Vehicle braking control method and device, electronic equipment and storage medium

Abstract

The invention provides a brake control method and device of a vehicle, electronic equipment and a storage medium. The brake control method comprises the steps that the current force when a brake pedal is stepped down, the current opening degree of a remote accelerator pedal and the current acceleration change rate of the vehicle are obtained; based on the force, the opening degree and the acceleration change rate, whether the vehicle is in an emergency braking state or not is determined; and if the vehicle is in the emergency braking state, the opening degree of a power output pump is adjusted based on the first preset current step length so that the vehicle can be braked emergently. By the adoption of the technical scheme, stable braking can be conducted in different braking states, and the safety, comfort, response speed and operation performance of the harvesting machine are improved.

Description

Technical Field

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

[0002] In the field of agricultural production, due to the particularity of the working environment, the structural design of traditional harvesting machinery and equipment is relatively compact. At the same time, due to the constraints of relatively backward technology and cost control in the past, the quality of the whole equipment of traditional harvesting machinery and equipment is difficult to reach a high level. Based on the above reality, traditional harvesting machinery and equipment usually use mechanical caliper brake devices for braking.

[0003] However, with the steady progress of land consolidation, the agricultural production model has changed, the needs of end users have gradually changed, and the use of large-scale harvesting machinery and equipment has become increasingly widespread. The structural design of large-scale harvesting machinery has become more and more complex, and the quality of the whole machine has been greatly improved. In addition, in order to improve the intelligence level of the whole vehicle, a large number of electronic control devices are used in the whole machine. The electronic control equipment has put forward higher requirements on the response speed of the braking system. The traditional mechanical caliper brake device mainly relies on mechanical transmission to achieve braking action, and its response speed is relatively slow, which is difficult to match with the intelligent electronic control system. In this case, the traditional mechanical caliper brake device has been difficult to meet the strict requirements of the regulations on the braking distance of the whole machine, resulting in a significant increase in the accident rate, and the safe operation of the whole machine has brought huge hidden dangers and challenges. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a vehicle braking control method, device, electronic device and storage medium, which can not only perform smooth braking under different braking conditions, but also improve the safety, comfort, response speed and operating performance of the harvesting machinery.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling braking of a vehicle, the method for controlling braking comprising:

[0007] Get the force of the current brake pedal being pressed, the current opening of the remote accelerator pedal, and the current rate of change of vehicle acceleration;

[0008] Determining whether the vehicle is in an emergency braking state based on the force, the opening degree, and the acceleration change rate;

[0009] If the vehicle is in an emergency braking state, the opening of the power output pump is adjusted based on the first preset current step length to enable the vehicle to perform emergency braking.

[0010] Preferably, determining whether the vehicle is in an emergency braking state based on the force, the opening degree and the operating state includes:

[0011] If the force is within a first force range, the opening is a preset opening threshold, and the acceleration change rate is within a first preset acceleration change rate range, the vehicle is in a braking state;

[0012] If the force is within a second force range, the opening is a preset opening threshold, and the acceleration change rate is within a second preset acceleration change rate range, the vehicle is in an emergency braking state;

[0013] Among them, the lower limit of the second force range is greater than the upper limit of the first force range; the lower limit of the second preset acceleration change rate range is greater than the upper limit of the first preset acceleration change rate range.

[0014] Preferably, the braking control method further includes:

[0015] If the vehicle is in a braking state, the opening of the power output pump is adjusted based on the second preset current step length to brake the vehicle.

[0016] Preferably, the braking control method further includes:

[0017] If the vehicle is in emergency braking state, the vehicle is controlled to sound an alarm.

[0018] In a second aspect, an embodiment of the present application further provides a braking control device for a vehicle, the braking control device comprising:

[0019] The acquisition module obtains the force when the current brake pedal is pressed, the current opening of the remote accelerator pedal and the current acceleration change rate of the vehicle;

[0020] A braking state judgment module, which determines whether the vehicle is in an emergency braking state based on the force, the opening degree and the acceleration change rate;

[0021] The first power output control module adjusts the opening of the power output pump based on a first preset current step if the vehicle is in an emergency braking state, so as to enable the vehicle to perform emergency braking.

[0022] Preferably, the braking state judgment module is specifically used for:

[0023] If the force is within a first force range, the opening is a preset opening threshold, and the acceleration change rate is within a first preset acceleration change rate range, the vehicle is in a braking state;

[0024] If the force is within a second force range, the opening is a preset opening threshold, and the acceleration change rate is within a second preset acceleration change rate range, the vehicle is in an emergency braking state;

[0025] Among them, the lower limit of the second force range is greater than the upper limit of the first force range; the lower limit of the second preset acceleration change rate range is greater than the upper limit of the first preset acceleration change rate range.

