Vehicle braking control method and system, medium and terminal

Abstract

The invention discloses a vehicle braking control method and system, a medium and a terminal, and the method comprises the steps: responding to a braking signal received by a vehicle, obtaining a first pressure and the duration of a current braking period in real time based on a current braking signal, and requesting the first pressure from an EBS of the vehicle, so that the vehicle enters a braking stage; when the vehicle is in the braking stage, the interruption pressure is analyzed in real time according to the current braking pressure and the duration time of the current braking period, if the current driving condition of the vehicle meets any interruption condition, the interruption pressure serves as the braking pressure, and the current braking pressure is requested from the EBS, so that the vehicle enters the braking interruption stage; and when the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets the preset braking requirement, stopping requesting the braking pressure from the EBS. By adopting the embodiment of the invention, the expected speed reduction effect can be quickly achieved at the starting stage of braking of the vehicle, and the problem of potential safety hazards caused by excessive braking is avoided.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle braking control method, system, medium and terminal. Background Art

[0002] For EBS (Electronic Braking System) based on brake pressure control rather than deceleration control, the main braking deceleration strategy is to calculate the brake pressure based on the functional relationship between brake pressure and deceleration using the expected deceleration, and then request a fixed value of brake pressure from the EBS.

[0003] However, since general speed sensors and acceleration sensors have delays, and the EBS pressure buildup and pressure release operations also require a certain amount of execution time, and overshoot often occurs during the pressure buildup process, the braking process cannot accurately achieve the desired deceleration and speed, and it is difficult to avoid excessive or weak braking, which in turn leads to safety hazards such as excessive deceleration or deceleration that does not meet expectations. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle braking control method, system, medium and terminal, which can quickly and stably achieve the expected deceleration effect of the vehicle at the beginning of braking, avoid potential safety hazards caused by excessive braking, and improve system response speed and driving safety.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a vehicle braking control method, comprising:

[0006] In response to a brake signal received by the vehicle, based on the current brake signal, obtaining a first pressure and a duration of a current brake cycle in real time, using the first pressure as the brake pressure, and requesting the current brake pressure from an EBS of the vehicle so that the vehicle enters a braking phase;

[0007] When the vehicle is in the braking stage, the interruption pressure of the vehicle is obtained by real-time analysis according to the current braking pressure and the duration of the current braking cycle. If the current driving condition of the vehicle meets any interruption condition, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS, so that the vehicle enters the braking interruption stage;

[0008] When the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets the preset braking requirement, the request for braking pressure from the EBS is stopped and the current braking cycle is ended.

[0009] In the implementation of the embodiment of the present invention, in response to the braking signal received by the vehicle, based on the current braking signal, the first pressure and the duration of the current braking cycle are obtained in real time, the current first pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle enters the braking stage. When the vehicle is in the braking stage, the interruption pressure of the vehicle is obtained by real-time analysis according to the current braking pressure and the duration of the current braking cycle. If the current driving condition of the vehicle meets any interruption condition, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle enters the braking interruption stage. By setting the interruption condition, the vehicle can stably and quickly achieve the expected deceleration effect under the action of the current braking pressure, without setting a smaller braking pressure at the beginning of braking in order to avoid excessive braking. When the vehicle meets the interruption condition, it can quickly respond and interrupt the current braking in time. Based on the current braking pressure and the duration of the current braking cycle, the braking pressure is accurately adjusted to meet the actual braking demand of the vehicle, and the safety hazards such as tire slippage and vehicle loss of control caused by excessive braking are prevented, thereby improving the response speed and safety of the system. When the vehicle is in the braking interruption stage, it decides whether to resume the original braking or end the braking according to the dynamic driving situation of the vehicle, thereby optimizing the braking process and avoiding unnecessary automatic operations. In addition, the driver can adjust the height of the brake pedal at any time according to the actual situation during driving to generate a new braking signal, so that after the vehicle receives the new braking signal, it can respond to the driver's operation in real time, without waiting for the last braking operation to be completed before responding to the next braking signal, so that abnormal braking signals or braking operations can be corrected in time, further improving driving safety.

