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

Abstract

The invention provides a vehicle braking method and device, a vehicle and a computer readable storage medium, the vehicle braking method is applied to the technical field of vehicles, and the vehicle braking method comprises the steps that when the gradient of a vehicle running road surface is larger than a gradient threshold value and a brake pedal signal is received, the brake pedal signal is started; acquiring a first braking force distributed to a front wheel and a second braking force distributed to a rear wheel according to the brake pedal signal; the front wheels are braked according to the first braking force, and the rear wheels are braked according to the second braking force; when it is detected that the front wheels are locked but the rear wheels are not locked, the braking force applied to the front wheels is kept unchanged; and according to the difference value between the first braking force and the braking force applied to the front wheel and / or the brake pedal travel speed under the condition that the front wheel is locked, the second braking force is increased, so that the rear wheel is locked. The front wheel and the rear wheel can be locked at the same time, so that the braking reliability of the vehicle on the ramp is improved, and it is ensured that the vehicle can be safely braked on the ramp.

Description

Technical Field

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

[0002] Vehicle stability has a vital impact on driving safety, but when a vehicle is driving on a steep slope, it often requires greater braking force to overcome the slope resistance and gravity when going uphill. When going uphill, the center of gravity of the vehicle moves forward, the grip of the rear wheels decreases, resulting in insufficient braking force on the rear wheels. When braking, the rear wheels often cannot be stopped or locked, which in turn affects the stability and safety of the vehicle.

[0003] Therefore, it is urgent to propose effective solutions to the above problems. Summary of the invention

[0004] The present application provides a vehicle braking method, device, vehicle and computer-readable storage medium. The present application can increase the braking force applied to the rear wheels when the vehicle is traveling on a slope and receives a brake pedal signal, and the front wheels are locked but the rear wheels are not locked, and can lock the front wheels and the rear wheels at the same time, thereby improving the reliability of the vehicle's braking on the slope and ensuring that the vehicle can be safely stopped on the slope.

[0005] In a first aspect, a vehicle braking method is provided, which includes: when the slope of a road on which the vehicle is located is greater than a slope threshold, if a brake pedal signal is received, a first braking force allocated to the front wheels and a second braking force allocated to the rear wheels are obtained according to the brake pedal signal; the front wheels are braked according to the first braking force, and the rear wheels are braked according to the second braking force; when it is detected that the front wheels are locked and the rear wheels are not locked, the braking force applied to the front wheels is kept unchanged; according to a target difference and / or a brake pedal travel speed, the second braking force is increased to lock the rear wheels; wherein the target difference is the difference between the first braking force and the third braking force, and the third braking force is the braking force applied to the front wheels when the front wheels are locked.

[0006] Through the above technical solution, when the slope of the road surface on which the vehicle is traveling is greater than the slope threshold and a brake pedal signal is received, the first braking force allocated to the front wheel and the second braking force allocated to the rear wheel are obtained according to the brake pedal signal; the front wheel is braked according to the first braking force, and the rear wheel is braked according to the second braking force; when it is detected that the front wheel is locked but the rear wheel is not locked, the braking force applied to the front wheel is kept unchanged; according to the difference between the first braking force and the braking force applied to the front wheel when the front wheel is locked and / or the brake pedal stroke speed, the second braking force is increased to lock the rear wheel. The present application controls the braking of the vehicle by allocating the braking force of the front and rear wheels according to the signal of the brake pedal when the vehicle is traveling on a slope and the driver brakes. If during the braking process, it is detected that the front wheel has been locked but the rear wheel has not been locked, the braking force applied to the front wheel is kept unchanged. At the same time, based on the difference between the braking force allocated to the front wheels and the braking force applied to the front wheels when the front wheels are locked and / or the speed at which the brake pedal is depressed, the braking force of the rear wheels is increased until the rear wheels are locked. This enables the front and rear wheels to be locked at the same time, thereby improving the reliability of vehicle braking on slopes and ensuring that the vehicle can be safely stopped on the slope.

[0007] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, obtaining the first braking force allocated to the front wheels and the second braking force allocated to the rear wheels according to the brake pedal signal includes: obtaining a first braking force request value from an initial braking force request curve according to a first brake pedal stroke corresponding to the brake pedal signal; wherein the initial braking force request curve is used to represent the correspondence between the braking force request value and the brake pedal stroke; and determining the first braking force and the second braking force according to a preset braking force distribution ratio and the first braking force request value.

[0008] In combination with the first aspect and the above implementation, in some possible implementations, increasing the second braking force according to the target difference and / or the brake pedal stroke speed so that the rear wheel is locked includes: determining the sum of the first braking force request value and the target difference to obtain the second braking force request value; determining the fourth braking force allocated to the rear wheel according to the preset braking force allocation ratio and the second braking force request value; performing braking control on the rear wheel according to the fourth braking force; in the case where it is detected that the rear wheel is not locked, obtaining the first braking force request increase gradient from the first mapping relationship according to the brake pedal stroke speed corresponding to the brake pedal signal; wherein the first mapping relationship includes a plurality of first preset brake pedal stroke speeds and a plurality of first preset brake pedal stroke speeds respectively corresponding to the first preset braking force request increase gradient, and the first preset brake pedal stroke speed is positively correlated with the first preset braking force request increase gradient; increasing the second braking force request value according to the first braking force request increase gradient until the rear wheel is locked. Based on the above technical solution, the braking force allocated to the rear wheel is increased according to the difference between the braking force allocated to the front wheel and the braking force applied to the front wheel when the front wheel is locked so that the rear wheel is locked. When the driver brakes slowly (the driver presses the brake pedal slowly), the braking force of the rear wheels is gradually increased until the rear wheels are close to a locked state. This can effectively reduce the impact force caused by the sudden increase in braking force, thereby improving the ride comfort and overall driving experience of the driver and passengers. At the same time, when the driver brakes for the second time and performs emergency braking, the first braking force request increase gradient is obtained according to the brake pedal travel speed, and the second braking force request value is increased according to the first braking force request increase gradient to increase the braking force allocated to the rear wheels until the rear wheels are locked. This can lock the rear wheels in a short time, ensuring that the vehicle can be quickly stopped on the slope when the driver has an emergency braking demand.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when it is detected that the rear wheels are not locked, the first braking force request increase gradient is obtained from the first mapping relationship according to the brake pedal travel speed corresponding to the brake pedal signal, including: when it is detected that the rear wheels are not locked and the brake pedal travel reaches a preset travel and / or the brake pedal speed is greater than a speed threshold, the first braking force request increase gradient is obtained from the first mapping relationship.

