Brake control method and device, electronic equipment and storage medium

Abstract

The invention provides a brake control method and device, electronic equipment and a storage medium. The brake control method comprises the steps that in the vehicle driving process, a brake pedal is detected, and when it is detected that the brake pedal fails, the failure type is determined; wherein the failure type comprises a signal failure type and a mechanical failure type; and according to the failure type and the vehicle running parameters, a braking request is sent to a driving motor control unit, so that the driving motor control unit controls a driving motor to brake the vehicle. According to the method, when the brake pedal fails, the driving motor can timely intervene in braking the vehicle, meanwhile, the braking strategy is formulated by distinguishing the failure types and combining the vehicle running parameters, braking control is more accurate and effective, the situation that the vehicle is out of control due to the braking failure of the vehicle is avoided, and the running safety is improved.

Description

Technical Field

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

[0002] With the development of vehicle electronics and electrical systems, the automotive braking system has evolved from mechanical hydraulic braking to integrated electronic braking. While achieving faster braking response and smoother operating experience, it is also necessary to pay more attention to ensuring braking safety. Due to the relatively complex information interaction of new energy vehicles, once the integrated electronic braking system fails completely, the vehicle cannot be stopped in a short time, which is very likely to cause safety accidents. Summary of the invention

[0003] The embodiments of the present application provide a braking control method, device, electronic device and storage medium to solve the problem of how to stop a vehicle in a short time when the electronic braking system completely fails.

[0004] In a first aspect, an embodiment of the present application provides a braking control method, the method comprising:

[0005] During the driving process of the vehicle, the brake pedal is detected, and when the brake pedal is detected to be in failure, the failure type is determined; wherein the failure type includes a signal failure type and a mechanical failure type;

[0006] According to the failure type and the vehicle driving parameters, a braking request is sent to a drive motor control unit so that the drive motor control unit controls the drive motor to brake the vehicle.

[0007] Optionally, the brake pedal is tested, and when failure of the brake pedal is detected, a failure type is determined, including:

[0008] Detecting brake pedal control signal;

[0009] When the brake pedal control signal is abnormal, determining that the failure type is a signal failure type;

[0010] When the brake pedal control signal has no abnormality and the brake pedal control signal indicates that the brake pedal is depressed, obtaining vehicle driving parameters, the vehicle driving parameters including: a first deceleration calculated by a chassis brake controller based on a brake pedal travel signal, a current vehicle speed, and a current motor speed;

[0011] calculating a second deceleration based on the current vehicle speed;

[0012] Calculating a third deceleration based on the current motor speed;

[0013] determining a difference between the first deceleration and the second deceleration as a first deceleration difference;

[0014] determining a difference between the first deceleration and the third deceleration as a second deceleration difference;

[0015] When the first deceleration difference and the second deceleration difference are both greater than zero, it is determined that the failure type is a mechanical failure type.

[0016] The present application uses the abnormal situation of the brake pedal control signal and combines multiple factors such as the deceleration calculated by the chassis brake controller, the deceleration calculated based on the vehicle speed, and the deceleration calculated based on the motor speed to distinguish whether the failure type of the brake pedal is a signal failure type or a mechanical failure type, providing a reliable basis for the subsequent adoption of targeted braking measures.

[0017] Optionally, when the failure type is the signal failure type, sending a braking request to a drive motor control unit according to the failure type and vehicle driving parameters includes:

[0018] Sending first indication information indicating that a brake pedal signal fails to function to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle based on the first indication information; wherein when the vehicle is moving forward, the maximum available positive torque is limited, and when the vehicle is moving reversely, the maximum available negative torque is limited;

[0019] Obtaining the current vehicle speed and the current motor speed from the vehicle driving parameters;

[0020] When the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold, determining a required braking torque corresponding to the current vehicle speed;

[0021] A braking request carrying the required braking torque is sent to the drive motor control unit.

[0022] Furthermore, when the failure type is signal failure, by limiting the motor torque, the vehicle can be effectively prevented from accelerating out of control due to signal errors, thereby reducing safety risks. In addition, the braking torque is dynamically determined according to the vehicle speed and motor speed, which can adapt to the braking requirements under different driving conditions. For example, when the vehicle is traveling at high speed and has a large kinetic energy, sufficient braking torque is provided to ensure that the vehicle can decelerate quickly, thereby improving the effectiveness and adaptability of braking.