[0010] As a preferred solution, when the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets the preset braking requirement, then the request for braking pressure from the EBS is stopped and the current braking cycle is ended, specifically:

[0011] When the vehicle is in a braking interruption stage, determining whether the current driving condition of the vehicle satisfies any recovery condition;

[0012] If yes, taking the first pressure as the braking pressure and requesting the current braking pressure from the EBS of the vehicle, so that the vehicle resumes braking and enters the braking phase;

[0013] If not, when the current driving condition of the vehicle satisfies any one of the termination conditions, stop requesting the EBS for braking pressure and end the current braking cycle; wherein one of the termination conditions is that the actual speed of the vehicle is not greater than the expected speed and the actual deceleration of the vehicle is not greater than the expected deceleration.

[0014] A preferred scheme for implementing the embodiment of the present invention is that when the vehicle is in the braking interruption stage, if the current driving condition of the vehicle satisfies any recovery condition and any end condition, the request for braking pressure to the vehicle's EBS is stopped and the current braking cycle is ended, and one of the end conditions is pre-set as the actual speed of the vehicle is not greater than the expected speed and the actual deceleration of the vehicle is not greater than the expected deceleration, so that the actual deceleration of the vehicle can accurately reach the expected deceleration that meets the braking demand of the vehicle, prevent overshoot, avoid the "nodding feeling" during braking, reduce vehicle jitter or passenger discomfort caused by sudden braking changes, improve driving comfort, and alleviate the situation where the vehicle deviates from the ideal driving trajectory, thereby improving driving safety.

[0015] As a preferred solution, the first pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle resumes braking and enters the braking phase, specifically:

[0016] Using the first pressure as the brake pressure, requesting the current brake pressure from the EBS of the vehicle, and then acquiring the actual speed of the vehicle, the actual deceleration of the vehicle, and the actual jerk of the vehicle in real time;

[0017] According to a preset braking algorithm, a first pressure and a duration of a current braking cycle are calculated in combination with a current actual speed, a current actual deceleration, a current actual jerk, a desired speed of the vehicle, a desired deceleration of the vehicle and a desired jerk of the vehicle; wherein the desired speed of the vehicle, the desired deceleration of the vehicle and the desired jerk of the vehicle are obtained based on a braking signal received by the vehicle;

[0018] The current first pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle, so that the vehicle enters a braking phase.

[0019] A preferred scheme for implementing the embodiment of the present invention is that when the vehicle is in a braking interruption stage and the current driving condition of the vehicle meets any recovery condition, after taking the first pressure as the braking pressure and requesting the current braking pressure from the EBS of the vehicle, the actual speed of the vehicle, the actual deceleration of the vehicle and the actual jerk of the vehicle are obtained in real time, and based on the braking signal received by the vehicle, the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are obtained, and then according to a preset braking algorithm, combined with the current actual speed, the current actual deceleration, the current actual jerk, the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle, the first pressure and the duration of the current braking cycle are calculated to adjust the braking pressure of the vehicle in real time according to the actual driving condition of the vehicle, to ensure that the braking after recovery can meet the actual braking needs of the vehicle in real time, and avoid excessive or weak braking.

[0020] As a preferred solution, the vehicle braking control method further includes:

[0021] When the vehicle is in the braking interruption stage, if the current driving condition of the vehicle does not meet all the recovery conditions and does not meet all the end conditions, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS so that the vehicle continues to be in the braking interruption stage.

[0022] According to a preferred solution of an embodiment of the present invention, when the vehicle is in a braking interruption stage, if the current driving condition of the vehicle does not satisfy all recovery conditions and does not satisfy all end conditions, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle continues to be in the braking interruption stage. Through the above means, the system can automatically adjust the braking strategy according to the dynamic driving state of the vehicle, ensure the safety and stability of the vehicle under various complex road conditions, reduce the operating burden of the driver, and enhance the intelligent driving experience.

[0023] As a preferred solution, the first pressure and the duration of the current braking cycle are obtained in real time based on the current braking signal in response to the braking signal received by the vehicle, specifically:

[0024] In response to a brake signal received by the vehicle, obtaining in real time an actual speed of the vehicle, an actual deceleration of the vehicle, and an actual jerk of the vehicle, and obtaining an expected speed of the vehicle, an expected deceleration of the vehicle, and an expected jerk of the vehicle based on a current brake signal;

[0025] According to a preset braking algorithm, a first pressure and a duration of a current braking cycle are calculated in combination with an actual speed of the vehicle, an actual deceleration of the vehicle, an actual jerk of the vehicle, an expected speed of the vehicle, an expected deceleration of the vehicle and an expected jerk of the vehicle.

