding to the second braking control unit are diagonally opposite to each other, and the first target wheel is different from the second target wheel; the above-mentioned control target power supply supplies the braking power corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake, including: Control the main power supply to supply braking power to the first braking control unit so that the first braking control unit controls the first target wheel to brake; or control the slave power supply to supply braking power to the second braking control unit so that the second braking control unit controls the second target wheel to brake; or control the main power supply to supply the first power to the first braking control unit and the slave power supply to supply the second power to the second braking control unit so that the first braking control unit controls the first target wheel to brake and the second braking control unit controls the second target wheel to brake; wherein the sum of the first power and the second power is the braking power.

[0016] In an embodiment of the present application, when the main power supply or the slave power supply outputs the required amount of electricity for vehicle braking to the braking system, the vehicle can be braked diagonally by controlling the wheels diagonally opposite to each other, thereby ensuring the left and right balance of the vehicle body during braking, avoiding tilting or overturning of the vehicle body, and further ensuring the safety of vehicle braking.

[0017] Alternatively, when the main power supply and the slave power supply jointly output the required amount of electricity for vehicle braking to the braking system, the vehicle can be braked by controlling all wheels in the vehicle to perform four-wheel braking, thereby reducing the braking distance required for the vehicle, avoiding the problem of vehicle collision due to untimely braking, and further ensuring the safety of vehicle braking.

[0018] In combination with the first aspect and the foregoing implementations, in some implementations of the first aspect, the method further includes: If it is detected that the power supply to the brake system is normal, the power supply is determined as the target power supply.

[0019] In an embodiment of the present application, when it is detected that the power supply in the braking system is normal, the power supply can be determined as the above-mentioned target power supply, so that the power supply can output to the braking system through the power supply an amount of electricity that can meet the braking requirements of the vehicle, thereby ensuring that the vehicle braking is normal and further ensuring the safety of the vehicle braking.

[0020] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the braking system further includes a voltage converter, and the above detection of whether the power supply to the braking system is normal includes: Check whether there is a fault in the voltage converter and / or the power supply; if there is a fault in the voltage converter and / or the power supply, determine that the power supply to the braking system is abnormal; if there is no fault in the voltage converter and the power supply, determine that the power supply to the braking system is normal.

[0021] In the embodiment of the present application, the voltage converter and the power power supply are jointly used to determine whether there is a fault that causes abnormal power supply to the braking system, thereby avoiding the problem that when one of the voltage converter and the power power supply fails but the other is not, the power power cannot be delivered to the braking system, resulting in the braking system being unable to normally control the vehicle for braking. This improves the accuracy of determining whether the power supply of the power supply in the braking system is abnormal, and further ensures the safety of vehicle braking.

[0022] In a second aspect, the present application provides a vehicle braking device, which is configured in a braking system in a vehicle, wherein the braking system includes a main power supply and a slave power supply, and a power supply in the vehicle is connected to the main power supply and the slave power supply respectively; comprising: A detection module, used to detect whether the power supply to the brake system is normal; An acquisition module, configured to acquire a first current power of the main power supply if it is detected that the power supply to the braking system is abnormal; a processing module, configured to determine, if a braking request of the vehicle is detected, a target power source from a main power source and a slave power source to supply power to the braking system based on the first current power quantity; The control module is used to control the target power supply to supply the braking power corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake.

[0023] In a third aspect, the present application provides a vehicle, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0024] In a fourth aspect, the present application provides a computer program product, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0025] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a vehicle braking scenario in the related art.

[0027] Figure 2 It is a schematic diagram of the architecture of an EMB provided in an embodiment of the present application.

[0028] Figure 3 It is a flow chart of a vehicle braking method provided in an embodiment of the present application.

[0029] Figure 4 It is a schematic diagram of a power supply path provided in an embodiment of the present application.

[0030] Figure 5 It is a schematic diagram of a power supply path provided in an embodiment of the present application.

[0031] Figure 6 This is a schematic diagram of another power supply path provided in an embodiment of the present application.

[0032] Figure 7 This is a schematic diagram of another power supply path provided in an embodiment of the present application.

[0033] Figure 8 It is a flow chart of another vehicle braking method provided in an embodiment of the present application.

[0034] Fig. 9 It is a schematic diagram of the structure of a vehicle braking device provided in an embodiment of the present application.

[0035] Fig.10 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0037] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0038] Figure 1 It is a schematic diagram of a vehicle braking scenario in the related art.

[0039] For example, Figure 1 As shown, Figure 1 The vehicle 110 and the obstacle 120 are included. The vehicle 110 is equipped with a braking system, such as an Electro Mechanical Brake (EMB). EMB has become a widely used braking system due to its advantages such as timely response, compact structure, small drag torque and high controllable accuracy.

[0040] For example, there is an obstacle 120 on the road where the vehicle 110 is traveling. In order to avoid a collision between the vehicle 110 and the obstacle 120, the driver may step on the brake pedal in the vehicle to brake the vehicle 110. However, when the vehicle 110 is braking, if a pedal travel sensor failure, an electromagnet failure, a motor angle sensor failure, a power supply failure, etc. occur in the EMB, the EMB may not operate normally.

[0041] Since the operation of the EMB depends on the power supply in the vehicle 110 , when the power supply in the vehicle 110 cannot supply power to the EMB (i.e., power supply failure), the EMB may not be able to operate normally, thereby making the vehicle 110 unable to brake, reducing the safety of braking of the vehicle 110 .