[0010] In combination with the first aspect and the above implementation, in some possible implementations, the vehicle braking method further includes: obtaining a third braking force request value and a second brake pedal stroke; wherein the third braking force request value is the corresponding increased second braking force request value when the rear wheels are locked, and the second brake pedal stroke is the corresponding brake pedal stroke when the rear wheels are locked; updating a fourth braking force request value in the initial braking force request curve according to the third braking force request value; wherein the fourth braking force request value is a preset braking force request value corresponding to a preset brake pedal stroke that is the same as the second brake pedal stroke in the initial braking force request curve. Based on the above technical solution, by replacing the fourth braking force request value in the initial braking force request curve with the third braking force request value, the preset braking force request value corresponding to the preset brake pedal stroke that is the same as the second brake pedal stroke in the initial braking force request curve is updated, so that the next time the vehicle brakes on a slope corresponding to the same slope as the current slope, and the brake pedal stroke of the vehicle is the second brake pedal stroke, the fourth braking force request value is directly output based on the preset braking force request value corresponding to the preset brake pedal stroke that is the same as the second brake pedal stroke in the updated initial braking force request curve, so as to improve the success rate of the vehicle braking on the slope.

[0011] In combination with the first aspect and the above implementation, in some possible implementations, when the target difference is not zero, increasing the second braking force according to the target difference and / or the brake pedal stroke speed so that the rear wheel is locked includes: determining the sum of the first braking force request value and the target difference to obtain a fifth braking force request value; determining the fifth braking force allocated to the rear wheel according to the preset braking force distribution ratio and the fifth braking force request value; and performing braking control on the rear wheel according to the fifth braking force until the rear wheel is locked. Based on the above technical solution, when the first braking force allocated to the front wheel is still remaining on the premise of meeting the braking demand of the front wheel, the remaining braking force in the first braking force is transferred to the rear wheel to compensate for the second braking force allocated to the rear wheel, thereby increasing the braking force allocated to the rear wheel until the rear wheel is locked. When the road slope is relatively gentle, the braking force of the rear wheel is gradually increased until the rear wheel is close to a locked state. The impact force generated by the sudden increase in the braking force can be effectively reduced, thereby improving the riding comfort and overall driving experience of the driver and passengers.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the target difference is zero, increasing the second braking force according to the target difference and / or the brake pedal stroke speed to lock the rear wheels includes: obtaining the wheel speed of the rear wheels; obtaining the target braking force request increment from the second mapping relationship according to the wheel speed; wherein the second mapping relationship includes a plurality of preset wheel speeds and a plurality of preset braking force request increments corresponding to each of the preset wheel speeds; determining the sum of the first braking force request value and the target braking force request increment to obtain a sixth braking force request value; determining the sixth braking force allocated to the rear wheels according to the preset braking force allocation ratio and the sixth braking force request value; and performing braking control on the rear wheels according to the sixth braking force until the rear wheels lock. Based on the above technical solution, when the braking force allocated to the front wheels just meets the braking demand of the front wheels, the target braking force request increment is obtained according to the rear wheel speed, and the second braking force request value is increased according to the target braking force request increment, thereby increasing the braking force allocated to the rear wheels until the rear wheels lock. This can make the front and rear wheels lock at the same time, thereby improving the reliability of vehicle braking on slopes and ensuring that the vehicle can be safely stopped on the slope.

[0013] In combination with the first aspect and the above implementation, in some possible implementations, increasing the second braking force according to the target difference and / or the brake pedal stroke speed so that the rear wheel locks includes: obtaining a second braking force request increase gradient from a third mapping relationship according to the brake pedal stroke speed corresponding to the brake pedal signal; wherein the third mapping relationship includes a plurality of second preset brake pedal stroke speeds and a plurality of second preset brake pedal stroke speeds respectively corresponding to the second preset braking force request increase gradient, and the second preset brake pedal stroke speed is positively correlated with the second preset braking force request increase gradient; increasing the first braking force request value according to the second braking force request increase gradient; determining the seventh braking force allocated to the rear wheel according to the preset braking force allocation ratio and the increased first braking force request value; and controlling the rear wheel by braking according to the seventh braking force until the rear wheel locks. Based on the above technical solution, the first braking force request value is compensated directly according to the brake pedal stroke speed corresponding to the brake pedal signal to increase the braking force allocated to the rear wheel until the rear wheel locks. When the road slope is steep, the braking force of the rear wheels can be quickly increased, causing the rear wheels to quickly approach a locked state, thereby achieving rapid braking of the vehicle and significantly improving driving safety.

[0014] In a second aspect, a vehicle braking device is provided, which includes: a first control module, which is used to obtain a first braking force allocated to the front wheels and a second braking force allocated to the rear wheels according to the brake pedal signal if a brake pedal signal is received when the slope of the road on which the vehicle is located is greater than a slope threshold; brake the front wheels according to the first braking force, and brake the rear wheels according to the second braking force; a second control module, which is used to keep the braking force applied to the front wheels unchanged when it is detected that the front wheels are locked and the rear wheels are not locked; increase the second braking force according to a target difference and / or a brake pedal travel speed to lock the rear wheels; wherein the target difference is the difference between the first braking force and the third braking force, and the third braking force is the braking force applied to the front wheels when the front wheels are locked.