[0026] A preferred solution for implementing the embodiment of the present invention calculates the first pressure and the duration of the current braking cycle according to the actual driving state and expected value of the vehicle, so that the system can dynamically adjust the braking pressure to ensure that the expected deceleration effect can be achieved quickly and smoothly, reducing the braking distance and improving braking safety.

[0027] As a preferred solution, when the vehicle is in the braking stage, after obtaining the interruption pressure of the vehicle through real-time analysis according to the current braking pressure and the duration of the current braking cycle, the method further includes:

[0028] If the current driving condition of the vehicle does not satisfy all the interruption conditions, the vehicle is still in the braking stage, and the actual speed of the vehicle, the actual deceleration of the vehicle, and the actual jerk of the vehicle are obtained in real time;

[0029] According to a preset braking algorithm, a first pressure and a duration of a current braking cycle are calculated in combination with a current actual speed, a current actual deceleration, a current actual jerk, a desired speed of the vehicle, a desired deceleration of the vehicle and a desired jerk of the vehicle;

[0030] using the current first pressure as the braking pressure and requesting the current braking pressure from the EBS so that the vehicle continues to be in the braking phase;

[0031] According to the current braking pressure and the duration of the current braking cycle, the interruption pressure of the vehicle is obtained by real-time analysis, and it is determined whether the current driving condition of the vehicle meets any interruption condition.

[0032] According to a preferred solution for implementing the embodiment of the present invention, when the vehicle is in the braking stage and the current driving condition of the vehicle does not satisfy all the interruption conditions, the system will continuously obtain the actual speed, deceleration and jerk of the vehicle in real time, and calculate the new first pressure and braking cycle duration through a preset braking algorithm in combination with the expected value, and use the current first pressure as the braking pressure, and request the current braking pressure from the EBS of the vehicle, so as to ensure that the braking pressure always adapts to the current driving condition, so that the braking effect of the vehicle is kept in the best state, thereby maintaining stable braking performance even when the driving conditions change.

[0033] As a preferred solution, when the vehicle is in the braking stage, the interruption pressure of the vehicle is obtained by real-time analysis according to the current braking pressure and the duration of the current braking cycle, specifically:

[0034] When the vehicle is in a braking phase, determining whether a difference between a duration of the current braking cycle and a duration of a previous braking cycle is equal to zero;

[0035] If yes, setting the vehicle's cutoff pressure equal to the minimum response pressure value of the EBS;

[0036] If not, the initial interruption pressure of the vehicle is calculated according to a preset interruption pressure algorithm, in combination with the current brake pressure, the duration of the current brake cycle and the duration of the previous brake cycle, and then the initial interruption pressure of the vehicle is compared with the minimum response pressure value of the EBS. If the initial interruption pressure of the vehicle is greater than or equal to the minimum response pressure value of the EBS, the initial interruption pressure of the vehicle is used as the interruption pressure of the vehicle. If the initial interruption pressure of the vehicle is less than the minimum response pressure value of the EBS, the interruption pressure of the vehicle is set equal to the minimum response pressure value of the EBS; wherein the preset interruption pressure algorithm is specifically:

[0037]

[0038] Wherein, Bl represents the current initial interruption pressure; Bi represents the current braking pressure; Bi0 represents the braking pressure of the previous braking cycle; Ti represents the duration of the current braking cycle; Ti0 represents the duration of the previous braking cycle; Kbl represents the interruption pressure time filter coefficient; Bl0 represents the interruption pressure of the previous braking cycle.

[0039] According to the preferred solution of the embodiment of the present invention, when the vehicle is in the braking stage and the difference between the duration of the current braking cycle and the duration of the previous braking cycle is not equal to zero, the initial interruption pressure of the vehicle is calculated by combining the current braking pressure, the duration of the current braking cycle and the duration of the previous braking cycle, and then the initial interruption pressure of the vehicle is compared with the minimum response pressure value of the EBS of the vehicle, and the maximum value of the two is selected as the final interruption pressure, so as to ensure that the interruption pressure will not be lower than the minimum response capability of the system, avoid the delay of the braking response caused by too low interruption pressure, and provide effective braking support quickly, especially in emergency braking. In addition, by combining the interruption pressure time filter coefficient, the current braking pressure, the duration of the current braking cycle, and the relevant braking parameters of the previous braking cycle, the system can dynamically adjust the interruption pressure according to the actual braking demand of the vehicle to ensure the accuracy and stability of the braking control process.