[0042] Therefore, in order to solve the problem of low vehicle braking safety when there is a power supply failure in the EMB, the present application proposes a vehicle braking method, a vehicle braking device, a vehicle and a storage medium.

[0043] Combine the following Figures 2 to 8 The vehicle braking method provided in the embodiment of the present application is described in detail.

[0044] Figure 2 It is a schematic diagram of the architecture of an EMB provided in an embodiment of the present application.

[0045] For example, Figure 2 As shown, the EMB may include a direct current-direct current converter (DCDC), an isolator 130, a first power source, a second power source, a first ECU (Electronic Control Unit), a second ECU, a third ECU, a fourth ECU, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, and a wheel speed sensor (WSS). In addition, the power source (also referred to as a "power battery") in the vehicle may be connected to the first power source and the second power source through the DCDC.

[0046] Among them, the front wheel electromechanical brake system (ElectroMechanical Brake Front, EMB_F) includes a first ECU and a second ECU. The rear wheel electromechanical brake system (ElectroMechanical Brake Rear, EMB_R) includes a third ECU and a fourth ECU; EMB_F and EMB_R are connected in communication. The first ECU is connected to the left front wheel and is used to control the left front wheel for braking. The second ECU is connected to the right front wheel and is used to control the right front wheel for braking. The third ECU is connected to the left rear wheel and is used to control the left rear wheel for braking. The fourth ECU is connected to the right rear wheel and is used to control the right rear wheel for braking.

[0047] WSS is installed on the left front wheel, right front wheel, left rear wheel and right rear wheel to collect their respective wheel speed information. For example, WSS for the left front wheel (Wheel Speed ​​Sensor Front Left, WSS_FL), WSS for the right front wheel (Wheel Speed ​​Sensor Front Right, WSS_FR), WSS for the left rear wheel (Wheel Speed ​​SensorRear Left, WSS_RL) and WSS for the right rear wheel (Wheel Speed ​​Sensor Rear Right, WSS_RR).

[0048] The power supply is connected to DCDC, DCDC is connected to the first power supply and the second power supply respectively, the first power supply is connected to the first ECU and the fourth ECU, the second power supply is connected to the second ECU and the fourth ECU, that is, the ECUs connected to the first power supply and the second power supply are diagonally opposite.

[0049] Optionally, the EMB may also include clamping devices (which may be called "calipers") corresponding to the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, respectively, to generate friction force to brake the vehicle.

[0050] Optionally, the isolator 130 may be used to connect or disconnect the first power source and the second power source.

[0051] Figure 3 is a flow chart of a vehicle braking method provided by an embodiment of the present application. The method can be Figure 1 The vehicle 110 in the vehicle 110 executes the process, or the controller of the EMB in the vehicle 110 executes the process.

[0052] For example, Figure 3 As shown, the method 300 is applied to an EMB in a vehicle, the EMB may include a main power supply (i.e., the first power supply mentioned above) and a slave power supply (i.e., the second power supply mentioned above), and the power supply in the vehicle is connected to the main power supply and the slave power supply respectively; the method 300 includes the following implementation process: S310, detecting whether the power supply to the brake system is normal.

[0053] For example, when the vehicle is powered on, it can be detected in real time whether the power source in the vehicle can normally supply power to the EMB. Alternatively, when a braking request is detected in the vehicle, it can be detected in real time whether the power source in the vehicle can normally supply power to the EMB.

[0054] Among them, the braking request can be triggered by the driver stepping on the brake pedal in the vehicle, or it can be automatically triggered by the vehicle through driving data, which is not limited in this embodiment of the present application.

[0055] In one possible implementation, the above-mentioned detection of whether the power supply to the braking system is normal includes: detecting whether there is a fault in the voltage converter and / or the power power supply; if there is a fault in the voltage converter and / or the power power supply, determining that the power supply to the braking system is abnormal; if there is no fault in the voltage converter and the power power supply, determining that the power supply to the braking system is normal.

[0056] Exemplarily, when the vehicle is powered on, it may be detected whether there is a fault in the voltage converter (ie, the above-mentioned DCDC) and the power supply in the vehicle.

[0057] When a fault in the DCDC is detected, the DCDC cannot transmit the power output by the power supply to the EMB, so that the power supply cannot supply power to the EMB. Therefore, it can be determined that the power supply to the EMB is abnormal. And / or, when a fault in the power supply is detected, the power supply cannot output power, so that the power supply cannot supply power to the EMB. Therefore, it can also be determined that the power supply to the EMB is abnormal.

[0058] Alternatively, when it is detected that neither the DCDC nor the power supply has a fault, the power outputted by the power supply can be transmitted to the EMB via the DCDC, the main power supply and the slave power supply, so that the power supply supplies power to the EMB. Therefore, it can be determined that the power supply supplies power to the EMB normally.

[0059] In the embodiment of the present application, the voltage converter and the power power supply are jointly used to determine whether there is a fault that causes abnormal power supply to the braking system, thereby avoiding the problem that when one of the voltage converter and the power power supply fails but the other is not, the power power cannot be delivered to the braking system, resulting in the braking system being unable to normally control the vehicle for braking. This improves the accuracy of determining whether the power supply of the power supply in the braking system is abnormal, and further ensures the safety of vehicle braking.

[0060] Optionally, if it is detected that the power source supplies power to the braking system normally, the power source is determined as the target power source.

[0061] For example, when it is detected that the power source is supplying power to the EMB normally, the power source can be determined as the power source supplying power to the EMB (which can be called the "target power source"). At this time, the master power source and the slave power source do not output the power stored in themselves, but play the role of transmitting power through wires, and transmit the power output by the power source to the first ECU, the second ECU, the third ECU and the fourth ECU in the EMB.