[0015] In a third aspect, a vehicle is provided, comprising: a memory for storing an executable program code; and a processor for calling and running the executable program code from the memory, so that the computer executes the vehicle braking method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0016] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle braking method in the first aspect or any possible implementation of the first aspect.

[0017] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle braking method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a vehicle braking method provided in an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram of an initial braking force request curve provided in an embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram showing an updated initial braking force request curve provided in an embodiment of the present application is shown;

[0021] Figure 4 A schematic structural diagram of a vehicle braking device provided in an embodiment of the present application is shown;

[0022] Figure 5 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] Vehicle stability has a vital impact on driving safety, but when a vehicle is driving on a steep slope, it often requires greater braking force to overcome the slope resistance and gravity when going uphill. When going uphill, the center of gravity of the vehicle moves forward, the grip of the rear wheels decreases, resulting in insufficient braking force on the rear wheels. When braking, the rear wheels often cannot be stopped or locked, which in turn affects the stability and safety of the vehicle.

[0026] Based on the problems existing in the above-mentioned related technologies, the embodiments of the present application provide a vehicle braking method, device, vehicle and computer-readable storage medium. The present application distributes the braking force of the front and rear wheels according to the signal of the brake pedal when the vehicle is driving on a slope and the driver brakes, so as to control the braking of the vehicle. If it is detected during the braking process that the front wheels have been locked but the rear wheels have not been locked, the braking force applied to the front wheels is kept unchanged. At the same time, according to the difference between the braking force allocated to the front wheels and the braking force applied to the front wheels when the front wheels are locked and / or the speed of the brake pedal, the braking force of the rear wheels is increased until the rear wheels are locked, so that the front wheels and the rear wheels can be locked at the same time, thereby improving the reliability of the vehicle's braking on the slope and ensuring that the vehicle can be safely stopped on the slope.

[0027] The following is an embodiment of a vehicle braking method provided in an embodiment of the present application.

[0028] Figure 1 A schematic flow chart of a vehicle braking method provided in an embodiment of the present application is shown, such as Figure 1 As shown, the above vehicle braking method includes the following schemes:

[0029] S110: When the slope of the road on which the vehicle is located is greater than a slope threshold, if a brake pedal signal is received, a first braking force allocated to the front wheels and a second braking force allocated to the rear wheels are obtained according to the brake pedal signal.

[0030] S120: Braking the front wheels according to the first braking force, and braking the rear wheels according to the second braking force.

[0031] S130: When it is detected that the front wheels are locked but the rear wheels are not locked, the braking force applied to the front wheels is kept unchanged.

[0032] S140: Increasing the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheels.

[0033] It should be understood that when the vehicle brakes, the center of gravity moves forward, the grip of the front wheels increases, and it can withstand greater braking force. Therefore, in order to ensure the stability and safety of the vehicle during braking, in the design of the vehicle's braking system, the braking force of the front axle is set to be greater than the braking force of the rear axle, that is, the first braking force is greater than the second braking force. And the distribution ratio of this braking force is usually fixed. This design is usually reasonable on flat roads, but when the vehicle is driving on a slope, the center of gravity of the vehicle moves forward, and the grip of the rear wheels decreases. This design may cause the rear wheels to be difficult to lock when the front wheels are locked during braking, that is, when the front wheels are braked according to the first braking force, the front wheels can be locked; and when the rear wheels are braked according to the second braking force, the rear wheels cannot be locked, which affects the braking effect of the vehicle on the slope, resulting in the vehicle being unable to stop safely on the slope.

[0034] Therefore, in order to avoid the situation where the front wheels are locked but the rear wheels are not locked when the vehicle is braking on a slope, the present application controls the braking force applied to the front wheels to no longer increase when the front wheels are detected to be locked and the rear wheels are not locked, and the braking force applied to the front wheels at this time is recorded as the third braking force. The difference between the braking force allocated to the front wheels and the braking force applied to the front wheels when the front wheels are locked is calculated, that is, the difference between the first braking force and the third braking force, and the difference between the first braking force and the third braking force is recorded as the target difference. Among them, the target difference represents the remaining braking force that is not fully utilized in the braking force allocated to the front wheels after the front wheels are locked. The target difference can be used to increase the braking force allocated to the rear wheels to lock the rear wheels.

[0035] In addition, the brake pedal travel speed reflects the driver's driving intention. If the brake pedal travel speed is very fast, it usually indicates that the driver is performing emergency braking, indicating that the driver wants the vehicle to slow down as quickly as possible. Therefore, the braking force allocated to the rear wheels can be increased based on the brake pedal travel speed to lock the rear wheels.

[0036] It should be understood that the target difference and the brake pedal travel speed can also be combined to increase the braking force allocated to the rear wheels to lock the rear wheels. Specifically, when the vehicle brakes on a slope, if it is detected that the front wheels are locked but the rear wheels are not locked, the braking force allocated to the rear wheels is first increased based on the target difference to lock the rear wheels. If it is detected that the rear wheels are still not locked, the driver will brake a second time, and the braking force allocated to the rear wheels can be increased based on the brake pedal travel speed when the driver brakes for the second time until the rear wheels are locked.

[0037] Based on the technical solution of the present application, when the vehicle is traveling on a slope and the driver brakes, the braking force of the front and rear wheels is allocated according to the signal of the brake pedal to control the braking of the vehicle. If it is detected during the braking process that the front wheels have been locked but the rear wheels have not been locked, the braking force applied to the front wheels is kept unchanged. At the same time, according to the difference between the braking force allocated to the front wheels and the braking force applied to the front wheels when the front wheels are locked and / or the speed of the brake pedal, the braking force of the rear wheels is increased until the rear wheels are locked, so that the front wheels and the rear wheels can be locked at the same time, thereby improving the reliability of the vehicle's braking on the slope and ensuring that the vehicle can be safely stopped on the slope.