[0040] In order to solve the same technical problem, an embodiment of the present invention further provides a vehicle braking control system, comprising:

[0041] a first braking request module, configured to respond to a braking signal received by the vehicle, obtain a first pressure and a duration of a current braking cycle in real time based on a current braking signal, use the first pressure as a braking pressure, and request the current braking pressure from an EBS of the vehicle so that the vehicle enters a braking phase;

[0042] a second braking request module, for, when the vehicle is in a braking phase, analyzing in real time according to a current braking pressure and a duration of the current braking cycle to obtain an interruption pressure of the vehicle, and if the current driving condition of the vehicle satisfies any interruption condition, using the interruption pressure as the braking pressure, and requesting the current braking pressure from the EBS, so that the vehicle enters a braking interruption phase;

[0043] The braking end module is used to stop requesting braking pressure from the EBS and end the current braking cycle when the vehicle is in a braking interruption stage if the current driving condition of the vehicle meets the preset braking requirement.

[0044] In order to solve the same technical problem, the present invention also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle braking control method.

[0045] In order to solve the same technical problem, the present invention also provides a terminal, including a processor, a memory and a computer program stored in the memory; wherein the computer program can be executed by the processor to implement the vehicle braking control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 : A schematic flow chart of a vehicle braking control method provided in Embodiment 1 of the present invention;

[0047] Figure 2 : A schematic structural diagram of a vehicle braking control system provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Embodiment one:

[0050] Please refer to Figure 1 , is a vehicle braking control method provided by an embodiment of the present invention, the method comprises steps S1 to S3, each step is specifically as follows:

[0051] Step S1, in response to the braking signal received by the vehicle, based on the current braking signal, real-time acquisition of the first pressure and the duration of the current braking cycle, using the first pressure as the braking pressure, and requesting the current braking pressure from the EBS of the vehicle so that the vehicle enters the braking phase.

[0052] As a preferred solution, step S1 includes steps S11 to S13, and each step is specifically as follows:

[0053] Step S11, in response to the braking signal received by the vehicle, the actual speed of the vehicle, the actual deceleration of the vehicle and the actual acceleration of the vehicle are obtained in real time, and based on the current braking signal, the expected speed of the vehicle, the expected deceleration of the vehicle and the expected acceleration of the vehicle are obtained.

[0054] Step S12, please refer to equations (1) and (2), according to the preset braking algorithm, combined with the actual speed Vr of the vehicle, the actual deceleration Ar of the vehicle, the actual jerk Jr of the vehicle, the expected speed Ve of the vehicle, the expected deceleration Ae of the vehicle and the expected jerk Je of the vehicle, calculate the first pressure Bi' and the duration Ti of the current braking cycle.

[0055] Step S13: taking the first pressure Bi' as the braking pressure Bi, and requesting the current braking pressure Bi from the EBS of the vehicle, so that the vehicle enters the braking phase.

[0056] Bi=Pi*(Ae–Ar)+Ii*(Ve–Vr)+Di*(Je–Jr)+Bp+Kbi*Bi0; (1)

[0057]

[0058] Where Pi, Ii and Di are feedback control coefficients, Bi0 is the Bi value of the previous braking cycle, Kbi is the requested pressure time filter coefficient, and Bp is the feedforward pressure value. The feedforward pressure value Bp can be retrieved from the feedforward table according to the expected deceleration and the actual speed, and the feedforward table is obtained by recording the actual deceleration test values ​​under different speeds and requested braking pressures.

[0059] Step S2, when the vehicle is in the braking stage, the vehicle's interruption pressure Bl is obtained by real-time analysis based on the current braking pressure Bi and the duration Ti of the current braking cycle. If the vehicle's current driving condition meets any interruption condition, the interruption pressure Bl is used as the braking pressure Bi, and the current braking pressure Bi is requested from the EBS to make the vehicle enter the braking interruption stage.

[0060] As a preferred solution, step S2 includes step S21 to step S24, and each step is specifically as follows:

[0061] Step S21, when the vehicle is in the braking stage, determine whether the difference between the duration Ti of the current braking cycle and the duration Ti0 of the previous braking cycle is equal to zero; if so, execute step S22; if not, execute step S23.

