A vehicle brake control method, system, medium and terminal

Abstract

The application discloses a kind of vehicle brake control method, system, medium and terminal, comprising: response vehicle received brake signal, based on current brake signal, first pressure and the duration of current braking cycle are acquired in real time, and request first pressure to the EBS of vehicle, to make vehicle enter braking phase;When vehicle is in braking phase, according to current brake pressure and the duration of current braking cycle, interrupt pressure is analyzed in real time, if the current driving condition of vehicle satisfies any one interrupt condition, then interrupt pressure is taken as brake pressure, and request current brake pressure to EBS, to make vehicle enter braking interrupt phase;When vehicle is in braking interrupt phase, if the current driving condition of vehicle satisfies preset braking requirement, stop requesting brake pressure to EBS.Using the embodiment of the application, the expected deceleration effect can be quickly reached in the starting phase of vehicle braking, and the safety hazard problem caused by excessive braking is avoided.

Description

TECHNICAL FIELD

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

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

[0003] However, since the general speed sensor and acceleration sensor have a delay, and the EBS pressure building and pressure releasing operation also needs a certain execution time, and the pressure building process often has an overshoot phenomenon, the brake process cannot accurately reach the expected deceleration and expected speed, and it is difficult to avoid over-braking or under-braking, thereby causing excessive deceleration or deceleration not reaching the expected safety hazards. SUMMARY

[0004] The embodiments of the present application provide a vehicle braking control method, system, medium and terminal, which can quickly and stably achieve the expected deceleration effect in the starting stage of braking, avoid safety hazards caused by excessive braking, and improve system response speed and driving safety.

[0005] To solve the above technical problems, the embodiments of the present application provide a vehicle braking control method, comprising:

[0006] In response to the brake signal received by the vehicle, a first pressure and a duration of a current braking cycle are obtained in real time based on the current brake signal, the first pressure is taken as a brake pressure, and the current brake pressure is requested from the EBS of the vehicle to make the vehicle enter a braking stage;

[0007] When the vehicle is in the braking stage, the interrupt pressure of the vehicle is analyzed in real time according to the current brake pressure and the duration of the current braking cycle, if the current driving condition of the vehicle meets any one of the interrupt conditions, the interrupt pressure is taken as the brake pressure, and the current brake pressure is requested from the EBS to make the vehicle enter a braking interrupt stage;

[0008] When the vehicle is in the braking interrupt stage, if the current driving condition of the vehicle meets a preset braking requirement, the brake pressure is stopped to be requested from the EBS and the current braking cycle is ended.

[0009] The embodiment of the present application is implemented to, in response to a brake signal received by a vehicle, obtain a first pressure and a duration of a current brake period in real time based on the current brake signal, take the current first pressure as a brake pressure, and request the current brake pressure from an EBS of the vehicle to make the vehicle enter a brake stage, when the vehicle is in the brake stage, analyze a cut-off pressure of the vehicle in real time according to the current brake pressure and the duration of the current brake period, take the cut-off pressure as the brake pressure if the current driving condition of the vehicle meets any one of cut-off conditions, and request the current brake pressure from the EBS of the vehicle to make the vehicle enter a brake cut-off stage, so that the vehicle can reach an expected deceleration effect stably and quickly under the action of the current brake pressure without setting a smaller brake pressure in the initial stage of braking to avoid excessive braking, and when the vehicle meets the cut-off conditions, the current braking can be quickly responded and interrupted in time, the brake pressure is accurately adjusted based on the current brake pressure and the duration of the current brake period to meet the actual braking demand of the vehicle, the safety hazards such as tire skidding and vehicle out of control caused by excessive braking are prevented, and the response speed and safety of the system are improved. When the vehicle is in the brake cut-off stage, it is determined whether to restore the original braking or end the braking according to the dynamic driving condition of the vehicle, so that the braking process is optimized and unnecessary automatic operation is avoided. In addition, the driver can adjust the height of the brake pedal at any time during driving to generate a new brake signal, so that the vehicle can respond to the driver's operation in real time after receiving the new brake signal, without waiting for the previous brake operation to be completed before responding to the next brake signal, so that the abnormal brake signal or brake operation can be corrected in time, and the driving safety is further improved.