[0026] Preferably, the brake control device further comprises:

[0027] The second power output control module adjusts the opening of the power output pump based on the second preset current step if the vehicle is in a braking state, so as to brake the vehicle.

[0028] Preferably, the brake control device further comprises:

[0029] The alarm module controls the vehicle to sound an alarm if the vehicle is in an emergency braking state.

[0030] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle braking control method described in the first aspect or any possible implementation manner of the first aspect.

[0031] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of vehicle braking control described in the first aspect or any possible implementation manner of the first aspect are executed.

[0032] The embodiments of the present application provide a vehicle braking control method, device, electronic device and storage medium, which obtain the force of the current brake pedal being stepped on, the opening of the remote accelerator pedal and the rate of change of vehicle acceleration, and judge whether the vehicle is in an emergency braking state based on this. If it is in an emergency braking state, the opening of the power output pump is adjusted based on the first preset current step to achieve vehicle emergency braking. In this way, not only can smooth braking be performed under different braking states, but also the safety, comfort, response speed and operating performance of the harvesting machinery are improved.

[0033] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A flow chart showing a vehicle braking control method provided by an embodiment of the present application;

[0036] Figure 2 One of the structural schematic diagrams of a vehicle braking control device provided in an embodiment of the present application is shown;

[0037] Figure 3 A second structural schematic diagram of a vehicle brake control device provided in an embodiment of the present application is shown;

[0038] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0040] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0041] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring vehicle braking. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the vehicle braking control method and device provided by the embodiments of the present application is within the protection scope of the present application.

[0042] It is worth noting that in the field of agricultural production, due to the particularity of the working environment, the structural design of traditional harvesting machinery and equipment is relatively compact. At the same time, due to the constraints of relatively backward technology and cost control in the past, the quality of the whole machine of traditional harvesting machinery and equipment is difficult to reach a high level. Based on this reality, traditional harvesting machinery and equipment usually adopt mechanical caliper brake devices. However, with the steady progress of land consolidation, the agricultural production model has changed, the needs of end users have gradually changed, and the use of large-scale harvesting machinery and equipment has become increasingly widespread. The structural design of large-scale harvesting machinery has become more and more complex, and the quality of the whole machine has been greatly improved. Moreover, in order to improve the intelligence level of the whole vehicle, a large number of electronic control devices are used in the whole machine. Electronic control equipment has put forward higher requirements on the response speed of the braking system. The traditional mechanical caliper brake device mainly relies on mechanical transmission to realize the braking action, and its response speed is relatively slow, which is difficult to match with the intelligent electronic control system. In this case, the traditional mechanical caliper brake device has been difficult to meet the strict requirements of the regulations on the braking distance of the whole machine, resulting in a significant increase in the accident rate, and the safe operation of the whole machine has brought huge hidden dangers and challenges.

[0043] In response to the above problems, the embodiments of the present application propose a vehicle braking control method, device, electronic device and storage medium, which can not only perform smooth braking under different braking conditions, but also improve the safety, comfort, response speed and operating performance of the harvesting machinery.

[0044] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.

[0045] See also Figure 1 , Figure 1 A flowchart of a vehicle braking control method provided in an embodiment of the present application.

[0046] The working principle of the traditional mechanical caliper brake device is as follows: When the driver steps on the brake pedal, the brake fluid will be pumped into the pressure chamber. The rear end of the pressure chamber is connected to the hydraulic piston of the brake caliper through a hydraulic oil pipe. Under the action of the hydraulic pressure, the hydraulic piston begins to move, and the brake caliper is then contracted by the piston. After the brake caliper contracts, it will exert a corresponding force on the brake disc, thereby realizing the function of mechanical braking. The existing braking technology is difficult to meet the requirements of modern large-scale harvesting machinery in terms of intelligence, high precision, high comfort and high safety. When large-scale harvesting machinery is in a high-load operation state, high-speed driving, or facing a complex and changeable working environment, its braking effect is often difficult to maintain stability. This unstable braking performance is prone to cause a series of dangerous conditions such as rollover and tail swinging, especially under complex working conditions, or when emergency braking is required. The existing braking system cannot flexibly and accurately adjust the braking force according to the actual situation, which brings hidden dangers to the operation safety of large-scale harvesting machinery.

[0047] like Figure 1 As shown in the figure, the vehicle braking control method provided by the embodiment of the present application includes the following steps:

[0048] Step S101, obtaining the force of the current brake pedal being depressed, the current opening of the remote accelerator pedal and the current rate of change of acceleration of the vehicle.