[0023] Optionally, when the failure type is a mechanical failure type, sending a braking request to a drive motor control unit according to the failure type and vehicle driving parameters includes:

[0024] determining a mechanical failure level according to the vehicle driving parameters;

[0025] determining a target speed limit according to the mechanical failure level;

[0026] When the current vehicle speed is greater than the target speed limit, determining a required braking torque corresponding to the current vehicle speed;

[0027] A braking request carrying the required braking torque is sent to the drive motor control unit.

[0028] Optionally, determining a required braking torque corresponding to the current vehicle speed includes:

[0029] Obtaining the corresponding relationship between vehicle speed and braking torque;

[0030] According to the corresponding relationship and the current vehicle speed, a required braking torque corresponding to the current vehicle speed is determined.

[0031] Optionally, determining the mechanical failure level according to the vehicle driving parameters includes:

[0032] Determine a first threshold and a second threshold corresponding to the first deceleration; wherein the second threshold is greater than the first threshold;

[0033] When both the first deceleration difference and the second deceleration difference are greater than the first threshold, determining that the mechanical failure level is a first level;

[0034] When both the first deceleration difference and the second deceleration difference are greater than the second threshold, the mechanical failure level is determined to be the second level.

[0035] Optionally, determining a target speed limit according to the mechanical failure level includes:

[0036] When the mechanical failure level is the first level, determining the target speed limit to be a first vehicle speed;

[0037] When the mechanical failure level is the second level, determining the target speed limit to be a second vehicle speed;

[0038] Wherein, the first vehicle speed is greater than the second vehicle speed.

[0039] When the failure type is mechanical failure, the mechanical failure level and the corresponding target speed limit are determined to achieve graded handling of the mechanical failure. Different speed limits and braking strategies can be used for mechanical failures of different severity, making the braking control more flexible, reducing the risk of accidents caused by high-speed driving and insufficient braking force, and improving driving safety. In addition, by setting clear thresholds to divide the mechanical failure levels, a quantitative assessment of the mechanical failure situation is achieved. Setting different target speed limits according to different mechanical failure levels can be well adapted to the failure risk of the braking system. When the braking system failure is minor, a relatively loose speed limit is given, and when the failure is serious, the vehicle speed is strictly limited, minimizing the possibility of accidents.

[0040] In addition, based on the accurate correspondence between vehicle speed and braking torque, the braking torque required at different vehicle speeds can be accurately determined, making the braking process smoother and more effective, and avoiding problems such as vehicle instability or excessive braking distance caused by excessive or insufficient braking torque.

[0041] In a second aspect, an embodiment of the present application further provides a braking control device, the device comprising:

[0042] A detection module, used to detect the brake pedal during vehicle driving, and when the brake pedal is detected to be in failure, determine the failure type; wherein the failure type includes a signal failure type and a mechanical failure type;

[0043] The sending module is used to send a braking request to the drive motor control unit according to the failure type and the vehicle driving parameters, so that the drive motor control unit controls the drive motor to brake the vehicle.

[0044] In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned braking control method when executed by the processor.

[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned braking control method is implemented.

[0046] The embodiments of the present application include at least the following technical effects:

[0047] The technical solution of the embodiment of the present application performs real-time detection of the state of the brake pedal when the vehicle is driving. Once failure of the brake pedal is detected, a braking request is sent to the drive motor control unit according to the failure type and the vehicle driving parameters. When the brake pedal fails, the drive motor can intervene in time to brake the vehicle. At the same time, by distinguishing the failure type and formulating a braking strategy based on the vehicle driving parameters, the braking control is made more accurate and effective, thereby avoiding vehicle loss of control due to brake failure and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0049] Figure 1 is a flow chart of a braking control method provided in an embodiment of the present application;

[0050] Figure 2 is a schematic structural diagram of a brake control device provided in an embodiment of the present application;

[0051] Figure 3 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0054] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0055] In the prior art, since the information interaction of new energy vehicles is relatively complex, once the integrated electronic braking system fails completely, the vehicle cannot be stopped in a short period of time, which can easily cause safety accidents.