[0010] As a preferred solution, when the vehicle is in the brake cut-off stage, if the current driving condition of the vehicle meets a preset braking requirement, the brake pressure is stopped from being requested from the EBS and the current brake period is ended, specifically:

[0011] When the vehicle is in the brake cut-off stage, it is determined whether the current driving condition of the vehicle meets any one of the restoration conditions;

[0012] If yes, the first pressure is taken as the brake pressure, the current brake pressure is requested from the EBS of the vehicle to make the vehicle resume braking and enter the brake stage;

[0013] If no, when the current driving condition of the vehicle meets any one of the end conditions, the brake pressure is stopped from being requested from the EBS and the current brake period is ended; wherein one of the end 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] The preferred solution of the embodiment of the present application is that when the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets any one of the recovery conditions and any one of the ending conditions, the EBS of the vehicle is requested to stop requesting the braking pressure and the current braking cycle is ended, and one of the ending conditions is set in advance 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, so that the actual deceleration of the vehicle can accurately reach the expected deceleration that meets the braking demand of the vehicle, the overshoot phenomenon is prevented, the “nodding feeling” during braking is avoided, the vehicle shaking or passenger discomfort caused by sudden braking is reduced, the driving comfort is improved, the situation that the vehicle deviates from the ideal driving track is alleviated, and the driving safety is improved.

[0015] As a preferred solution, the first pressure is taken as the braking pressure, and the EBS of the vehicle is requested to request the current braking pressure, so that the vehicle resumes braking and enters the braking stage, specifically:

[0016] The first pressure is taken as the braking pressure, and the EBS of the vehicle is requested to request the current braking pressure, and then the actual speed of the vehicle, the actual deceleration of the vehicle and the actual jerk of the vehicle are obtained in real time;

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

[0018] The current first pressure is taken as the braking pressure, and the EBS of the vehicle is requested to request the current braking pressure, so that the vehicle enters the braking stage.

[0019] According to the preferred embodiment of the present application, when the vehicle is in the braking interruption stage and the current driving condition of the vehicle meets any one of the recovery conditions, 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 acquired in real time, the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are acquired based on the braking signal received by the vehicle, and then the first pressure and the duration of the current braking period are calculated according to the preset braking algorithm and in combination 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, so as to adjust the braking pressure of the vehicle in real time according to the actual driving condition of the vehicle and ensure that the recovered braking can be in real time in line with the actual braking demand of the vehicle, thereby avoiding overstrong or overweak braking.

[0020] According to the preferred embodiment of the present application, the vehicle braking control method further comprises:

[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 taken 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 the preferred embodiment of the present application, 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 taken 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 operation burden of the driver and improve the intelligent experience of driving.

[0023] According to the preferred embodiment of the present application, the response to the braking signal received by the vehicle and the real-time acquisition of the first pressure and the duration of the current braking period based on the current braking signal are as follows:

[0024] 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 jerk of the vehicle are acquired in real time, and the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are acquired based on the current braking signal.

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

[0026] According to the actual driving state and the expected value of the vehicle, the first pressure and the duration of the current braking period are calculated, so that the system can dynamically adjust the braking pressure, ensure that the expected deceleration effect can be quickly and smoothly approached, reduce the braking distance and improve the braking safety.

[0027] As a preferred solution, when the vehicle is in the braking phase, the first pressure and the duration of the current braking period are calculated in combination with the current braking pressure and the duration of the current braking period, and then the interruption pressure of the vehicle is analyzed in real time.

[0028] If the current driving condition of the vehicle does not meet all the interruption conditions, the vehicle is still in the braking phase, and the actual speed of the vehicle, the actual deceleration of the vehicle and the actual jerk of the vehicle are acquired in real time.

[0029] According to the preset braking algorithm, the first pressure and the duration of the current braking period are calculated in combination 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.

[0030] The current first pressure is taken as the braking pressure, and the current braking pressure is requested 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 period, the interruption pressure of the vehicle is analyzed in real time, and it is judged whether the current driving condition of the vehicle meets any interruption condition.

[0032] According to the preset braking algorithm, the first pressure and the duration of the current braking period are calculated in combination 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.