[0062] Furthermore, when it is detected that the power source supplies power to the EMB normally, the power source may also charge the main power source and the slave power source through the DCDC, so that the main power source and the slave power source store emergency power.

[0063] Optionally, when it is detected that the power supply to the EMB is normal, the isolator can be controlled to be in a connected state so that the main power supply and the slave power supply are connected in parallel.

[0064] Figure 4 It is a schematic diagram of a power supply path provided in an embodiment of the present application.

[0065] For example, Figure 4 As shown, Figure 4 The dotted line in may represent the current path through which the power source supplies power to the EMB.

[0066] Exemplarily, when it is detected that the power supply to the EMB is normal, the power output by the power supply can be converted by DCDC first, and part of the converted power flows through the first power supply, and the remaining power except part of the converted power flows through the second power supply.

[0067] The first power source transmits the partial power to the first ECU and the fourth ECU, so that when the first ECU and the fourth ECU receive the partial power, the first ECU controls the left front wheel to brake, and the second ECU controls the right rear wheel to brake. At the same time, the second power source transmits the remaining power to the second ECU and the third ECU, so that when the second ECU and the third ECU receive the remaining power, the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake, so that the vehicle achieves four-wheel braking.

[0068] Optionally, the power received by the first ECU and the fourth ECU may be the same or different, and the sum of the power received by the first ECU and the fourth ECU is equal to the above-mentioned partial power. Also, the power received by the second ECU and the third ECU may be the same or different, and the sum of the power received by the second ECU and the third ECU is equal to the above-mentioned remaining power.

[0069] In an embodiment of the present application, when it is detected that the power supply in the braking system is normal, the power supply can be determined as the above-mentioned target power supply, so that the power supply can output to the braking system through the power supply an amount of electricity that can meet the braking requirements of the vehicle, thereby ensuring that the vehicle braking is normal and further ensuring the safety of the vehicle braking.

[0070] S320: If it is detected that the power supply to the brake system is abnormal, a first current power of the main power supply is obtained.

[0071] Exemplarily, when it is detected that the power supply to the EMB is abnormal, in order to supply power to the EMB, the current power of the main power supply (which may be referred to as “first current power”) may be obtained.

[0072] When it is detected that the power supply to the EMB is abnormal, the power stored in the main power supply will be consumed first. When the power stored in the main power supply is consumed or is low, the power stored in the slave power supply can be consumed; that is, the use priority of the main power supply is higher than the use priority of the slave power supply. Therefore, when it is detected that the power supply to the EMB is abnormal, the first current power of the main power supply can be obtained first.

[0073] S330: If a braking request of the vehicle is detected, a target power source for supplying power to the braking system is determined from the main power source and the slave power source based on the first current power level.

[0074] For example, when the first current power of the main power supply is obtained, if a braking request of the vehicle is detected, it means that the vehicle has a braking demand at this time. In order to brake the vehicle, the first current power can be used to determine the power supply (i.e., the above-mentioned target power supply) from the main power supply and the slave power supply that can supply power to the EMB.

[0075] In one possible implementation, the target power supply for supplying power to the braking system is determined from the main power supply and the slave power supply based on the first current power supply, including: judging whether the first current power supply is greater than or equal to the braking power supply; if the first current power supply is greater than or equal to the braking power supply, determining the main power supply as the target power supply; if the first current power supply is less than the braking power supply, determining the main power supply and the slave power supply, or the slave power supply as the target power supply.

[0076] Among them, different braking forces corresponding to different braking requests may result in different required braking power. The braking force corresponding to the braking request (which can be called "deceleration") is positively correlated with the braking power, that is, the greater the braking force, the greater the corresponding braking power; the smaller the braking force, the smaller the corresponding braking power. For example, the braking power required when the braking force corresponding to the braking request is 0.3g is less than the braking power required when the braking force corresponding to the braking request is 0.5g.

[0077] Exemplarily, when a first current power level of the main power source is obtained, it may be determined whether the first current power level is greater than or equal to a braking power level corresponding to the braking request.

[0078] When the first current power ≥ the braking power corresponding to the braking request, it means that the first current power of the main power source can meet the required power of vehicle braking. Therefore, the main power source can be determined as the above-mentioned target power source.

[0079] When the first current power is less than the braking power corresponding to the braking request, it means that the first current power of the main power source cannot meet the required power of the vehicle braking. Therefore, the main power source and the slave power source can both be determined as the above-mentioned target power sources. This is because when the first current power of the main power source cannot meet the required power of the vehicle braking, the main power source and the slave power source can both be determined as the above-mentioned target power sources to increase the power supply, thereby meeting the required power of the vehicle braking.

[0080] Alternatively, when the first current power is less than the braking power corresponding to the braking request, it means that the first current power of the main power supply cannot meet the power required for vehicle braking. Therefore, the slave power supply can be determined as the above-mentioned target power supply. This is because in addition to supplying power to the EMB when the power supply to the EMB is abnormal, the main power supply may also undertake the power supply task of other electrical appliances in the vehicle (for example, lights, horns, and air conditioners, etc.), which makes the power consumption of the main power supply relatively large, while the slave power supply only needs to supply power to the EMB when the power supply to the EMB is abnormal, and does not require additional power supply tasks. The power consumption of the slave power supply is much less than that of the main power supply. Therefore, when the first current power of the main power supply cannot meet the power required for vehicle braking, the slave power supply may meet the power required for vehicle braking.