[0038] In a possible implementation, the obtaining of the first braking force allocated to the front wheels and the second braking force allocated to the rear wheels according to the brake pedal signal includes:

[0039] acquiring a first braking force request value from an initial braking force request curve according to a first brake pedal stroke corresponding to the brake pedal signal;

[0040] The first braking force and the second braking force are determined according to a preset braking force distribution ratio and a first braking force request value.

[0041] For example, Figure 2 A partial schematic diagram of the initial braking force request curve is shown, such as Figure 2 As shown, the initial braking force request curve is used to represent the corresponding relationship between the braking force request value and the brake pedal travel. Figure 2 In the coordinate system shown, the horizontal axis represents the brake pedal stroke, and the vertical axis represents the braking force request value. The brake pedal stroke is represented by the brake pedal opening, and the brake pedal opening is a percentage. According to the first brake pedal stroke corresponding to the brake pedal signal, the first braking force request value corresponding to the first brake pedal stroke can be found in the initial braking force request curve. For example, assuming that the first brake pedal stroke (S1) is 40%, the braking force request value corresponding to the point where the brake pedal stroke is 40% in the initial braking force request curve is a, and the first braking force request value (F1) is a.

[0042] The braking force distribution ratio is the ratio of the braking force distributed by the braking system of the vehicle to the front wheels and rear wheels of the vehicle when the vehicle is braking. The braking force distribution ratio is usually fixed, and the determination of the braking force distribution ratio is based on multiple factors such as vehicle design and performance requirements, laws and regulations, actual driving conditions and driving modes, which means that the braking force distribution ratio between the front wheels and the rear wheels is preset. When the vehicle brakes, the braking force request value is obtained from the initial braking force request curve according to the brake pedal stroke of the vehicle, and the braking force request value is distributed to the front wheels and the rear wheels of the vehicle according to the preset braking force distribution ratio to control the braking of the vehicle. Therefore, in the embodiment of the present application, the first braking force request value is distributed to the front wheels and the rear wheels of the vehicle according to the preset braking force distribution ratio. For example, assuming that the first braking force request value is x, the preset braking force distribution ratio is that the front wheels account for 60% of the braking force request value and the rear wheels account for 40% of the braking force request value, then the braking force allocated to the front wheels is 0.6x, that is, the first braking force is 0.6x; the braking force allocated to the rear wheels is 0.4x, that is, the second braking force is 0.4x.

[0043] In summary, the present application provides three methods to increase the braking force allocated to the rear wheels so that the rear wheels are locked. Method 1 is to increase the second braking force according to the target difference and the brake pedal travel speed so that the rear wheels are locked. Method 2 is to increase the second braking force according to the target difference so that the rear wheels are locked; Method 3 is to increase the second braking force according to the brake pedal travel speed so that the rear wheels are locked; the three implementation methods are described below in conjunction with specific embodiments.

[0044] Embodiment 1: Increasing the second braking force according to the target difference and the brake pedal travel speed to lock the rear wheels

[0045] In a possible implementation, increasing the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheels includes:

[0046] Determine a sum of the first braking force request value and the target difference value to obtain a second braking force request value;

[0047] determining a fourth braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and a second braking force request value;

[0048] braking control of the rear wheels according to the fourth braking force;

[0049] When it is detected that the rear wheels are not locked, obtaining a first braking force request increase gradient from a first mapping relationship according to a brake pedal travel speed corresponding to a brake pedal signal;

[0050] The second braking force request value is increased according to the gradient of the first braking force request until the rear wheels are locked.

[0051] When the vehicle brakes on a slope, if the front wheel is detected to be locked but the rear wheel is not locked. The front wheel is locked, which means that the first braking force allocated to the front wheel is sufficient to lock the front wheel, and there may be some residual braking force in the first braking force, that is, the target difference. Therefore, the residual braking force in the first braking force can be transferred to the rear wheel by controlling the braking force applied to the front wheel to stop increasing, so as to compensate the second braking force allocated to the rear wheel. Specifically, the first braking force request is compensated by calculating the sum of the first braking force request and the target difference, and the second braking force request value is obtained. Then, the second braking force request value is allocated according to the preset braking force allocation ratio to obtain the braking force allocated to the rear wheel, which is recorded as the fourth braking force. For example, assuming that the second braking force request value is y, and the preset braking force allocation ratio is that the front wheel accounts for 60% of the braking force request value and the rear wheel accounts for 40% of the braking force request value, the braking force allocated to the front wheel is 0.6y, and the braking force allocated to the rear wheel is 0.4y, that is, the fourth braking force is 0.4y. The rear wheel is braked and controlled according to the fourth braking force so that the rear wheel is locked. The target difference may be zero or non-zero. If it is detected that the rear wheel is still not locked, the second braking force request value is increased according to the brake pedal stroke speed corresponding to the brake pedal signal until the rear wheel is locked. Specifically, when it is detected that the rear wheel is not locked, and the brake pedal stroke reaches the preset stroke and / or the brake pedal speed is greater than the speed threshold, the first braking force request increase gradient is obtained from the first mapping relationship according to the brake pedal stroke speed corresponding to the brake pedal signal. Exemplarily, as shown in Table 1, the first mapping relationship includes a plurality of first preset brake pedal stroke speeds and a plurality of first preset brake pedal stroke speeds respectively corresponding to the first preset braking force request increase gradient, and the first preset brake pedal stroke speed is positively correlated with the first preset braking force request increase gradient. For example, when the first preset brake pedal stroke speed is B, the corresponding first preset braking force request increase gradient is b, that is, when the brake pedal stroke speed corresponding to the brake pedal signal is B, the corresponding first braking force request increase gradient is b.

[0052] Table 1

[0053] First preset brake pedal travel speed First preset braking force request increase gradient A a B b C c ... ...