[0049] Here, a brake pump pressure sensor for detecting the force applied when the brake pedal is depressed is provided at the brake pedal, and a three-axis inertial gyro sensor for detecting the acceleration change rate of the vehicle is provided inside the vehicle.

[0050] As an example, the brake pump adopts a connecting rod pressure chamber mechanism. Specifically, the force when the brake pedal is stepped on is obtained by the following principle: when the driver steps on the brake pedal, the connecting rod connected to the brake pedal will push the piston inside the brake pump to move, thereby pumping the brake fluid into the pressure chamber. The brake pump pressure sensor is connected to the rear end of the pressure chamber. The brake pump pressure sensor can not only detect whether the brake pedal is stepped on, but also detect the force when the brake pedal is stepped on. The three-axis inertial gyroscope sensor can calculate the acceleration change rate within a unit period and identify the current actual vehicle operation state corresponding to the acceleration change rate. The vehicle operation state may include but is not limited to: acceleration state, uniform speed state, deceleration state, braking state and emergency braking state. Remote accelerator pedal detection opening information. The brake pump pressure sensor, the three-axis inertial gyroscope sensor and the remote accelerator pedal output the real-time detected data to the control unit through the CAN bus. Here, the control unit has a built-in embedded processor MCU, a CAN unit, an analog output module, etc.

[0051] Step S102: determining whether the vehicle is in an emergency braking state based on the force, the opening degree and the acceleration change rate.

[0052] Here, the occurrence scenarios of the emergency braking state may include but are not limited to: sudden danger in front of the vehicle, sudden road conditions and vehicle failures. The occurrence scenarios of the braking state may include but are not limited to: traffic light instructions, compliance with speed limit regulations and maintaining a safe distance. The control unit determines whether it is currently in an emergency braking state or a braking state by receiving the three-axis inertial gyroscope sensor data, the brake pump pressure sensor data and the remote accelerator pedal data. The three-axis inertial gyroscope sensor detects the acceleration change rate of the current vehicle for verification. As an example, the control unit comprehensively determines whether the vehicle is in an emergency braking state based on the force when the current brake pedal is stepped on and the current opening of the remote accelerator pedal. When the control unit determines that the vehicle is in an emergency braking state, it will compare this judgment result with the current actual vehicle operation state corresponding to the acceleration change rate of the current vehicle detected by the three-axis inertial gyroscope sensor to confirm whether the two are consistent. If the two are consistent, the vehicle is in an emergency braking state. If the two are inconsistent, they will be compared again after a preset time interval. If the second comparison between the two is inconsistent, it is necessary to troubleshoot the brake pedal, remote accelerator pedal and three-axis inertial gyroscope sensor separately to determine whether there is a component failure. Through this working mechanism, it can effectively avoid misjudgment of vehicle operation status caused by a single sensor or component failure, thereby ensuring the accuracy and reliability of the vehicle control system.

[0053] Regarding step S102, in specific implementation, as an example, the following steps may be included:

[0054] First, if the force is within the first force range, the opening is the preset opening threshold, and the acceleration rate of change is within the first preset acceleration rate of change range, the vehicle is in a braking state. Here, the first force range and the first preset acceleration rate of change range are set based on actual experience, and the preset opening threshold is the maximum opening of the remote accelerator pedal, where the maximum opening of the remote accelerator pedal indicates the maximum vehicle speed. That is, when the force is within the first force range, the opening is the maximum opening, and the acceleration rate of change is within the first preset acceleration rate of change range, it is determined that the vehicle is in a braking state.

[0055] Then, if the force is within the second force range, the opening is the preset opening threshold, and the acceleration rate is within the second preset acceleration rate range, the vehicle is in an emergency braking state, wherein the lower limit of the second force range is greater than the upper limit of the first force range; the lower limit of the second preset acceleration rate range is greater than the upper limit of the first preset acceleration rate range. Here, the second force range and the second preset acceleration rate range are set based on actual experience. That is, when the force is within the second force range, the opening is the maximum opening, and the acceleration rate is within the second preset acceleration rate range, it is determined that the vehicle is in a braking state.