[0081] In the embodiment of the present application, when the current power of the main power supply is ≥ the braking power corresponding to the braking request, it means that the first current power of the main power supply can meet the braking power requirement of the vehicle. Therefore, the main power supply can be determined as the above-mentioned target power supply, and the main power supply outputs the braking power requirement to the braking system to further ensure the safety of vehicle braking. When the first current power of the main power supply is < the braking power corresponding to the braking request, it means that the first current power of the main power supply cannot meet the braking power requirement of the vehicle, and the main power supply and the slave power supply, or the slave power supply can be determined as the target power supply, thereby ensuring that the braking power requirement to the braking system can be met, further ensuring the safety of vehicle braking. Optionally, the above-mentioned determination of the main power supply and the slave power supply, or the slave power supply as the target power supply includes: if the first current power is greater than or equal to the first preset power and less than the braking power, the main power supply and the slave power supply are determined as the target power supplies; if the first current power is less than the first preset power, the slave power supply is determined as the target power supply.

[0082] Exemplarily, when the first current power amount is less than the braking power amount corresponding to the braking request, it may be further determined whether the first current power amount of the main power source is greater than or equal to the first preset power amount.

[0083] When the first preset power ≤ the first current power < the braking power corresponding to the braking request, it means that a small amount of power is still stored in the main power supply, but the small amount of power can no longer meet the required power of the vehicle braking. Therefore, the main power supply and the slave power supply can be determined as the above-mentioned target power supply, so that the power can be supplemented by the slave power supply, thereby ensuring that the braking system can output power that can meet the required power of the vehicle braking, and further ensuring the safety of the vehicle braking.

[0084] When the first current power level is less than the first preset power level, it indicates that the power in the main power supply is about to be consumed. In order to ensure the normal operation of other electrical appliances in the vehicle and avoid the power in the main power supply being completely consumed and thus reducing the service life of the main power supply, the main power supply can be controlled to stop outputting power, and only power is output from the slave power supply, that is, the slave power supply is determined as the above-mentioned target power supply, thereby protecting the service life of the main power supply.

[0085] It should be noted that the first preset power level may represent a lower power level, for example, 0%, 5%, 8% or 10%, etc., and this embodiment of the present application is not limited to this.

[0086] S340, controlling the target power supply to supply a braking amount corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake.

[0087] Exemplarily, when the target power source is determined, the target power source can be controlled to deliver the power required for vehicle braking, that is, the braking power corresponding to the braking request, to the EMB, so that when the EMB receives the braking power, it controls the vehicle to brake with the braking force corresponding to the braking power.

[0088] For example, when the target power source is the main power source, the main power source may be controlled to transmit the braking power corresponding to the braking request to the EMB.

[0089] In such Figure 3 In the method 300 shown, when it is detected that the power supply in the vehicle supplies power to the brake system abnormally, it means that the power supply cannot output power to the brake system, which causes the brake system to be unable to control the vehicle to brake normally. Therefore, in order to enable the brake system to control the vehicle to brake, the current power of the main power supply (i.e., the first current power) can be obtained, and when it is detected that the vehicle has a braking request, the power supply (i.e., the target power supply) that can supply power to the brake system is determined from the main power supply and the slave power supply through the first current power, and then the brake system is supplied with power through the power supply, so that the brake system can normally control the vehicle to brake, so that when the power supply in the vehicle cannot supply power to the brake system, the brake system can have power supply to control the vehicle to brake normally, thereby ensuring the safety of vehicle braking.

[0090] Optionally, after the slave power source is determined as the target power source, a second current power level of the slave power source is obtained; the above-mentioned control of the target power source to supply the braking power corresponding to the braking request to the braking system includes: if the second current power level is greater than or equal to the second preset power level, controlling the slave power source to supply the braking power to the braking system; if the second current power level is less than the second preset power level, and the number of braking requests detected reaches a preset number of times, controlling the slave power source to supply the target power level to the braking system; wherein the second preset power level is greater than the first preset power level; the target power level is used to represent the power required for active braking of the vehicle.

[0091] Exemplarily, when the slave power source is determined as the target power source, the current power level of the slave power source (which may be referred to as a “second current power level”) may be acquired, and it may be determined whether the second current power level is greater than or equal to a second preset power level.

[0092] When the second current power ≥ the second preset power, it means that the power from the power source is sufficient to meet the power required for vehicle braking. Therefore, the power source can be controlled to transmit the braking power corresponding to the braking request to the EMB, so that the vehicle brakes with the braking force corresponding to the braking power.

[0093] When the second current power is less than the second preset power, it means that the power of the slave power source is low. In order to avoid the problem of the slave power source being too low due to multiple braking of the vehicle, it is possible to continue to detect whether the number of braking requests has reached the preset number (for example, 4 times). When the second current power is less than the second preset power, if the number of braking requests reaches 4 times, it means that the power in the slave power source is about to be consumed. In order to avoid the problem of the second current power in the slave power source being too low and causing the vehicle's brake failure, the power required for active braking of the vehicle (i.e., automatic braking of the vehicle) (which can be called "target power") can be controlled to be transmitted from the power source to the EMB, so that the vehicle can be actively braked with the braking force corresponding to the target power.