[0054] According to the first braking force request increase gradient, the second braking force request value is increased, and the increased second braking force request value is distributed according to the preset braking force distribution ratio to obtain the braking force distributed to the rear wheels. For example, assuming that the increased second braking force request value is z, and the preset braking force distribution ratio is that the front wheels account for 60% of the braking force request value and the rear wheels account for 40% of the braking force request value, the braking force distributed to the front wheels is 0.6z, and the braking force distributed to the rear wheels is 0.4z. The rear wheels are braked according to the braking force distributed to the rear wheels until the rear wheels are locked.

[0055] Based on the above technical solution, the braking force allocated to the rear wheels is increased according to the difference between the braking force allocated to the front wheels and the braking force applied to the front wheels when the front wheels are locked, so as to lock the rear wheels. When the driver brakes slowly (the speed at which the driver steps on the brake pedal is relatively slow), the braking force of the rear wheels is gradually increased until the rear wheels are close to a locked state. The impact force caused by the sudden increase in the braking force can be effectively reduced, thereby improving the riding comfort and overall driving experience of the driver and passengers. At the same time, when the driver brakes for the second time and performs emergency braking, the first braking force request increase gradient is obtained according to the brake pedal stroke speed, and the second braking force request value is increased according to the first braking force request increase gradient to increase the braking force allocated to the rear wheels until the rear wheels are locked, so that the rear wheels can be locked in a short time, ensuring that the vehicle can be quickly stopped on the slope when the driver has an emergency braking demand.

[0056] In a possible implementation, the vehicle braking method further includes:

[0057] A third braking force request value and a second brake pedal stroke are obtained; and a fourth braking force request value in the initial braking force request curve is updated according to the third braking force request value.

[0058] In the case where the rear wheels are locked, a braking force request value corresponding to the moment when the rear wheels are locked is obtained, which is recorded as a third braking force request value. A brake pedal stroke corresponding to the moment when the rear wheels are locked is obtained, which is recorded as a second brake pedal stroke. A preset braking force request value corresponding to a preset brake pedal stroke that is the same as the second brake pedal stroke is found from the initial braking force request curve according to the second brake pedal stroke, which is recorded as a fourth braking force request value. Figure 3 A partial schematic diagram of the initial braking force request curve s (indicated by the dotted line) and the updated initial braking force request curve h (indicated by the solid line) is shown, as shown in FIG. Figure 3As shown, the fourth braking force request value (F2) in the initial braking force request curve is replaced with the third braking force request value (F3) to update the preset braking force request value corresponding to the preset brake pedal stroke that is the same as the second brake pedal stroke (S2) in the initial braking force request curve. When the vehicle brakes on a slope corresponding to the same slope as the current slope next time, and the brake pedal stroke of the vehicle is the second brake pedal stroke, the fourth braking force request value is directly output based on the preset braking force request value corresponding to the preset brake pedal stroke that is the same as the second brake pedal stroke in the updated initial braking force request curve, so as to improve the success rate of the vehicle braking on the slope.

[0059] Embodiment 2: Increasing the second braking force according to the target difference to lock the rear wheels

[0060] In summary, when the vehicle brakes on a slope, if the front wheel is detected to be locked, it means that the first braking force allocated to the front wheel is sufficient to lock the front wheel. And there may be some residual braking force in the first braking force, that is, the target difference is not zero. But it is possible that the first braking force is exactly equal to the braking force required for the front wheel to lock, that is, the target difference is zero.

[0061] Therefore, the second braking force is increased according to the target difference so that the rear wheels are locked. There are two situations: the target difference is not zero and the target difference is zero. The two situations are explained below respectively.

[0062] When the target difference is not zero

[0063] In a possible implementation, increasing the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheels includes:

[0064] determining a sum of the first braking force request value and the target difference value to obtain a fifth braking force request value;

[0065] determining a fifth braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and a fifth braking force request value;

[0066] The rear wheels are braked according to the fifth braking force until they are locked.

[0067] The target difference is not zero, which means that there is a residual braking force in the first braking force. By controlling the braking force applied to the front wheel to no longer increase, the residual braking force in the first braking force is transferred to the rear wheel to compensate for the second braking force allocated to the rear wheel. Specifically, the first braking force request is compensated by calculating the sum of the first braking force request and the target difference, and the fifth braking force request value is obtained. The fifth braking force request value is then allocated according to the preset braking force allocation ratio to obtain the braking force allocated to the rear wheel, which is recorded as the fifth braking force. For example, assuming that the fifth braking force request value is p, and the preset braking force allocation ratio is that the front wheel accounts for 60% of the braking force request value and the rear wheel accounts for 40% of the braking force request value, the braking force allocated to the front wheel is 0.6p, and the braking force allocated to the rear wheel is 0.4p, that is, the fifth braking force is 0.4p. The rear wheel is braked according to the fifth braking force to lock the rear wheel. If it is detected that the rear wheels are still not locked, the target difference is used as the braking force request value increment, the fifth braking force request value is continuously compensated, the sum of the fifth braking force request and the target difference is calculated, and the increased fifth braking force request value is distributed according to a preset braking force distribution ratio, and the rear wheels are braked and controlled according to the braking force distributed to the rear wheels until the rear wheels are locked.

[0068] Based on the above technical solution, when the first braking force allocated to the front wheels is still surplus after meeting the braking demand of the front wheels, the surplus braking force in the first braking force is transferred to the rear wheels to compensate for the second braking force allocated to the rear wheels, thereby increasing the braking force allocated to the rear wheels until the rear wheels are locked. In the case of a gentle road slope, the braking force of the rear wheels is gradually increased until the rear wheels are close to a locked state. The impact force caused by the sudden increase in braking force can be effectively reduced, thereby improving the ride comfort and overall driving experience of the driver and passengers.

[0069] The case where the target difference is zero

[0070] In a possible implementation, increasing the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheels includes:

[0071] Get the wheel speed of the rear wheel;

[0072] obtaining a target braking force request increment from a second mapping relationship according to the wheel speed;

[0073] determining a sum of the first braking force request value and the target braking force request increment to obtain a sixth braking force request value;

[0074] determining a sixth braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and a sixth braking force request value;

[0075] The rear wheels are braked according to the sixth braking force until they lock.