[0056] In this application, the first force range corresponds to the pedal force applied by the driver when performing a braking operation under normal driving conditions. The second force range corresponds to the force with which the driver presses the brake pedal vigorously in order to stop the vehicle quickly in an emergency. When setting the first force range, it is necessary to consider that within the first force range, the vehicle can achieve a smooth and gradual deceleration, avoiding sudden emergency stops of the vehicle due to excessive braking force, which affects ride comfort and driving safety. For example, for some light vehicles or vehicles with a relatively sensitive braking system response, the first force range may be relatively small; while for heavy vehicles or vehicles with a relatively slow braking system response, the first force range may be appropriately increased to ensure that the expected deceleration effect can be achieved during normal braking. When setting the second force range, it is necessary to ensure that in an emergency, the vehicle can generate a sufficiently large braking force to achieve the shortest braking distance. It is necessary to comprehensively consider factors such as the mass, speed, friction between the tire and the ground, and the maximum braking capacity of the braking system of the vehicle. Through actual testing of the vehicle, the pedal force range that can enable the vehicle to reach the maximum braking force under the premise of meeting the vehicle safety performance requirements is determined as the second force range.

[0057] In the present application, the setting principle of the first preset acceleration change rate range and the second preset acceleration change rate range is: during braking, the vehicle will generate an acceleration opposite to the driving direction, and during emergency braking, the vehicle will generate an acceleration opposite to the driving direction and greater than that during braking.

[0058] Step S103: If the vehicle is in an emergency braking state, the opening of the power output pump is adjusted based on the first preset current step length to enable the vehicle to perform emergency braking.

[0059] Here, when the vehicle is operating normally, the power output pump adjusts the opening according to the output current of the control unit to provide pressure to the travel hydraulic system. If the vehicle is in an emergency braking state, the control unit outputs a current that rapidly reduces the current output according to the first preset current step, and the pressure provided by the power output pump to the travel hydraulic system is instantly reduced to 0, achieving rapid braking. In the emergency braking state, the control unit outputs an analog signal to the power output pump through the CAN bus, controls the power output pump to reduce the pressure of the travel hydraulic system, thereby realizing intelligent auxiliary braking on the basis of braking by the traditional mechanical caliper brake device, intelligently regulating the output of the power output pump, and improving the response speed of the system. Among them, auxiliary braking reduces the impact of traditional mechanical caliper brakes.

[0060] In order to prevent dangerous situations such as vehicle roll, skidding, and brake locking during emergency braking, the attenuation current step is dynamically adjusted according to the force when the brake pedal is currently pressed, the current opening of the remote accelerator pedal, and the current operating status of the vehicle. This intelligent control method avoids the risk of vehicle loss of control due to excessive braking or excessive force, thereby greatly improving the safety of vehicle operation and driving.

[0061] In the present application, if the vehicle is in a braking state, the opening of the power output pump is adjusted based on the second preset current step length to enable the vehicle to brake. Here, the first preset current step length is greater than the second preset current step length, and the reason why the first preset current step length is greater than the second preset current step length is that the vehicle can brake quickly when it is in an emergency braking state. Here, the control unit gradually reduces the output current according to the second preset current step length, and the pressure provided by the power output pump to the travel hydraulic system is reduced, thereby achieving the purpose of reducing the speed.

[0062] In the present application, if the vehicle is in an emergency braking state, the vehicle is controlled to sound an alarm. Here, the alarm method may include but is not limited to: sound alarm, light alarm. As an example, the light alarm may include but is not limited to: turn signal and brake light. Specifically, for the light alarm, if the vehicle enters the emergency braking state, the control unit sends a corresponding control command to the power management unit through the CAN bus. After receiving the control command, the power management unit performs the corresponding operation according to the instruction, that is, controls the turn signal or brake light to flash, reminding the surrounding people to pay attention to safety.

[0063] Additionally, the present application also provides an intelligent display terminal in the vehicle to display sensor data, vehicle operating status, alarm status and other information sent by the control unit through the CAN bus, provide the operator with vehicle operating information, and increase the intuitiveness and safety of operation.

[0064] An embodiment of the present application provides a vehicle braking control method, through which not only smooth braking can be performed under different braking conditions, but also the safety, comfort, response speed and operating performance of the harvesting machinery can be improved.

[0065] Based on the same application concept, the embodiments of the present application also provide a vehicle braking device corresponding to the vehicle braking control method provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the vehicle braking control method in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0066] like Figures 2 to 3 As shown, Figure 2 This is one of the structural schematic diagrams of a vehicle braking control device provided in an embodiment of the present application. Figure 3 FIG2 is a second structural schematic diagram of a braking control device for a vehicle provided in an embodiment of the present application.

[0067] like Figure 2 As shown in the figure, the vehicle braking control device 210 provided in the embodiment of the present application includes:

[0068] The acquisition module 211 acquires the force of the current brake pedal being depressed, the current opening of the remote accelerator pedal and the current rate of change of acceleration of the vehicle;

[0069] A braking state determination module 212 determines whether the vehicle is in an emergency braking state based on the force, the opening degree and the acceleration change rate;

[0070] The first power output control module 213 adjusts the opening of the power output pump based on a first preset current step if the vehicle is in an emergency braking state, so as to enable the vehicle to perform emergency braking.