[0056] Based on this, in order to solve the problem of how to stop the vehicle in a short time when the electronic braking system fails completely, the present application provides a braking control method, device, electronic device and storage medium, which can enable the drive motor to intervene in time to brake the vehicle when the brake pedal fails. At the same time, by distinguishing the failure type and formulating a braking strategy based on the vehicle's driving parameters, the braking control is made more accurate and effective, avoiding the vehicle from losing control due to brake failure, and improving driving safety.

[0057] like Figure 1 As shown, an embodiment of the present application provides a braking control method, the method comprising:

[0058] Step 101: During vehicle driving, the brake pedal is detected, and when failure of the brake pedal is detected, the failure type is determined; wherein the failure type includes a signal failure type and a mechanical failure type.

[0059] The braking control method provided in the embodiment of the present application is applied to a vehicle controller. During the driving process of the vehicle, the vehicle controller detects the brake pedal to promptly detect whether the brake pedal fails. Once the brake pedal failure is detected, the failure type is further determined, wherein the failure type includes a signal failure type and a mechanical failure type.

[0060] Specifically, the brake pedal failure caused by the abnormality of the brake pedal related signal is a signal failure type, such as the loss of the brake pedal state signal or the occurrence of an erroneous value, the loss of the brake pedal travel signal or the occurrence of an erroneous value, etc. When there is no abnormality in the brake pedal related signal, that is, when the driver steps on the brake pedal, the vehicle controller can detect the change of the brake pedal state signal, and can obtain the brake pedal travel, that is, the depth of the driver's stepping on the brake pedal according to the brake pedal travel signal, but the brake system cannot apply enough braking force to the vehicle, resulting in the actual deceleration of the vehicle being less than the expected deceleration. At this time, the brake pedal failure caused is a mechanical failure type. The cause of the mechanical failure may be insufficient brake fluid line level or air entering the brake system, or a fault in the brake control system.

[0061] Different failure types correspond to different braking measures. By determining the failure type, targeted braking measures can be taken later.

[0062] Step 102: Send a braking request to a drive motor control unit according to the failure type and the vehicle driving parameters, so that the drive motor control unit controls the drive motor to brake the vehicle.

[0063] After the failure type is determined, the appropriate braking request is sent to the drive motor control unit in combination with the vehicle driving parameters (such as vehicle speed, motor speed, etc.). After receiving the request, the drive motor control unit will control the drive motor to generate the corresponding braking torque to achieve the braking operation of the vehicle to ensure the safe driving of the vehicle in the event of brake pedal failure.

[0064] It should be noted that when the brake pedal failure is detected, the vehicle controller must also send a brake pedal fault signal to the instrument so that the instrument can output fault prompt information, such as "brake system failure, partial function failure, please reduce speed and go to 4S shop for inspection", so that the driver can understand the status of the vehicle's braking system in time and take corresponding measures, such as reducing speed to increase driving safety factor, and go to a professional 4S shop as soon as possible to inspect and repair the vehicle.

[0065] The embodiment of the present application performs real-time detection of the state of the brake pedal when the vehicle is traveling. Once failure of the brake pedal is detected, a braking request is sent to a drive motor control unit based on the failure type and the vehicle driving parameters. When the brake pedal fails, the drive motor can intervene in time to brake the vehicle. At the same time, by distinguishing the failure type and formulating a braking strategy based on the vehicle driving parameters, the braking control is made more accurate and effective, thereby avoiding vehicle loss of control due to brake failure and improving driving safety.

[0066] In an optional embodiment of the present application, the brake pedal is detected, and when the brake pedal is detected to be in failure, the failure type is determined, including:

[0067] Detecting brake pedal control signal;

[0068] When the brake pedal control signal is abnormal, determining that the failure type is a signal failure type;

[0069] When the brake pedal control signal has no abnormality and the brake pedal control signal indicates that the brake pedal is depressed, obtaining vehicle driving parameters, the vehicle driving parameters including: a first deceleration calculated by a chassis brake controller based on a brake pedal travel signal, a current vehicle speed, and a current motor speed;

[0070] calculating a second deceleration based on the current vehicle speed;

[0071] Calculating a third deceleration based on the current motor speed;

[0072] determining a difference between the first deceleration and the second deceleration as a first deceleration difference;

[0073] determining a difference between the first deceleration and the third deceleration as a second deceleration difference;

[0074] When the first deceleration difference and the second deceleration difference are both greater than zero, it is determined that the failure type is a mechanical failure type.