[0033] As a preferred solution, when the vehicle is in the braking stage, the interrupt pressure of the vehicle is analyzed in real time according to the current braking pressure and the duration of the current braking period, and specifically:

[0034] When the vehicle is in the braking stage, it is determined whether the difference between the duration of the current braking period and the duration of the last braking period is equal to zero.

[0035] If yes, the interrupt pressure of the vehicle is set equal to the minimum response pressure value of the EBS.

[0036] If no, the initial interrupt pressure of the vehicle is calculated according to a preset interrupt pressure algorithm in combination with the current braking pressure, the duration of the current braking period and the duration of the last braking period, and then the initial interrupt pressure of the vehicle is compared with the minimum response pressure value of the EBS. At this time, if the initial interrupt pressure of the vehicle is greater than or equal to the minimum response pressure value of the EBS, the initial interrupt pressure of the vehicle is taken as the interrupt pressure of the vehicle. At this time, if the initial interrupt pressure of the vehicle is less than the minimum response pressure value of the EBS, the interrupt pressure of the vehicle is set equal to the minimum response pressure value of the EBS. The preset interrupt pressure algorithm is specifically:

[0037]

[0038] In the formula, Bl represents the current initial interrupt pressure; Bi represents the current braking pressure; Bi0 represents the braking pressure of the last braking period; Ti represents the duration of the current braking period; Ti0 represents the duration of the last braking period; Kbl represents the interrupt pressure time filtering coefficient; and Bl0 represents the interrupt pressure of the last braking period.

[0039] The preferred solution of the embodiment of the application is implemented. When the vehicle is in the braking stage and the difference between the duration of the current braking period and the duration of the last braking period is not equal to zero, the initial interrupt pressure of the vehicle is calculated in combination with the current braking pressure, the duration of the current braking period and the duration of the last braking period, and then the initial interrupt pressure of the vehicle is compared with the minimum response pressure value of the EBS of the vehicle. The maximum value of the two is selected as the final interrupt pressure, which ensures that the interrupt pressure will not be lower than the minimum response capability of the system, avoids the delay of braking response caused by the too low interrupt pressure, and especially in the case of emergency braking, can quickly provide effective braking support. In addition, in combination with the interrupt pressure time filtering coefficient, the current braking pressure, the duration of the current braking period and the related braking parameters of the last braking period, the system can dynamically adjust the interrupt pressure according to the actual braking demand of the vehicle, and ensure the accuracy and stability of the braking control process.

[0040] To solve the same technical problem, the embodiment of the present application also provides a vehicle brake control system, comprising:

[0041] A first brake request module is configured to, in response to a brake signal received by a vehicle, obtain a first pressure and a duration of a current brake period in real time based on the current brake signal, take the first pressure as a brake pressure, and request a current brake pressure from an EBS of the vehicle so as to make the vehicle enter a brake stage.

[0042] A second brake request module is configured to, when the vehicle is in the brake stage, obtain an interruption pressure of the vehicle in real time according to the current brake pressure and the duration of the current brake period, take the interruption pressure as the brake pressure if a current driving condition of the vehicle meets any one of interruption conditions, and request the current brake pressure from the EBS so as to make the vehicle enter a brake interruption stage.

[0043] A brake end module is configured to, when the vehicle is in the brake interruption stage, stop requesting the brake pressure from the EBS and end the current brake period if the current driving condition of the vehicle meets a preset brake requirement.

[0044] To solve the same technical problem, the present application also provides a computer readable storage medium, which comprises a stored computer program; wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the vehicle brake control method when the computer program runs.

[0045] To solve the same technical problem, the present application also provides a terminal, which comprises a processor, a memory and a computer program stored in the memory; wherein the computer program can be executed by the processor to realize the vehicle brake control method. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 FIG. 1 is a flowchart of a vehicle brake control method provided by an embodiment of the present application;

[0047] Figure 2 FIG. 2 is a structural diagram of a vehicle brake control system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0049] Embodiment One:

[0050] Please refer to Figure 1 A vehicle braking control method is provided in the embodiment of the present application, which comprises steps S1 to S3, and each step is specifically as follows:

[0051] In step S1, in response to the braking signal received by the vehicle, the first pressure and the duration of the current braking period are obtained in real time based on the current braking signal, the first pressure is taken as the braking pressure, and the current braking pressure is requested from the EBS of the vehicle so as to make the vehicle enter the braking stage.