[0071] Preferably, the braking state determination module 212 is specifically used for:

[0072] If the force is within a first force range, the opening is a preset opening threshold, and the acceleration change rate is within a first preset acceleration change rate range, the vehicle is in a braking state;

[0073] If the force is within a second force range, the opening is a preset opening threshold, and the acceleration change rate is within a second preset acceleration change rate range, the vehicle is in an emergency braking state;

[0074] Among them, the lower limit of the second force range is greater than the upper limit of the first force range; the lower limit of the second preset acceleration change rate range is greater than the upper limit of the first preset acceleration change rate range.

[0075] like Figure 3As shown in , preferably, the brake control device 210 also includes:

[0076] The second power output control module 214 adjusts the opening of the power output pump based on the second preset current step if the vehicle is in a braking state, so as to brake the vehicle.

[0077] Preferably, the brake control device 210 further includes:

[0078] The alarm module 215 generates an alarm if the vehicle is in an emergency braking state.

[0079] An embodiment of the present application provides a vehicle braking control device, through which not only smooth braking can be performed under different braking conditions, but also the safety, comfort, response speed and operating performance of the harvesting machinery are improved.

[0080] See also Figure 4 , Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0081] like Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0082] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The specific implementation of the steps of the vehicle braking control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0083] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the vehicle braking control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0084] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0087] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0088] The above are only specific implementations 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 control method, characterized in that: The braking control method comprises: Get the force of the current brake pedal being pressed, the current opening of the remote accelerator pedal, and the current rate of change of vehicle acceleration; Determining whether the vehicle is in an emergency braking state based on the force, the opening degree, and the acceleration change rate; If the vehicle is in an emergency braking state, the opening of the power output pump is adjusted based on the first preset current step length to enable the vehicle to perform emergency braking.

2. The vehicle braking control method according to claim 1, characterized in that: The determining whether the vehicle is in an emergency braking state based on the force, the opening degree and the acceleration change rate includes: If the force is within a first force range, the opening is a preset opening threshold, and the acceleration change rate is within a first preset acceleration change rate range, the vehicle is in a braking state; If the force is within a second force range, the opening is a preset opening threshold, and the acceleration change rate is within a second preset acceleration change rate range, the vehicle is in an emergency braking state; Among them, the lower limit of the second force range is greater than the upper limit of the first force range; the lower limit of the second preset acceleration change rate range is greater than the upper limit of the first preset acceleration change rate range.

3. The vehicle braking control method according to claim 1, characterized in that: The braking control method further comprises: If the vehicle is in a braking state, the opening of the power output pump is adjusted based on the second preset current step length to brake the vehicle.

4. The vehicle braking control method according to claim 1, characterized in that: The braking control method further comprises: If the vehicle is in emergency braking state, the vehicle is controlled to sound an alarm.

5. A vehicle braking control device, characterized in that: The brake control device comprises: The acquisition module obtains the force when the current brake pedal is pressed, the current opening of the remote accelerator pedal and the current acceleration change rate of the vehicle; A braking state judgment module, which determines whether the vehicle is in an emergency braking state based on the force, the opening degree and the acceleration change rate; The first power output control module adjusts the opening of the power output pump based on a first preset current step if the vehicle is in an emergency braking state, so as to enable the vehicle to perform emergency braking.

6. The vehicle brake control device according to claim 5, characterized in that: The braking state judgment module is specifically used for: If the force is within a first force range, the opening is a preset opening threshold, and the acceleration change rate is within a first preset acceleration change rate range, the vehicle is in a braking state; If the force is within a second force range, the opening is a preset opening threshold, and the acceleration change rate is within a second preset acceleration change rate range, the vehicle is in an emergency braking state; Wherein, the lower limit of the second force range is greater than the upper limit of the first force range; The lower limit of the second preset acceleration change rate range is greater than the upper limit of the first preset acceleration change rate range.

7. The vehicle brake control device according to claim 5, characterized in that: The brake control device further comprises: The second power output control module adjusts the opening of the power output pump based on the second preset current step if the vehicle is in a braking state, so as to brake the vehicle.

8. The vehicle brake control device according to claim 5, characterized in that: The brake control device further comprises: The alarm module controls the vehicle to sound an alarm if the vehicle is in an emergency braking state.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle braking control method as described in any one of claims 1 to 4.

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 by a processor, the steps of the vehicle braking control method as claimed in any one of claims 1 to 4 are executed.

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