[0062] Step S22, setting the vehicle's interruption pressure Bl to be equal to the minimum response pressure value of the EBS.

[0063] Step S23, according to the preset interruption pressure algorithm, combined with the current braking pressure Bi, the duration Ti of the current braking cycle and the duration Ti0 of the previous braking cycle, the initial interruption pressure of the vehicle is calculated, and then the initial interruption pressure of the vehicle is compared with the minimum response pressure value of the EBS. At this time, if the initial interruption pressure of the vehicle is greater than or equal to the minimum response pressure value of the EBS, the initial interruption pressure of the vehicle is used as the interruption pressure Bl of the vehicle. At this time, if the initial interruption pressure of the vehicle is less than the minimum response pressure value of the EBS, the interruption pressure Bl of the vehicle is set equal to the minimum response pressure value of the EBS.

[0064] The preset interruption pressure algorithm is shown in formula (3).

[0065]

[0066] Wherein, Bl represents the current initial interruption pressure; Bi represents the current braking pressure; Bi0 represents the braking pressure of the previous braking cycle; Ti represents the duration of the current braking cycle; Ti0 represents the duration of the previous braking cycle; Kbl represents the interruption pressure time filter coefficient; Bl0 represents the interruption pressure of the previous braking cycle.

[0067] Step S24, if the current driving condition of the vehicle meets any interruption condition, the interruption pressure Bl is used as the braking pressure Bi, and the EBS is requested to obtain the current braking pressure Bi, so that the vehicle enters the braking interruption phase, and the current time is used as the starting time of the interruption time, and the timing starts.

[0068] In this embodiment, the situations that meet the interruption conditions include, but are not limited to, the following four: ① (Je–Jr)<Klj*(Ae–Ar) / (Ti–Ti0); ② Ti = Ti0; ③ (Ti - Ti0) is less than the duration threshold; ④ (Ve–Vr)>Klv*(Ae–Ar)*(Ti–Ti0). Where Klv is the interruption speed coefficient.

[0069] As a preferred solution, a vehicle braking control method provided by an embodiment of the present invention further includes steps S25 to S28 after steps S21 to S23. The specific steps are as follows:

[0070] Step S25, if the current driving situation of the vehicle does not meet all interruption conditions, the vehicle remains in the braking phase, and the actual speed Vr of the vehicle, the actual deceleration Ar of the vehicle, and the actual jerk Jr of the vehicle are obtained in real time.

[0071] Step S26, referring to Equations (1) and (2), according to the preset braking algorithm, combining the current actual speed Ve, the current actual deceleration Ar, the current actual jerk Jr, the desired speed Ve of the vehicle, the desired deceleration Ae of the vehicle, and the desired jerk Je of the vehicle, calculate the first pressure Bi' and the duration Ti of the current braking cycle.

[0072] Step S27, take the current first pressure Bi' as the braking pressure Bi and request the current braking pressure Bi from the EBS so that the vehicle continues to be in the braking phase.

[0073] Step S28, based on the current braking pressure Bi and the duration Ti of the current braking cycle, analyze the interruption pressure Bl of the vehicle in real time and determine whether the current driving situation of the vehicle meets any one of the interruption conditions.

[0074] Step S3, when the vehicle is in the braking interruption phase, if the current driving situation of the vehicle meets the preset braking requirements, stop requesting the braking pressure from the EBS and end the current braking cycle.

[0075] As a preferred solution, step S3 includes steps S31 to S33, and the specific steps are as follows:

[0076] Step S31, when the vehicle is in the braking interruption phase, determine whether the current driving situation of the vehicle meets any one of the recovery conditions; if so, execute step S32; if not, execute step S33.

[0077] In this embodiment, the situations that meet the recovery conditions include, but are not limited to, the following three: ① Ti is not equal to Ti0, and (Je – Jr) > Kij * (Ae – Ar) / (Ti – Ti0); ② The interruption time exceeds the interruption time threshold; ③ (Ve – Vr) < Kiv * (Ae – Ar) * (Ti – Ti0). Wherein, Kij is the recovery jerk coefficient and Kiv is the recovery speed coefficient.

[0078] Step S32: Use the first pressure Bi’ as the braking pressure Bi, and request the current braking pressure Bi from the vehicle's EBS, so that the vehicle resumes braking and enters the braking phase.