[0076] The target difference being zero indicates that there is no residual braking force in the first braking force, and therefore, the braking force request value cannot be increased, and the first braking force request value cannot be compensated according to the target difference to increase the braking force allocated to the rear wheels. The wheel speed of the wheel can reflect the degree of wheel braking, that is, it can reflect the magnitude of the braking force required for wheel locking. Therefore, the embodiment of the present application obtains the wheel speed of the rear wheel and obtains the target braking force request increment according to the rear wheel speed to achieve compensation for the first braking force request value, thereby increasing the braking force allocated to the rear wheel. Specifically, the present application obtains the target braking force request increment from the second mapping relationship according to the rear wheel speed. Exemplarily, as shown in Table 2, the second mapping relationship includes a plurality of preset wheel speeds and a plurality of preset braking force request increments corresponding to the preset wheel speeds. For example, when the preset wheel speed is E, the corresponding preset braking force request increment is e, that is, when the rear wheel speed is E, the corresponding target braking force request increment is e.

[0077] Table 2

[0078] Preset wheel speed Preset brake force request increment E e F f G g ... ...

[0079] By calculating the sum of the first braking force request value and the target braking force request increment, the first braking force request is compensated to obtain the sixth braking force request value. The sixth braking force request value is then distributed according to the preset braking force distribution ratio to obtain the braking force distributed to the rear wheels, which is recorded as the sixth braking force. For example, assuming that the sixth braking force request value is q, the preset braking force distribution ratio is that the front wheels account for 60% of the braking force request value and the rear wheels account for 40% of the braking force request value, then the braking force distributed to the front wheels is 0.6q, and the braking force distributed to the rear wheels is 0.4q, that is, the sixth braking force is 0.4q. The rear wheels are braked according to the sixth braking force until the rear wheels are locked.

[0080] Based on the above technical solution, when the braking force allocated to the front wheels just meets the braking demand of the front wheels, the target braking force request increment is obtained according to the rear wheel speed, and the second braking force request value is increased according to the target braking force request increment, thereby increasing the braking force allocated to the rear wheels until the rear wheels lock. This can make the front and rear wheels lock at the same time, thereby improving the reliability of vehicle braking on slopes and ensuring that the vehicle can be safely stopped on the slope.

[0081] Embodiment 3: Increasing the second braking force according to the brake pedal travel speed to lock the rear wheels

[0082] In a possible implementation, increasing the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheels includes:

[0083] acquiring a second braking force request increase gradient from a third mapping relationship according to a brake pedal travel speed corresponding to the brake pedal signal;

[0084] increasing the first braking force request value according to the second braking force request increasing gradient;

[0085] determining a seventh braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and the increased first braking force request value;

[0086] The rear wheels are braked according to the seventh braking force until they are locked.

[0087] Exemplarily, in some other embodiments of the present application, it is not necessary to consider whether there is a surplus of the first braking force allocated to the front wheel in the case of front wheel locking. The first braking force request value can be directly compensated according to the brake pedal stroke speed corresponding to the brake pedal signal to increase the braking force allocated to the rear wheel. Specifically, according to the brake pedal stroke speed corresponding to the brake pedal signal, the second braking force request increase gradient is obtained from the third mapping relationship. Exemplarily, as shown in Table 3, the third mapping relationship includes a plurality of second preset brake pedal stroke speeds and a plurality of second preset brake pedal stroke speeds respectively corresponding to the second preset braking force request increase gradient, and the second preset brake pedal stroke speed is positively correlated with the second preset braking force request increase gradient. For example, when the second preset brake pedal stroke speed is M, the corresponding second preset braking force request increase gradient is m, that is, when the brake pedal stroke speed corresponding to the brake pedal signal is M, the corresponding second braking force request increase gradient is m.

[0088] Table 3

[0089] Second preset brake pedal travel speed Second preset braking force request increase gradient M m N n K k ... ...

[0090] According to the second braking force request increase gradient, the first braking force request value is increased, and the increased first braking force request value is distributed according to the preset braking force distribution ratio to obtain the braking force distributed to the rear wheels, which is recorded as the seventh braking force. For example, assuming that the increased first braking force request value is w, and the preset braking force distribution ratio is that the front wheels account for 60% of the braking force request value and the rear wheels account for 40% of the braking force request value, the braking force distributed to the front wheels is 0.6w, and the braking force distributed to the rear wheels is 0.4w, that is, the seventh braking force is 0.4w. The rear wheels are braked according to the seventh braking force until the rear wheels are locked.

[0091] Based on the above technical solution, the first braking force request value is compensated directly according to the brake pedal travel speed corresponding to the brake pedal signal to increase the braking force allocated to the rear wheels until the rear wheels are locked. In the case of a steep road slope, the braking force of the rear wheels can be quickly increased, so that the rear wheels quickly approach a locked state, thereby achieving rapid braking of the vehicle and significantly improving driving safety.

[0092] Based on the technical solution of the present application, when the vehicle is traveling on a slope and the driver brakes, the braking force of the front and rear wheels is allocated according to the signal of the brake pedal to control the braking of the vehicle. If it is detected during the braking process that the front wheels have been locked but the rear wheels have not been locked, the braking force applied to the front wheels is kept unchanged. At the same time, according to the difference between the braking force allocated to the front wheels and the braking force applied to the front wheels when the front wheels are locked and / or the speed of the brake pedal, the braking force of the rear wheels is increased until the rear wheels are locked, so that the front wheels and the rear wheels can be locked at the same time, thereby improving the reliability of the vehicle's braking on the slope and ensuring that the vehicle can be safely stopped on the slope. Furthermore, by replacing the corresponding braking force request value with the preset brake pedal stroke in the initial braking force request curve, which is the same as the brake pedal stroke corresponding to the moment when the rear wheels lock, with the braking force request value corresponding to the moment when the rear wheels lock, the correspondence between the brake pedal stroke and the braking force request value in the initial braking force request curve is updated, so that the next time the vehicle brakes on a slope corresponding to the same slope as the current slope, and the brake pedal stroke of the vehicle is the brake pedal stroke corresponding to the moment when the rear wheels lock, the braking force request value corresponding to the moment when the rear wheels lock is directly output based on the updated initial braking force request curve, so as to improve the success rate of the vehicle's braking on the slope.