[0075] In the specific implementation process, the brake pedal control signal is first monitored. The brake pedal control signal here includes but is not limited to the brake pedal state signal and the brake pedal travel signal. The brake pedal control signal is usually generated and transmitted by the sensor, which directly reflects the driver's intention to operate the brake pedal. When the brake pedal control signal is abnormal, the brake pedal control signal abnormality may be manifested in various forms, such as signal interruption, which may be due to a fault in the connection line between the sensor used to detect the brake pedal control signal and the vehicle controller, resulting in the signal being unable to be transmitted normally; or the signal value is wrong, which may be a fault in the sensor itself, such as an internal circuit short circuit that makes the output signal always high or low, which has nothing to do with the actual position of the brake pedal, or the sensor is subjected to strong electromagnetic interference, resulting in garbled or deviated from the normal range of the output signal. In this case, although the mechanical structure of the brake pedal itself may be intact, the vehicle controller cannot receive the correct brake pedal control signal, and the vehicle's braking system will not be able to work normally according to the driver's intention. At this time, the failure type is determined to be a signal failure type.

[0076] When the brake pedal control signal is normal and the brake pedal control signal indicates that the brake pedal is pressed, it is necessary to further obtain vehicle driving parameters to determine whether there is a mechanical failure of the brake pedal, where the vehicle driving parameters include the first deceleration calculated by the chassis brake controller based on the brake pedal travel signal, the current vehicle speed and the current motor speed.

[0077] Specifically, the vehicle controller will send the brake pedal travel signal to the chassis brake controller, and further obtain the first deceleration calculated by the chassis brake controller based on the brake pedal travel signal, wherein the brake pedal travel signal reflects the degree to which the driver presses the brake pedal. The chassis brake controller can calculate the deceleration that the vehicle should theoretically reach under the current brake pedal travel based on the signal, i.e., the first deceleration. For example, the greater the brake pedal travel, the greater the braking force applied in theory, and the greater the deceleration of the vehicle. The chassis brake controller will calculate the first deceleration based on the pre-calibrated relationship curve between the brake pedal travel and the braking force and deceleration. It should be noted that when the vehicle has brake energy recovery, when calculating the first deceleration, it is also necessary to combine parameters such as the motor and battery capacity.

[0078] At the same time, it is also necessary to calculate the deceleration of the vehicle in the current driving state according to the current actual speed of the vehicle, that is, the second deceleration, and calculate the third deceleration according to the current motor speed. Specifically, the second deceleration and the third deceleration reflect the deceleration trend of the vehicle from different angles.

[0079] Then, the difference between the first deceleration and the second deceleration is determined as the first deceleration difference, and the difference between the first deceleration and the third deceleration is determined as the second deceleration difference. By calculating these two deceleration differences, the degree of deviation between the theoretical deceleration calculated by the chassis brake controller and the deceleration can be evaluated.

[0080] When the first deceleration difference and the second deceleration difference are both greater than zero, it indicates that the deceleration expected by the chassis brake controller is greater than the deceleration that the vehicle can actually achieve, that is, the braking system cannot apply sufficient braking force to the vehicle. At this time, the failure type is determined to be a mechanical failure type.

[0081] The above implementation scheme of the present application distinguishes whether the failure type of the brake pedal is a signal failure type or a mechanical failure type by integrating multiple factors such as the deceleration calculated by the chassis brake controller, the deceleration calculated based on the vehicle speed, and the deceleration calculated based on the motor speed, thereby providing a reliable basis for the subsequent adoption of targeted braking measures.