[0094] It should be noted that the second preset power can satisfy the braking power corresponding to the preset number of braking requests and the primary power required for active braking of the vehicle, that is, the second preset power ≥ the braking power corresponding to the preset number of accumulated braking requests + the primary power required for active braking of the vehicle. Therefore, the second preset power ≥ the braking power corresponding to the braking request. And, the second preset power can be obtained through actual vehicle calibration; for example, 20%, 30% or 35%, etc., which is not limited in the embodiments of the present application. And, the preset number of times can also be 3 times or 5 times, which is not limited in the embodiments of the present application.

[0095] In the embodiment of the present application, when the current power of the slave power source (i.e., the second current power) ≥ the second preset power, it means that the power of the slave power source is relatively sufficient and can meet the power required for vehicle braking. Therefore, the slave power source can be controlled to output power to the braking system that can meet the braking demand of the vehicle, further ensuring the safety of vehicle braking. When the current power of the slave power source is < the second preset power, it means that the power of the slave power source is low. In order to avoid the problem that the current power of the slave power source is too low due to multiple braking of the vehicle, resulting in vehicle braking failure, when the number of braking requests reaches the preset number, the power required for active braking of the vehicle can be supplied to the braking system from the power source, so that the vehicle can be actively braked, further ensuring the safety of vehicle braking.

[0096] Optionally, the braking system also includes a first braking control unit and a second braking control unit, a main power supply is connected to the first braking control unit, a slave power supply is connected to the second braking control unit, first target wheels corresponding to the first braking control unit are diagonally opposite to each other, second target wheels corresponding to the second braking control unit are diagonally opposite to each other, and the first target wheel is different from the second target wheel; the above-mentioned control of the target power supply to supply braking power corresponding to the braking request to the braking system so that the braking system controls the vehicle to brake, including: controlling the main power supply to supply braking power to the first braking control unit so that the first braking control unit controls the first target wheel to brake; or controlling the slave power supply to supply braking power to the second braking control unit so that the second braking control unit controls the second target wheel to brake; or controlling the main power supply to supply the first power to the first braking control unit, and the slave power supply to supply the second power to the second braking control unit, so that the first braking control unit controls the first target wheel to brake, and the second braking control unit controls the second target wheel to brake; wherein the sum of the first power and the second power is the braking power.

[0097] Among them, the first braking control unit can represent the first ECU and the fourth ECU, as well as the left front wheel controlled by the first ECU (which can be called the "first target wheel") and the right rear wheel controlled by the fourth ECU (which can be called the "first target wheel"), and the first braking control unit is connected to the main power supply, and the first braking control unit is powered by the main power supply.

[0098] Among them, the second braking control unit can represent the second ECU and the third ECU, as well as the right front wheel controlled by the second ECU (which can be called the "second target wheel") and the left rear wheel controlled by the third ECU (which can be called the "second target wheel"), and the second braking control unit is connected to the slave power supply, and the second braking control unit is powered by the slave power supply.

[0099] Exemplarily, when the determined target power source is the main power source, the main power source can be controlled to transmit the braking power corresponding to the braking request to the first braking control unit, so that when the first braking control unit receives the braking power corresponding to the braking request, it controls the left front wheel and the right rear wheel to brake with the braking force corresponding to the braking power, thereby causing the vehicle to perform diagonal braking.

[0100] Figure 5 It is a schematic diagram of a power supply path provided in an embodiment of the present application.

[0101] For example, Figure 5 As shown, Figure 5 The dotted line in may represent a current path for the first power source to power the EMB.

[0102] For example, when an abnormality in the power supply to the EMB is detected, if the target power supply is determined to be the main power supply, braking power can be output to the first ECU and the fourth ECU through the main power supply, so that when the first ECU and the fourth ECU receive the braking power, the first ECU controls the left front wheel to brake, and the second ECU controls the right rear wheel to brake.

[0103] Alternatively, when the determined target power source is a slave power source, the slave power source can be controlled to transmit a braking amount corresponding to the braking request to the second braking control unit, so that when the second braking control unit receives the braking amount corresponding to the braking request, it controls the right front wheel and the left rear wheel to brake with a braking force corresponding to the braking amount, thereby causing the vehicle to perform diagonal braking.

[0104] Figure 6 This is a schematic diagram of another power supply path provided in an embodiment of the present application.

[0105] For example, Figure 6 As shown, Figure 6 The dotted line in may represent a current path for the second power source to power the EMB.

[0106] For example, when an abnormality in the power supply to the EMB is detected, if the target power supply is determined to be a slave power supply, braking power can be output from the slave power supply to the second ECU and the third ECU, so that when the second ECU and the third ECU receive the braking power, the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake.

[0107] Alternatively, when the determined target power sources are the main power source and the slave power source, it can be first determined that the main power source needs to deliver the required amount of electricity 1 (which can be called "first electricity") required for vehicle braking to the EMB, and the slave power source needs to deliver the required amount of electricity 2 (which can be called "second electricity") required for vehicle braking to the EMB. The braking electricity corresponding to the braking request = electricity 1 + electricity 2. Electricity 1 and electricity 2 can be the same or different, and this embodiment of the application does not limit this.

[0108] Further, when it is determined that the main power supply needs to deliver an amount of electricity 1 required for vehicle braking to the EMB and that the slave power supply needs to deliver an amount of electricity 2 required for vehicle braking to the EMB, the main power supply can be controlled to deliver an amount of electricity 1 to the first brake control unit, so that when the first brake control unit receives the amount of electricity 1, it controls the left front wheel and the right rear wheel to brake with a braking force corresponding to the amount of electricity 1. At the same time, the slave power supply can also be controlled to deliver an amount of electricity 2 to the second brake control unit, so that when the second brake control unit receives the amount of electricity 2, it controls the right front wheel and the left rear wheel to brake with a braking force corresponding to the amount of electricity 2; thereby the vehicle performs four-wheel braking.