[0093] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0094] Figure 4 FIG. 1 is a schematic diagram showing the structure of a vehicle braking device provided by an embodiment of the present application. Figure 4 As shown, the vehicle braking device 400 includes:

[0095] The first control module 410 is configured to, when a brake pedal signal is received and the slope of the road on which the vehicle is located is greater than a slope threshold, obtain a first braking force allocated to the front wheels and a second braking force allocated to the rear wheels according to the brake pedal signal; brake the front wheels according to the first braking force, and brake the rear wheels according to the second braking force;

[0096] The second control module 420 is used to keep the braking force applied to the front wheels unchanged when it is detected that the front wheels are locked and the rear wheels are not locked; increase the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheels; wherein the target difference is the difference between the first braking force and the third braking force, and the third braking force is the braking force applied to the front wheels when the front wheels are locked.

[0097] In a possible implementation, the first control module 410 is specifically configured to:

[0098] According to the first brake pedal stroke corresponding to the brake pedal signal, a first braking force request value is obtained from an initial braking force request curve; wherein the initial braking force request curve is used to represent a corresponding relationship between the braking force request value and the brake pedal stroke;

[0099] The first braking force and the second braking force are determined according to a preset braking force distribution ratio and a first braking force request value.

[0100] In a possible implementation, the second control module 420 is specifically configured to:

[0101] Determine a sum of the first braking force request value and the target difference value to obtain a second braking force request value;

[0102] determining a fourth braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and a second braking force request value;

[0103] braking control of the rear wheels according to the fourth braking force;

[0104] When it is detected that the rear wheels are not locked, a first braking force request increase gradient is obtained from a first mapping relationship according to a brake pedal travel speed corresponding to the brake pedal signal; wherein the first mapping relationship includes a plurality of first preset brake pedal travel speeds and first preset braking force request increase gradients corresponding to each of the plurality of first preset brake pedal travel speeds, and the first preset brake pedal travel speed is positively correlated with the first preset braking force request increase gradient;

[0105] The second braking force request value is increased according to the gradient of the first braking force request until the rear wheels are locked.

[0106] In a possible implementation, the second control module 420 is specifically configured to:

[0107] When it is detected that the rear wheels are not locked and the brake pedal travel reaches a preset travel and / or the brake pedal speed is greater than a speed threshold, a first braking force request increase gradient is obtained from a first mapping relationship.

[0108] In a possible implementation, the vehicle braking device 400 further includes:

[0109] A processing module is used to obtain a third braking force request value and a second brake pedal stroke; wherein the third braking force request value is the corresponding increased second braking force request value when the rear wheels are locked, and the second brake pedal stroke is the corresponding brake pedal stroke when the rear wheels are locked; and update the fourth braking force request value in the initial braking force request curve according to the third braking force request value; wherein the fourth braking force request value is a preset braking force request value corresponding to a preset brake pedal stroke that is the same as the second brake pedal stroke in the initial braking force request curve.

[0110] In a possible implementation, the second control module 420 is specifically configured to:

[0111] determining a sum of the first braking force request value and the target difference value to obtain a fifth braking force request value;

[0112] determining a fifth braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and a fifth braking force request value;

[0113] The rear wheels are braked according to the fifth braking force until they are locked.

[0114] In a possible implementation, the second control module 420 is specifically configured to:

[0115] Get the wheel speed of the rear wheel;

[0116] Obtaining a target braking force request increment from a second mapping relationship according to the wheel speed; wherein the second mapping relationship includes a plurality of preset wheel speeds and preset braking force request increments corresponding to each of the plurality of preset wheel speeds;

[0117] determining a sum of the first braking force request value and the target braking force request increment to obtain a sixth braking force request value;

[0118] determining a sixth braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and a sixth braking force request value;

[0119] The rear wheels are braked according to the sixth braking force until they lock.

[0120] In a possible implementation, the second control module 420 is specifically configured to:

[0121] According to the brake pedal travel speed corresponding to the brake pedal signal, a second braking force request increase gradient is obtained from a third mapping relationship; wherein the third mapping relationship includes a plurality of second preset brake pedal travel speeds and a plurality of second preset brake pedal travel speeds respectively corresponding to the second preset braking force request increase gradient, and the second preset brake pedal travel speed is positively correlated with the second preset braking force request increase gradient;

[0122] increasing the first braking force request value according to the second braking force request increasing gradient;

[0123] determining a seventh braking force to be distributed to the rear wheels according to a preset braking force distribution ratio and the increased first braking force request value;

[0124] The rear wheels are braked according to the seventh braking force until they are locked.

[0125] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0126] For example, Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle braking method.

[0127] In this embodiment, the functional modules of the vehicle can be divided 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.

[0128] In the case of dividing each functional module according to each function, the vehicle may include: 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.

[0129] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle braking method, so it can be increased to achieve the same effect as the above-mentioned implementation method.

[0130] 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 relevant program codes and data.

[0131] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present 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.

[0132] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle braking method in the above-mentioned embodiment.

[0133] This embodiment 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.

[0134] 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.

[0135] The vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle braking method provided above. Therefore, the beneficial effects that can be increased can refer to the beneficial effects in the corresponding vehicle braking method provided above, and will not be repeated here.

[0136] 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.

[0137] 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.