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

[0053] In 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 jerk of the vehicle are obtained in real time, and the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are obtained based on the current braking signal.

[0054] In step S12, please refer to formula (1) (2), the first pressure Bi' and the duration Ti of the current braking period are calculated according to the preset braking algorithm and in combination 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.

[0055] In step S13, the first pressure Bi' is taken as the braking pressure Bi, and the current braking pressure Bi is requested from the EBS of the vehicle so as to make the vehicle enter the braking stage.

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

[0057]

[0058] In the formula, Pi, Ii and Di are feedback control coefficients, Bi0 is the Bi value of the last braking period, Kbi is the request pressure time filtering coefficient, and Bp is the feedforward pressure value. The feedforward pressure value Bp can be obtained according to the expected deceleration and the actual speed in the feedforward table, and the feedforward table is recorded by the actual deceleration test value under different speeds and requested braking pressures.

[0059] Step S2, when the vehicle is in the braking phase, according to the current braking pressure Bi and the duration Ti of the current braking period, the interrupt pressure Bl of the vehicle is analyzed in real time, if the current driving condition of the vehicle meets any one of the interrupt conditions, the interrupt pressure Bl is taken as the braking pressure Bi, and the current braking pressure Bi is requested to the EBS, so that the vehicle enters the braking interrupt phase.

[0060] As a preferred solution, step S2 comprises steps S21 to S24, each of which is as follows:

[0061] Step S21, when the vehicle is in the braking phase, it is judged whether the difference between the duration Ti of the current braking period and the duration Ti0 of the last braking period is equal to zero; if yes, step S22 is executed; if no, step S23 is executed.

[0062] Step S22, the interrupt pressure Bl of the vehicle is set equal to the minimum response pressure value of the EBS.

[0063] Step S23, according to the preset interrupt pressure algorithm, the current braking pressure Bi, the duration Ti of the current braking period and the duration Ti0 of the last braking period are combined to calculate the initial interrupt pressure of the vehicle, and then the initial interrupt pressure of the vehicle is compared with the minimum response pressure value of the EBS, at this time, if the initial interrupt pressure of the vehicle is greater than or equal to the minimum response pressure value of the EBS, the initial interrupt pressure of the vehicle is taken as the interrupt pressure Bl of the vehicle, at this time, if the initial interrupt pressure of the vehicle is less than the minimum response pressure value of the EBS, the interrupt pressure Bl of the vehicle is set equal to the minimum response pressure value of the EBS.

[0064] Wherein, the preset interrupt pressure algorithm, please refer to formula (3).

[0065]

[0066] In the formula, Bl represents the current initial interrupt pressure; Bi represents the current braking pressure; Bi0 represents the braking pressure of the last braking period; Ti represents the duration of the current braking period; Ti0 represents the duration of the last braking period; Kbl represents the interrupt pressure time filtering coefficient; Bl0 represents the interrupt pressure of the last braking period.

[0067] Step S24, if the current driving condition of the vehicle meets any one of the interrupt conditions, the interrupt pressure Bl is taken as the braking pressure Bi, and the current braking pressure Bi is requested to the EBS, so that the vehicle enters the braking interrupt phase, at the same time, the current time is taken as the starting time of the interrupt time, and the timing is started.

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

[0069] As a preferred solution, the vehicle braking control method provided by the embodiment further comprises steps S25 to S28 after the step S21 to the step S23, and the steps are specifically as follows:

[0070] In the step S25, if the current driving condition of the vehicle does not meet all the interruption conditions, the vehicle is still in the braking stage, and the actual speed Vr, the actual deceleration Ar and the actual jerk Jr of the vehicle are obtained in real time.

[0071] In the step S26, please refer to the formula (1) (2), according to the preset braking algorithm, the current actual speed Ve, the current actual deceleration Ar, the current actual jerk Jr, the expected speed Ve of the vehicle, the expected deceleration Ae of the vehicle and the expected jerk Je of the vehicle are combined to calculate the first pressure Bi' and the duration Ti of the current braking period.