[0109] Figure 7 This is a schematic diagram of another power supply path provided in an embodiment of the present application.

[0110] For example, Figure 7 As shown, Figure 7 The dotted line in may represent a current path for the first power source and the second power source to supply power to the EMB.

[0111] For example, when it is detected that the power supply to the EMB is abnormal, if it is determined that the target power supply is the main power supply and the slave power supply, the main power supply can output the braking power to the first ECU and the fourth ECU, so that when the first ECU and the fourth ECU receive the braking power, the first ECU controls the left front wheel to brake, and the second ECU controls the right rear wheel to brake. At the same time, the slave power supply can also output the braking power to the second ECU and the third ECU, so that when the second ECU and the third ECU receive the braking power, the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake.

[0112] In an embodiment of the present application, when the main power supply or the slave power supply outputs the required amount of electricity for vehicle braking to the braking system, the vehicle can be braked diagonally by controlling the wheels diagonally opposite to each other, thereby ensuring the left and right balance of the vehicle body during braking, avoiding tilting or overturning of the vehicle body, and further ensuring the safety of vehicle braking.

[0113] Alternatively, when the main power supply and the slave power supply jointly output the required amount of electricity for vehicle braking to the braking system, the vehicle can be braked by controlling all wheels in the vehicle to perform four-wheel braking, thereby reducing the braking distance required for the vehicle, avoiding the problem of vehicle collision due to untimely braking, and further ensuring the safety of vehicle braking.

[0114] Figure 8 It is a flow chart of another vehicle braking method provided in an embodiment of the present application.

[0115] For example, Figure 8 As shown, the method 800 is described by taking a DCDC failure as an example, and can also be applied to a DCDC failure and / or a power supply failure; the method 800 includes the following implementation process: S801, detect whether the DCDC fails. If so, execute S802; if not, continue to execute S801.

[0116] For example, when the vehicle is powered on, it is possible to detect in real time whether the DCDC fails to determine whether the power supply in the vehicle can normally supply power to the four ECUs in the EMB. The four ECUs may include a first ECU, a second ECU, a third ECU, and a fourth ECU.

[0117] S802, control the isolator to disconnect and obtain the current power of the main power supply.

[0118] For example, if it is determined through S801 that the DCDC fails, it means that the power supply to the EMB is abnormal, and the isolator can be controlled to be disconnected so that the main power supply and the slave power supply can be controlled independently without affecting each other.

[0119] At the same time, the current power of the main power supply (ie, the first current power supply mentioned above) can be obtained, and the fault signal of the DCDC and the obtained current power of the main power supply can be displayed on a display screen in the vehicle (eg, a central control screen, an instrument screen).

[0120] For example, if it is determined through S801 that the DCDC is normal and has not failed, S801 can be continued to be executed to detect whether the DCDC has failed. At the same time, the power supply can be controlled to supply power to the four ECUs in the EMB normally, so that the first ECU controls the left front wheel to brake, the second ECU controls the right front wheel to brake, the third ECU controls the left front wheel to brake, and the fourth ECU controls the right front wheel to brake.

[0121] S803, determine whether the vehicle has a braking request. If yes, execute S804; if no, continue to execute S803.

[0122] For example, when the isolator is disconnected, it can be determined whether the vehicle has a braking request at this time. Alternatively, when the DCDC fails, it can be determined whether the vehicle has a braking request at this time.

[0123] S804, determine whether the current power of the main power supply is greater than or equal to the braking power corresponding to the braking request. If yes, execute S805; if not, execute S806.

[0124] For example, if it is determined through S803 that the vehicle has a braking request at this time, it can be determined whether the current power of the main power source is greater than or equal to the braking power corresponding to the braking request.

[0125] For example, if it is determined through S803 that the vehicle does not have a braking request at this time, S803 may be continued to be executed to determine whether the vehicle has a braking request.

[0126] S805, supplying power to the first ECU and the fourth ECU through the main power supply, so that the first ECU controls the left front wheel to brake, and the fourth ECU controls the right front wheel to brake.

[0127] For example, if the current power of the main power supply is ≥ the braking power corresponding to the braking request obtained in S804, it means that the main power supply can meet the required power of the vehicle braking. Therefore, the main power supply can supply power to the first ECU and the fourth ECU, so that the first ECU controls the left front wheel to brake, and the fourth ECU controls the right front wheel to brake.

[0128] S806, determine whether the current power of the main power supply is greater than 10% and less than the braking power. If so, execute S807; if not, execute S808.

[0129] For example, if the current power of the main power supply obtained in S804 is less than the braking power corresponding to the braking request, it means that the main power supply cannot meet the required power of the vehicle braking. In order to determine whether the main power supply can still support the braking of the left front wheel and the right rear wheel, it can be determined whether the current power of the main power supply is greater than 10% (i.e., the first preset power) and less than the braking power.

[0130] S807, power is supplied to the first ECU and the fourth ECU through the main power supply, so that the first ECU controls the left front wheel to brake, and the fourth ECU controls the right front wheel to brake; at the same time, power is supplied to the second ECU and the third ECU through the slave power supply, so that the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake.