[0138] 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: The vehicle braking method comprises: When the slope of the road on which the vehicle is located is greater than a slope threshold, if a brake pedal signal is received, a first braking force allocated to the front wheels and a second braking force allocated to the rear wheels are obtained according to the brake pedal signal; braking the front wheels according to the first braking force, and braking the rear wheels according to the second braking force; When it is detected that the front wheel is locked and the rear wheel is not locked, keeping the braking force applied to the front wheel unchanged; The second braking force is increased according to a target difference and / or a brake pedal travel speed to lock the rear wheel; wherein the target difference is a difference between the first braking force and a third braking force, and the third braking force is a braking force applied to the front wheel when the front wheel is locked.

2. The vehicle braking method according to claim 1, characterized in that: The step of acquiring the first braking force distributed to the front wheels and the second braking force distributed to the rear wheels according to the brake pedal signal comprises: According to the first brake pedal stroke corresponding to the brake pedal signal, a first braking force request value is obtained from an initial braking force request curve; wherein the initial braking force request curve is used to represent the corresponding relationship between the braking force request value and the brake pedal stroke; The first braking force and the second braking force are determined according to a preset braking force distribution ratio and the first braking force request value.

3. The vehicle braking method according to claim 2, characterized in that: Increasing the second braking force according to the target difference and / or the brake pedal travel speed so as to lock the rear wheel comprises: determining a sum of the first braking force request value and the target difference value to obtain a second braking force request value; determining a fourth braking force allocated to the rear wheels according to the preset braking force allocation ratio and the second braking force request value; performing braking control on the rear wheels according to the fourth braking force; When it is detected that the rear wheel is not locked, a first braking force request increase gradient is obtained from a first mapping relationship according to a brake pedal travel speed corresponding to the brake pedal signal; wherein the first mapping relationship includes a plurality of first preset brake pedal travel speeds and first preset braking force request increase gradients corresponding to the plurality of first preset brake pedal travel speeds, and the first preset brake pedal travel speed is positively correlated with the first preset braking force request increase gradient; The second braking force request value is increased according to the first braking force request increase gradient until the rear wheels are locked.

4. The vehicle braking method according to claim 3, characterized in that: When it is detected that the rear wheel is not locked, obtaining the first braking force request increase gradient from a first mapping relationship according to the brake pedal travel speed corresponding to the brake pedal signal includes: When it is detected that the rear wheels are not locked and the brake pedal stroke reaches a preset stroke and / or the brake pedal speed is greater than a speed threshold, the first braking force request increase gradient is obtained from the first mapping relationship.

5. The vehicle braking method according to claim 3, characterized in that: The vehicle braking method further comprises: Obtaining a third braking force request value and a second brake pedal stroke; wherein the third braking force request value is the second braking force request value after being increased correspondingly when the rear wheel is locked, and the second brake pedal stroke is the corresponding brake pedal stroke when the rear wheel is locked; A fourth braking force request value in the initial braking force request curve is updated according to the third braking force request value; wherein the fourth braking force request value is a preset braking force request value corresponding to a preset brake pedal stroke that is the same as the second brake pedal stroke in the initial braking force request curve.

6. The vehicle braking method according to claim 2, characterized in that: When the target difference is not zero, increasing the second braking force according to the target difference and / or the brake pedal travel speed so as to lock the rear wheel comprises: determining a sum of the first braking force request value and the target difference value to obtain a fifth braking force request value; determining a fifth braking force allocated to the rear wheels according to the preset braking force allocation ratio and the fifth braking force request value; The rear wheels are braked and controlled according to the fifth braking force until the rear wheels are locked.

7. The vehicle braking method according to claim 2, characterized in that: When the target difference is zero, increasing the second braking force according to the target difference and / or the brake pedal travel speed to lock the rear wheel comprises: Obtaining the wheel speed of the rear wheel; Obtaining a target braking force request increment from a second mapping relationship according to the wheel speed; wherein the second mapping relationship includes a plurality of preset wheel speeds and preset braking force request increments corresponding to the plurality of preset wheel speeds; determining a sum of the first braking force request value and the target braking force request increment to obtain a sixth braking force request value; determining a sixth braking force allocated to the rear wheels according to the preset braking force allocation ratio and the sixth braking force request value; The rear wheels are braked and controlled according to the sixth braking force until the rear wheels are locked.

8. The vehicle braking method according to claim 2, characterized in that: Increasing the second braking force according to the target difference and / or the brake pedal travel speed so as to lock the rear wheel comprises: According to the brake pedal travel speed corresponding to the brake pedal signal, a second braking force request increase gradient is obtained from a third mapping relationship; wherein the third mapping relationship includes a plurality of second preset brake pedal travel speeds and second preset braking force request increase gradients corresponding to the plurality of second preset brake pedal travel speeds, and the second preset brake pedal travel speed is positively correlated with the second preset braking force request increase gradient; increasing the first braking force request value according to the second braking force request increase gradient; determining a seventh braking force allocated to the rear wheels according to the preset braking force allocation ratio and the increased first braking force request value; The rear wheels are braked and controlled according to the seventh braking force until the rear wheels are locked.

9. A vehicle braking device, characterized in that: The vehicle braking device comprises: a first control module, configured to, when a brake pedal signal is received and the slope of the road on which the vehicle is located is greater than a slope threshold, obtain a first braking force allocated to the front wheels and a second braking force allocated to the rear wheels according to the brake pedal signal; brake the front wheels according to the first braking force, and brake the rear wheels according to the second braking force; The second control module is used to keep the braking force applied to the front wheel unchanged when it is detected that the front wheel is locked and the rear wheel is not locked; and increase the second braking force according to a target difference and / or a brake pedal travel speed to lock the rear wheel; wherein the target difference is the difference between the first braking force and a third braking force, and the third braking force is the braking force applied to the front wheel when the front wheel is locked.

10. 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 vehicle braking method as described in any one of claims 1 to 8.

11. 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 vehicle braking method according to any one of claims 1 to 8 is implemented.

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