[0072] In the step S27, the current first pressure Bi' is taken as the braking pressure Bi, and the current braking pressure Bi is requested from the EBS to make the vehicle continue to be in the braking stage.

[0073] In the step S28, the interruption pressure Bl of the vehicle is obtained in real time according to the current braking pressure Bi and the duration Ti of the current braking period, and it is judged whether the current driving condition of the vehicle meets any one of the interruption conditions.

[0074] In the step S3, when the vehicle is in the braking interruption stage, if the current driving condition of the vehicle meets the preset braking requirement, the braking pressure is stopped to be requested from the EBS and the current braking period is ended.

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

[0076] In the step S31, when the vehicle is in the braking interruption stage, it is judged whether the current driving condition of the vehicle meets any one of the recovery conditions; if yes, the step S32 is executed; if no, the step S33 is executed.

[0077] In the embodiment, the conditions satisfying the recovery condition 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 a recovery jerk coefficient, and Kiv is a recovery speed coefficient.

[0078] Step S32, taking the first pressure Bi' as the braking pressure Bi, and requesting the current braking pressure Bi from the EBS of the vehicle to make the vehicle recover braking and enter the braking phase.

[0079] As a preferred solution, step S32 includes steps S321 to S323, each of which is as follows:

[0080] Step S321, taking the first pressure Bi' as the braking pressure Bi, and requesting the current braking pressure Bi from the EBS of the vehicle, and then acquiring 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, please refer to formula (1) (2), according to the preset braking algorithm, combined with the current actual speed Vr, the current actual deceleration Ar, the current actual jerk Jr, the expected speed Ve of the vehicle, the expected deceleration Ae of the vehicle and the expected jerk Je of the vehicle, the first pressure Bi' and the duration Ti of the current braking period are calculated.

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

[0083] Step S323, taking the current first pressure Bi' as the braking pressure Bi, and requesting the current braking pressure Bi from the EBS of the vehicle to make the vehicle enter the braking phase.

[0084] Step S33, when the current driving condition of the vehicle satisfies any one of the ending conditions, stop requesting the braking pressure from the EBS and end the current braking period; wherein, one ending condition 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.

[0085] In the embodiment, the case where the ending condition is met includes, but is not limited to, the following five cases: ① Bi and Bi0 are less than an ending pressure threshold; ② the interruption time exceeds an ending 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). Wherein, Ksj is an ending jerk coefficient, and Ksv is an ending speed coefficient.

[0086] As a preferred solution, the vehicle braking control method provided by the embodiment further comprises step S4, which is specifically as follows:

[0087] In step S4, when the vehicle is in the braking interruption phase, if the current driving condition of the vehicle does not meet all the recovery conditions and does not meet all the ending conditions, the interruption pressure is taken 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 phase.

[0088] Please refer to Figure 2 The structure of the vehicle braking control system provided by the embodiment is shown in the figure, which comprises a first braking request module M1, a second braking request module M2 and a braking ending module M3, and each module is specifically as follows:

[0089] The first braking request module M1 is used to respond to the braking signal received by the vehicle, to obtain the first pressure and the duration of the current braking cycle in real time based on the current braking signal, to take the first pressure as the braking pressure, and to 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 obtain the interruption pressure of the vehicle in real time according to the current braking pressure and the duration of the current braking cycle when the vehicle is in the braking phase, to take the interruption pressure as the braking pressure if the current driving condition of the vehicle meets any interruption condition, and to request the current braking pressure from the EBS, so that the vehicle enters the braking interruption phase;

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

[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 foregoing method embodiments, which will not be described here.

[0093] The embodiment of the present application further provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program controls a device where the computer readable storage medium is located to execute the vehicle braking control method in the embodiment one when the computer program is running.

[0094] The embodiment of the present application further provides a terminal, which comprises a processor, a memory and a computer program stored in the memory; wherein the computer program can be executed by the processor to realize the vehicle braking control method in the embodiment one.

[0095] Preferably, the computer program can be divided into one or more modules / units (such as computer programs, computer programs), one or more modules / units are stored in the memory and executed by the processor to complete the present application. One or more modules / units can be a series of computer program instructions for describing the execution process of the computer program in the terminal, which can complete a specific function.

[0096] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (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 connects various parts of the terminal through various interfaces and lines.