[0131] For example, if 10% ≤ the current power of the main power supply < the braking power corresponding to the braking request is obtained through S806, it means that a small amount of power is still stored in the main power supply, but this small amount of power can no longer meet the required power of the vehicle braking. Therefore, the main power supply can be used to supply power to the first ECU and the fourth ECU, so that the first ECU controls the left front wheel to brake, and the fourth ECU controls the right front wheel to brake; at the same time, the power supply can be used to supply power to the second ECU and the third ECU, so that the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake, to ensure that the braking force of the vehicle can reach the braking force corresponding to the braking request, so that the vehicle brakes normally.

[0132] S808, obtaining the current power of the power source.

[0133] For example, if the current power of the main power supply is less than 10% obtained through S806, it means that the power in the main power supply is about to be consumed. In order to ensure the normal operation of other electrical appliances in the vehicle and to avoid the power in the main power supply being completely consumed and reducing the service life of the main power supply, the main power supply can be controlled to no longer output power, and only output power from the slave power supply. Therefore, the current power of the slave power supply (i.e., the second current power) can be obtained. In addition, the current power of the slave power supply obtained can be displayed on a display screen in the vehicle (e.g., a central control screen, an instrument screen).

[0134] S809, determine whether the current power of the slave power source is greater than or equal to 30%. If so, execute S810; if not, execute S811.

[0135] Exemplarily, when the current power of the slave power source is obtained, it can be determined whether the current power of the slave power source is greater than or equal to 30% (ie, the second preset power).

[0136] S810, supplying power from the power supply to the second ECU and the third ECU so that the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake.

[0137] For example, if the current power of the slave power source is ≥ 30% obtained through S809, it means that the power of the slave power source is sufficient to meet the power required for vehicle braking. Therefore, the slave power source can supply power to the second ECU and the third ECU, so that the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake.

[0138] S811: When the number of braking requests reaches 4 times cumulatively, the vehicle is controlled to actively brake to stop the vehicle.

[0139] For example, if the current power of the slave power supply is less than 30% obtained through S809, it means that the power of the slave power supply is low. In order to avoid the problem of vehicle brake failure due to the low current power of the slave power supply, the vehicle can be controlled to actively brake when the number of vehicle brake requests reaches 4 times after the DCDC failure, so as to stop the vehicle. At this time, the slave power supply can be used to supply power to the second ECU and the third ECU, so that the second ECU controls the right front wheel to brake, and the third ECU controls the left rear wheel to brake.

[0140] In an embodiment of the present application, when a DCDC failure causes the power supply to be unable to supply power to the vehicle's braking system, a degradation control strategy is proposed. Through the different deceleration requirements of the vehicle, the power supply form of the main power supply and / or the slave power supply is controlled to supply power to the braking system, and power is supplied to different diagonal wheels respectively to ensure that the braking system can control the vehicle to brake.

[0141] It should be noted that Figure 8 All steps in Figures 4 to 7 The corresponding embodiments are described in detail in the embodiment, which will not be repeated here.

[0142] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0143] Combination of the above Figures 1 to 8 The vehicle braking method provided by the embodiment of the present application is described in detail; Fig. 9 and Fig.10 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0144] Fig. 9 It is a schematic diagram of the structure of a vehicle braking device provided in an embodiment of the present application.

[0145] For example, Fig. 9 As shown, the device 900 is configured in a braking system in a vehicle, the braking system includes a main power supply and a slave power supply, and the power supply in the vehicle is connected to the main power supply and the slave power supply respectively; including: A detection module 910 is used to detect whether the power supply to the brake system is normal; An acquisition module 920 is used to acquire a first current power of the main power supply if it is detected that the power supply to the braking system is abnormal; The processing module 930 is used to determine a target power source for supplying power to the braking system from the main power source and the slave power source based on the first current power if a braking request of the vehicle is detected; The control module 940 is used to control the target power supply to supply the braking power corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake.

[0146] In one possible implementation, the processing module 930 is specifically used to: determine whether the first current power is greater than or equal to the braking power; if the first current power is greater than or equal to the braking power, determine the main power supply as the target power supply; if the first current power is less than the braking power, determine the main power supply and the slave power supply, or the slave power supply as the target power supply.

[0147] In one possible implementation, the processing module 930 is specifically used to: if the first current power is greater than or equal to the first preset power and less than the braking power, determine the main power supply and the slave power supply as the target power supplies; if the first current power is less than the first preset power, determine the slave power supply as the target power supply.

[0148] In one possible implementation, the acquisition module 920 is also used to: acquire a second current power level from the power supply; the control module 940 is specifically used to: if the second current power level is greater than or equal to a second preset power level, control the braking power supplied from the power supply to the braking system; if the second current power level is less than the second preset power level, and the number of braking requests detected reaches a preset number of times, control the target power level supplied from the power supply to the braking system; wherein the second preset power level is greater than the first preset power level; the target power level is used to represent the power required for active braking of the vehicle.

[0149] In one possible implementation, the above-mentioned braking system also includes a first braking control unit and a second braking control unit, a main power supply is connected to the first braking control unit, a slave power supply is connected to the second braking control unit, first target wheels corresponding to the first braking control unit are diagonally opposite to each other, second target wheels corresponding to the second braking control unit are diagonally opposite to each other, and the first target wheel is different from the second target wheel; the control module 940 is specifically used to: control the main power supply to supply braking power to the first braking control unit, so that the first braking control unit controls the first target wheel to brake; or, control the slave power supply to supply braking power to the second braking control unit, so that the second braking control unit controls the second target wheel to brake; or, control the main power supply to supply the first power to the first braking control unit, and the slave power supply to supply the second power to the second braking control unit, so that the first braking control unit controls the first target wheel to brake, and the second braking control unit controls the second target wheel to brake; wherein the sum of the first power and the second power is the braking power.