[0079] As a preferred solution, step S32 includes steps S321 to S323, and the specific steps are as follows:

[0080] Step S321: Use the first pressure Bi’ as the braking pressure Bi, and request the current braking pressure Bi from the vehicle's EBS, and then obtain the actual speed Vr of the vehicle, the actual deceleration Ar of the vehicle, and the actual jerk Jr of the vehicle in real time.

[0081] Step S322: Refer to equations (1) and (2). According to the preset braking algorithm, combine the current actual speed Vr, the current actual deceleration Ar, the current actual jerk Jr, the desired speed Ve of the vehicle, the desired deceleration Ae of the vehicle, and the desired jerk Je of the vehicle to calculate the first pressure Bi’ and the duration Ti of the current braking cycle.

[0082] Among them, the desired speed Ve of the vehicle, the desired deceleration Ae of the vehicle, and the desired jerk Je of the vehicle are obtained based on the braking signal received by the vehicle.

[0083] Step S323: Use the current first pressure Bi’ as the braking pressure Bi, and request the current braking pressure Bi from the vehicle's EBS, so that the vehicle enters the braking phase.

[0084] Step S33: When any one of the end conditions is met in the current driving situation of the vehicle, stop requesting the braking pressure from the EBS and end the current braking cycle; wherein, one end condition is that the actual speed of the vehicle is not greater than the desired speed and the actual deceleration of the vehicle is not greater than the desired deceleration.

[0085] In this embodiment, the situations in which the termination conditions are met include but are not limited to the following five situations: ① Bi and Bi0 are less than the termination pressure threshold; ② the interruption time exceeds the termination time threshold; ③ Vr≤Ve and Ar≤Ae; ④ Ti is not equal to Ti0, and (Je–Jr)<Ksj*(Ae–Ar) / (Ti–Ti0);⑤(Ve–Vr)> Ksv*(Ae–Ar)*(Ti–Ti0). Ksj is the end jerk coefficient and Ksv is the end velocity coefficient.

[0086] As a preferred solution, a vehicle braking control method provided in an embodiment of the present invention further includes step S4, which is specifically as follows:

[0087] Step S4, when the vehicle is in the braking interruption stage, if the current driving condition of the vehicle does not meet all the recovery conditions and does not meet all the end conditions, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the vehicle's EBS to keep the vehicle in the braking interruption stage.

[0088] Please refer to Figure 2 , is a schematic diagram of the structure of a vehicle braking control system provided by an embodiment of the present invention, the system includes a first braking request module M1, a second braking request module M2 and a braking end module M3, and the specific details of each module are as follows:

[0089] The first braking request module M1 is used to respond to the braking signal received by the vehicle, obtain the first pressure and the duration of the current braking cycle in real time based on the current braking signal, use the first pressure as the braking pressure, and request the current braking pressure from the EBS of the vehicle so that the vehicle enters the braking phase;

[0090] The second braking request module M2 is used to analyze the vehicle's interruption pressure in real time according to the current braking pressure and the duration of the current braking cycle when the vehicle is in the braking stage. If the current driving condition of the vehicle meets any interruption condition, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS to make the vehicle enter the braking interruption stage;

[0091] The braking end module M3 is used to stop requesting braking pressure from the EBS and end the current braking cycle when the vehicle is in the braking interruption stage if the current driving condition of the vehicle meets the preset braking requirement.

[0092] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0093] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a vehicle braking control method described in embodiment 1.

[0094] An embodiment of the present invention further provides a terminal, comprising a processor, a memory, and a computer program stored in the memory; wherein the computer program can be executed by the processor to implement a vehicle braking control method described in Embodiment 1.

[0095] Preferably, the computer program can be divided into one or more modules / units (such as computer program, computer program), one or more modules / units are stored in the memory and executed by the processor to complete the present invention. One or more modules / units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal.

[0096] The processor can be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The processor is the control center of the terminal, and various parts of the terminal are connected using various interfaces and lines.

[0097] The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart memory card (Smart Med iaCard, SMC), a secure digital (Secure Digital, SD) card, and a flash card (Flash Card), etc., or the memory can also be other volatile solid-state storage devices.

[0098] It should be noted that the above-mentioned terminal may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the above-mentioned terminal is merely an example and does not constitute a limitation on the terminal. It may include more or fewer components, or a combination of certain components, or different components.