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

[0098] It should be noted that the terminal described above can include, but is not limited to, a processor, a memory, and the like. Those skilled in the art can understand that the terminal described above is only an example and does not constitute a limitation on the terminal, and can include more or fewer components, or combine certain components, or different components.

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

[0100] The present application provides a kind of vehicle brake control method, system, medium and terminal, response vehicle received brake signal, based on current brake signal, first pressure and the duration of current braking cycle are acquired in real time, current first pressure is used as brake pressure, and the EBS of vehicle is requested current brake pressure, to make vehicle enter braking stage, when vehicle is in braking stage, according to current brake pressure and the duration of current braking cycle, the interrupt pressure of vehicle is analyzed in real time, if the current travel condition of vehicle satisfies any one interrupt condition, then the interrupt pressure is used as brake pressure, and the EBS of vehicle is requested current brake pressure, to make vehicle enter braking interrupt stage, by setting up interrupt condition, vehicle can reach the expected deceleration effect under the action of current brake pressure stably and quickly, without setting a smaller brake pressure in the beginning stage of braking to avoid over-braking, and when vehicle meets interrupt condition, current braking can be quickly responded and interrupted in time, based on current brake pressure and the duration of current braking cycle, brake pressure is accurately adjusted to meet the actual braking demand of vehicle, prevent safety hazards such as tire skid and vehicle out of control caused by over-braking, improve the response speed and safety of system. When vehicle is in braking interrupt stage, whether to restore the original brake or end brake is determined according to the dynamic travel condition of vehicle, so as to optimize the braking process and avoid unnecessary automatic operation. In addition, the driver can adjust the height of brake pedal at any time during driving to generate a new brake signal, so that the vehicle can respond to the driver's operation in real time after receiving the new brake signal, without waiting for the previous brake operation to be completed before responding to the next brake signal, so as to correct abnormal brake signal or brake operation in time, further improve driving safety.

[0101] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described specific embodiments are only examples of the present application and do not limit the protection scope of the present application. It should be particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle brake control method characterized by, The application comprises the following steps: In response to the brake signal received by the vehicle, a first pressure and a duration of a current brake cycle are obtained in real time based on the current brake signal, the first pressure is taken as a brake pressure, and the EBS of the vehicle is requested for a current brake pressure to make the vehicle enter a brake stage; When the vehicle is in the brake stage, a brake-off pressure of the vehicle is analyzed in real time according to the current brake pressure and the duration of the current brake cycle, if the current driving condition of the vehicle meets any one of the brake-off conditions, the brake-off pressure is taken as the brake pressure, the EBS is requested for the current brake pressure to make the vehicle enter a brake-off stage; When the vehicle is in the brake-off stage, if the current driving condition of the vehicle meets a preset brake requirement, the EBS is stopped from being requested for the brake pressure and the current brake cycle is ended.

2. A vehicle brake control method according to claim 1, characterized by When the vehicle is in the brake-off stage, if the current driving condition of the vehicle meets a preset brake requirement, the EBS is stopped from being requested for the brake pressure and the current brake cycle is ended. When the vehicle is in the brake-off stage, it is judged whether the current driving condition of the vehicle meets any one of the recovery conditions; If yes, the first pressure is taken as the brake pressure, the EBS of the vehicle is requested for the current brake pressure to make the vehicle resume braking and enter the brake stage; If no, the EBS is stopped from being requested for the brake pressure and the current brake cycle is ended when the current driving condition of the vehicle meets any one of the end conditions; one of the end 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 brake control method according to claim 2, characterized by The first pressure is taken as the brake pressure, the EBS of the vehicle is requested for the current brake pressure, and then 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 brake algorithm, the first pressure and the duration of the current brake cycle are calculated by combining 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 expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are obtained based on the brake signal received by the vehicle; The current first pressure is taken as the brake pressure, the EBS of the vehicle is requested for the current brake pressure to make the vehicle enter the brake stage. The application further comprises the following steps:

4. The vehicle brake control method of claim 2, wherein When the vehicle is in the brake-off 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 brake-off pressure is taken as the brake pressure, the EBS is requested for the current brake pressure to make the vehicle continue to be in the brake-off stage. ​ 5. The vehicle brake control method of claim 1, wherein The response vehicle receives the brake signal, and based on the current brake signal, the first pressure and the duration of the current brake cycle are obtained in real time, specifically: The response vehicle receives the brake signal, and based on the current brake signal, the first pressure and the duration of the current brake cycle are obtained in real time, specifically: According to the preset brake algorithm, the actual speed of the vehicle, the actual deceleration of the vehicle, the actual jerk of the vehicle, the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are combined to calculate the first pressure and the duration of the current brake cycle.