[0150] In a possible implementation, the control module 940 is further configured to: if it is detected that the power source supplies power to the braking system normally, determine the power source as the target power source.

[0151] In one possible implementation, the above-mentioned braking system also includes a voltage converter, and the detection module 910 is specifically used to: detect whether there is a fault in the voltage converter and / or the power power supply; if there is a fault in the voltage converter and / or the power power supply, determine that the power supply to the braking system is abnormal; if there is no fault in the voltage converter and the power power supply, determine that the power supply to the braking system is normal.

[0152] It should be noted that the above device 900 is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0153] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0154] Therefore, the modules of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0155] Fig.10 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0156] For example, Fig.10 As shown, the vehicle 1000 includes: a memory 1010 and a processor 1020, wherein the memory 1010 stores an executable program code 1011, and the processor 1020 is used to call and execute the executable program code 1011 to perform a vehicle braking method.

[0157] The present application can divide the functional modules of the vehicle according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0158] In the case of dividing each functional module according to each function, the vehicle may include: a detection module, an acquisition module, a processing module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0159] The vehicle provided in the present application is used to execute the above-mentioned vehicle braking method, and thus can achieve the same effect as the above-mentioned implementation method.

[0160] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes and data.

[0161] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0162] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a microdrive, and a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0163] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle braking method in the above-mentioned embodiment.

[0164] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle braking method in the above-mentioned embodiments.

[0165] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0166] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0167] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0168] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle braking method, characterized in that: A braking system applied to a vehicle, the braking system comprising a main power supply and a slave power supply, the power supply in the vehicle being connected to the main power supply and the slave power supply respectively; the method comprising: Detecting whether the power supply to the braking system is normal; If it is detected that the power source supplies power to the braking system abnormally, obtaining a first current power of the main power source; If a braking request of the vehicle is detected, determining a target power source for supplying power to the braking system from among the master power source and the slave power source based on the first current power quantity; The target power source is controlled to supply the braking power corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake.

2. The method according to claim 1, characterized in that The determining, based on the first current power quantity, a target power source from the main power source and the slave power source to supply power to the braking system comprises: Determining whether the first current power is greater than or equal to the braking power; If the first current power is greater than or equal to the braking power, determining the main power source as the target power source; If the first current power is less than the braking power, the main power source and the slave power source, or the slave power source is determined as the target power source.

3. The method according to claim 2, characterized in that The step of determining the master power source and the slave power source, or the slave power source as the target power source, includes: If the first current power is greater than or equal to the first preset power and less than the braking power, determining the master power source and the slave power source as the target power sources; If the first current power level is less than the first preset power level, the slave power source is determined as the target power source.

4. The method according to claim 3, characterized in that After determining the slave power source as the target power source, the method further includes: Obtaining a second current power of the slave power source; The controlling the target power supply to supply the braking system with the braking power corresponding to the braking request includes: If the second current power is greater than or equal to a second preset power, controlling the power supply to supply the braking power to the braking system; If the second current power is less than the second preset power, and the number of detected braking requests reaches a preset number, controlling the power supply from the power source to supply a target power to the braking system; Among them, the second preset power is greater than the first preset power; and the target power is used to represent the power required for active braking of the vehicle.

5. The method according to any one of claims 2 to 4, characterized in that The braking system also includes a first braking control unit and a second braking control unit, the main power supply is connected to the first braking control unit, the slave power supply is connected to the second braking control unit, the first target wheels corresponding to the first braking control unit are diagonally opposite to each other, the second target wheels corresponding to the second braking control unit are diagonally opposite to each other, and the first target wheel is different from the second target wheel; The controlling the target power supply to supply the braking system with the braking power corresponding to the braking request so that the braking system controls the vehicle to brake includes: controlling the main power supply to supply the braking power to the first braking control unit, so that the first braking control unit controls the first target wheel to brake; or, Controlling the power supply to supply the braking power to the second braking control unit, so that the second braking control unit controls the second target wheel to brake; or, Control the main power supply to supply a first amount of electricity to the first brake control unit, and control the slave power supply to supply a second amount of electricity to the second brake control unit, so that the first brake control unit controls the first target wheel to brake, and the second brake control unit controls the second target wheel to brake; The sum of the first electric quantity and the second electric quantity is the braking electric quantity.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: If it is detected that the power source supplies power to the brake system normally, the power source is determined as the target power source.

7. The method according to any one of claims 1 to 4, characterized in that The braking system also includes a voltage converter, and the detecting whether the power supply to the braking system is normal includes: Detecting whether the voltage converter and / or the power supply are faulty; If the voltage converter and / or the power supply fails, determining that the power supply to the brake system is abnormal; If there is no fault in the voltage converter and the power supply, it is determined that the power supply supplies power to the braking system normally.

8. A vehicle braking device, characterized in that: A braking system configured in a vehicle, the braking system comprising a main power supply and a slave power supply, the power supply in the vehicle being connected to the main power supply and the slave power supply respectively; the device comprising: A detection module, used to detect whether the power supply to the braking system is normal; An acquisition module, configured to acquire a first current power of the main power supply if it is detected that the power supply to the braking system is abnormal; a processing module, configured to determine, if a braking request of the vehicle is detected, a target power source for supplying power to the braking system from among the main power source and the slave power source based on the first current power quantity; The control module is used to control the target power supply to supply the braking power corresponding to the braking request to the braking system, so that the braking system controls the vehicle to brake.

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

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

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