[0099] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0100] The present invention provides a vehicle braking control method, system, medium and terminal. In response to a braking signal received by a vehicle, based on the current braking signal, a first pressure and the duration of a current braking cycle are obtained in real time, the current first pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle enters a braking phase. When the vehicle is in the braking phase, the interruption pressure of the vehicle is obtained by real-time analysis according to the current braking pressure and the duration of the current braking cycle. If the current driving condition of the vehicle meets any interruption condition, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle enters a braking interruption phase. By setting the interruption condition, the vehicle can stably and quickly achieve the expected deceleration effect under the action of the current braking pressure, without setting a smaller braking pressure at the beginning of braking in order to avoid excessive braking. When the vehicle meets the interruption condition, it can quickly respond and interrupt the current braking in time. Based on the current braking pressure and the duration of the current braking cycle, the braking pressure is accurately adjusted to meet the actual braking demand of the vehicle, and the safety hazards such as tire slippage and vehicle loss of control caused by excessive braking are prevented, thereby improving the response speed and safety of the system. When the vehicle is in the braking interruption stage, it decides whether to resume the original braking or end the braking according to the dynamic driving situation of the vehicle, thereby optimizing the braking process and avoiding unnecessary automatic operations. In addition, the driver can adjust the height of the brake pedal at any time according to the actual situation during driving to generate a new braking signal, so that after the vehicle receives the new braking signal, it can respond to the driver's operation in real time, without waiting for the last braking operation to be completed before responding to the next braking signal, so that abnormal braking signals or braking operations can be corrected in time, further improving driving safety.

[0101] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle braking control method, characterized in that: include: In response to a brake signal received by the vehicle, based on the current brake signal, obtaining a first pressure and a duration of a current brake cycle in real time, using the first pressure as the brake pressure, and requesting the current brake pressure from an EBS of the vehicle so that the vehicle enters a braking phase; When the vehicle is in the braking stage, the interruption pressure of the vehicle is obtained by real-time analysis according to the current braking pressure and the duration of the current braking cycle. If the current driving condition of the vehicle meets any interruption condition, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS, so that the vehicle enters the braking interruption stage; When the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets the preset braking requirement, the request for braking pressure from the EBS is stopped and the current braking cycle is ended.

2. A vehicle braking control method according to claim 1, characterized in that: When the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets the preset braking requirement, then the request for braking pressure from the EBS is stopped and the current braking cycle is ended, specifically: When the vehicle is in a braking interruption stage, determining whether the current driving condition of the vehicle satisfies any recovery condition; If yes, taking the first pressure as the braking pressure and requesting the current braking pressure from the EBS of the vehicle, so that the vehicle resumes braking and enters the braking phase; If not, when the current driving condition of the vehicle satisfies any one of the termination conditions, stop requesting the EBS for braking pressure and end the current braking cycle; wherein one of the termination conditions is that the actual speed of the vehicle is not greater than the expected speed and the actual deceleration of the vehicle is not greater than the expected deceleration.

3. A vehicle braking control method as claimed in claim 2, characterized in that: The first pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so that the vehicle resumes braking and enters the braking phase, specifically: Using the first pressure as the brake pressure, requesting the current brake pressure from the EBS of the vehicle, and then acquiring the actual speed of the vehicle, the actual deceleration of the vehicle, and the actual jerk of the vehicle in real time; According to a preset braking algorithm, a first pressure and a duration of a current braking cycle are calculated in combination with a current actual speed, a current actual deceleration, a current actual jerk, a desired speed of the vehicle, a desired deceleration of the vehicle and a desired jerk of the vehicle; wherein the desired speed of the vehicle, the desired deceleration of the vehicle and the desired jerk of the vehicle are obtained based on a braking signal received by the vehicle; The current first pressure is used as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle, so that the vehicle enters a braking phase.

4. A vehicle braking control method as claimed in claim 2, characterized in that: Also includes: When the vehicle is in the braking interruption stage, if the current driving condition of the vehicle does not meet all the recovery conditions and does not meet all the end conditions, the interruption pressure is used as the braking pressure, and the current braking pressure is requested from the EBS so that the vehicle continues to be in the braking interruption stage.