6. A vehicle brake control method according to claim 5, characterized by When the vehicle is in the braking stage, according to the current brake pressure and the duration of the current brake cycle, the interrupt pressure of the vehicle is obtained in real time, and whether the current driving condition of the vehicle meets any one of the interrupt conditions is judged. If the current driving condition of the vehicle does not meet all the interrupt 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 the preset brake algorithm, the actual speed of the vehicle, the actual deceleration of the vehicle, the actual jerk of the vehicle, the expected speed of the vehicle, the expected deceleration of the vehicle and the expected jerk of the vehicle are combined to calculate the first pressure and the duration of the current brake cycle. The current first pressure is taken as the brake pressure, and the current brake pressure is requested from the EBS, so that the vehicle continues to be in the braking stage. According to the current brake pressure and the duration of the current brake cycle, the interrupt pressure of the vehicle is obtained in real time, and whether the current driving condition of the vehicle meets any one of the interrupt conditions is judged.

7. The vehicle brake control method of claim 1, wherein When the vehicle is in the braking stage, according to the current brake pressure and the duration of the current brake cycle, the interrupt pressure of the vehicle is obtained in real time, and whether the current driving condition of the vehicle meets any one of the interrupt conditions is judged. When the vehicle is in the braking stage, it is judged whether the difference between the duration of the current brake cycle and the duration of the last brake cycle is equal to zero. If yes, the interrupt pressure of the vehicle is set equal to the minimum response pressure value of the EBS. If no, according to the preset interrupt pressure algorithm, the current brake pressure, the duration of the current brake cycle and the duration of the last brake cycle are combined to calculate the initial interrupt pressure of the vehicle, and then the initial interrupt pressure of the vehicle is compared with the minimum response pressure value of the EBS. At this time, if the initial interrupt pressure of the vehicle is greater than or equal to the minimum response pressure value of the EBS, the initial interrupt pressure of the vehicle is taken as the interrupt pressure of the vehicle. At this time, if the initial interrupt pressure of the vehicle is less than the minimum response pressure value of the EBS, the interrupt pressure of the vehicle is set equal to the minimum response pressure value of the EBS. The preset interrupt pressure algorithm is specifically: In the formula, Bl represents the current initial interrupt pressure; Bi represents the current brake pressure; Bi0 represents the brake pressure of the last brake cycle; Ti represents the duration of the current brake cycle; Ti0 represents the duration of the last brake cycle; Kbl represents the interrupt pressure time filtering coefficient; and Bl0 represents the interrupt pressure of the last brake cycle.

8. A vehicle brake control system characterized by comprising: The method comprises the following steps: a first brake request module, configured to, in response to a brake signal received by a vehicle, acquire a first pressure and the duration of a current brake cycle in real time based on the current brake signal, take the first pressure as a brake pressure, and request the current brake pressure from an EBS of the vehicle so as to make the vehicle enter a brake stage; a second brake request module, configured to, when the vehicle is in the brake stage, analyze the interrupt pressure of the vehicle in real time according to the current brake pressure and the duration of the current brake cycle, take the interrupt pressure as the brake pressure if the current driving condition of the vehicle meets any one of interrupt conditions, and request the current brake pressure from the EBS so as to make the vehicle enter a brake interrupt stage; a brake end module, configured to, when the vehicle is in the brake interrupt stage, stop requesting the brake pressure from the EBS and end the current brake cycle if the current driving condition of the vehicle meets a preset brake requirement.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored computer program; wherein the computer readable storage medium controls a device in which the computer readable storage medium is located to execute the vehicle brake control method according to any one of claims 1 to 7 when the computer program is running.

10. A terminal, characterized by comprising: The device 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 the vehicle brake control method according to any one of claims 1 to 7.

Images