5. A vehicle braking control method as claimed in claim 1, characterized in that: The step of responding to the braking signal received by the vehicle and acquiring the first pressure and the duration of the current braking cycle in real time based on the current braking signal is specifically as follows: In response to a brake signal received by the vehicle, obtaining in real time an actual speed of the vehicle, an actual deceleration of the vehicle, and an actual jerk of the vehicle, and obtaining an expected speed of the vehicle, an expected deceleration of the vehicle, and an expected jerk of the vehicle based on a current brake signal; According to a preset braking algorithm, a first pressure and a duration of a current braking cycle are calculated in combination with an actual speed of the vehicle, an actual deceleration of the vehicle, an actual jerk of the vehicle, an expected speed of the vehicle, an expected deceleration of the vehicle and an expected jerk of the vehicle.

6. A vehicle braking control method as claimed in claim 5, characterized in that: After obtaining the interruption pressure of the vehicle through real-time analysis according to the current braking pressure and the duration of the current braking cycle when the vehicle is in the braking stage, the method further includes: If the current driving condition of the vehicle does not satisfy all the interruption conditions, the vehicle is still in the braking stage, and the actual speed of the vehicle, the actual deceleration of the vehicle, and the actual jerk of the vehicle are obtained in real time; According to a preset braking algorithm, a first pressure and a duration of a current braking cycle are calculated in combination with a current actual speed, a current actual deceleration, a current actual jerk, a desired speed of the vehicle, a desired deceleration of the vehicle and a desired jerk of the vehicle; using the current first pressure as the braking pressure and requesting the current braking pressure from the EBS so that the vehicle continues to be in the braking phase; According to the current braking pressure and the duration of the current braking cycle, the interruption pressure of the vehicle is obtained by real-time analysis, and it is determined whether the current driving condition of the vehicle meets any interruption condition.

7. A vehicle braking control method as claimed in claim 1, characterized in that: When the vehicle is in the braking stage, the interruption pressure of the vehicle is obtained by real-time analysis according to the current braking pressure and the duration of the current braking cycle, specifically: When the vehicle is in a braking phase, determining whether a difference between a duration of the current braking cycle and a duration of a previous braking cycle is equal to zero; If yes, setting the vehicle's cutoff pressure equal to the minimum response pressure value of the EBS; If not, the initial interruption pressure of the vehicle is calculated according to a preset interruption pressure algorithm, in combination with the current brake pressure, the duration of the current brake cycle and the duration of the previous brake cycle, and then the initial interruption pressure of the vehicle is compared with the minimum response pressure value of the EBS. If the initial interruption pressure of the vehicle is greater than or equal to the minimum response pressure value of the EBS, the initial interruption pressure of the vehicle is used as the interruption pressure of the vehicle. If the initial interruption pressure of the vehicle is less than the minimum response pressure value of the EBS, the interruption pressure of the vehicle is set equal to the minimum response pressure value of the EBS; wherein the preset interruption pressure algorithm is specifically: Wherein, Bl represents the current initial interruption pressure; Bi represents the current braking pressure; Bi0 represents the braking pressure of the previous braking cycle; Ti represents the duration of the current braking cycle; Ti0 represents the duration of the previous braking cycle; Kbl represents the interruption pressure time filter coefficient; Bl0 represents the interruption pressure of the previous braking cycle.

8. A vehicle braking control system, characterized in that: include: a first braking request module, configured to respond to a braking signal received by the vehicle, obtain a first pressure and a duration of a current braking cycle in real time based on a current braking signal, use the first pressure as a braking pressure, and request the current braking pressure from an EBS of the vehicle so that the vehicle enters a braking phase; a second braking request module, for, when the vehicle is in a braking phase, analyzing in real time according to a current braking pressure and a duration of the current braking cycle to obtain an interruption pressure of the vehicle, and if the current driving condition of the vehicle satisfies any interruption condition, using the interruption pressure as the braking pressure, and requesting the current braking pressure from the EBS, so that the vehicle enters a braking interruption phase; The braking end module is used to stop requesting braking pressure from the EBS and end the current braking cycle when the vehicle is in a braking interruption stage if the current driving condition of the vehicle meets the preset braking requirement.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a vehicle braking control method as described in any one of claims 1 to 7.

10. A terminal, characterized in that: It comprises a processor, a memory and a computer program stored in the memory; wherein the computer program can be executed by the processor to implement a vehicle braking control method as described in any one of claims 1 to 7.

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