[0082] In an optional embodiment of the present application, when the failure type is the signal failure type, sending a braking request to a drive motor control unit according to the failure type and the vehicle driving parameters includes:

[0083] Sending first indication information indicating that a brake pedal signal fails to function to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle based on the first indication information; wherein when the vehicle is moving forward, the maximum available positive torque is limited, and when the vehicle is moving reversely, the maximum available negative torque is limited;

[0084] Obtaining the current vehicle speed and the current motor speed from the vehicle driving parameters;

[0085] When the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold, determining a required braking torque corresponding to the current vehicle speed;

[0086] A braking request carrying the required braking torque is sent to the drive motor control unit.

[0087] In a specific implementation process, after determining the type of signal failure, firstly, a first indication message is sent to the drive motor control unit. After receiving the first indication message, the drive motor control unit will limit the maximum available torque for driving the vehicle. When the vehicle is moving forward, the maximum available positive torque is limited; when the vehicle is reversing, the maximum available negative torque is limited.

[0088] Specifically, after receiving the first indication information, the drive motor control unit will first determine the vehicle's driving direction, whether it is moving forward or reversing. Optionally, it can be determined based on the positive or negative value of the vehicle speed and the motor speed. When the vehicle speed and the motor speed are both positive values, it is determined that the vehicle is moving forward. When the vehicle speed and the motor speed are both negative values, it is determined that the vehicle is reversing.

[0089] When the vehicle is moving forward, the motor is driving the vehicle in the forward direction. At this time, an abnormal brake pedal signal will bring potential safety risks. Since the brake pedal signal is normally used to control the vehicle's deceleration, signal loss may cause the vehicle to fail to brake normally. At this time, the maximum available positive torque is limited. For example, if the maximum available positive torque is set to zero, then even if the driver misoperates the accelerator pedal or other faults occur in the vehicle control system, resulting in the need to increase the motor's forward torque, the system will prevent the motor from providing additional forward driving force, thereby preventing the vehicle from accelerating uncontrollably when the brake signal is abnormal. At the same time, the maximum negative torque value remains unchanged, which allows the vehicle to use the motor's reverse torque to stop or slow down the vehicle when emergency braking or deceleration is required, thereby ensuring the safety of the vehicle as it moves forward.

[0090] When the vehicle is reversing, the motor drives the vehicle in the reverse direction. Similarly, an abnormal brake pedal signal can also cause safety issues in this case. At this time, the maximum available negative torque is limited and set to zero, so as to prevent the vehicle from over-accelerating due to abnormal brake signals during the reversing process. The maximum positive torque value remains unchanged, so that when it is necessary to stop reversing or change the reversing direction, the motor's positive torque can be used to control the vehicle to ensure safety during the reversing process.

[0091] It should be noted that when the motor speed is less than 100 rpm, no matter whether the direction of the motor speed is positive or negative, the vehicle speed may fluctuate around zero due to road bumps. At this time, the maximum available torque may not be limited.

[0092] After limiting the maximum available torque for driving the vehicle through the drive motor, the vehicle controller also obtains the current vehicle speed and the current motor speed, and determines the required braking torque corresponding to the current vehicle speed when both the vehicle speed and the motor speed exceed a certain threshold, that is, the current vehicle speed is greater than the preset vehicle speed threshold and the motor speed is greater than the preset speed threshold, indicating that the vehicle is at high speed and the motor is working at a high speed state, with high kinetic energy and large motion inertia, and requires a large braking force to achieve braking. At this time, according to the current vehicle speed, the required braking torque is determined through the pre-set correspondence between the vehicle speed and the braking torque.

[0093] Finally, the braking request carrying the required braking torque is sent to the drive motor control unit, and the drive motor control unit controls the drive motor to generate the corresponding braking torque based on this to achieve braking of the vehicle.

[0094] It should be noted that when the vehicle speed drops to 0kph (i.e. the vehicle stops completely) or the motor speed is ≤50rpm, it indicates that the vehicle is relatively stationary or nearly stationary. At this time, it is unnecessary to continue to execute the motor braking strategy, and it may even cause unnecessary damage to the motor and other components. Then, when these conditions are met, the motor braking strategy will automatically exit, and the vehicle will enter a normal stationary state, waiting for possible subsequent operations, such as restarting, fault repair, etc.

[0095] The above implementation scheme of the present application effectively prevents the vehicle from accelerating out of control due to signal errors by limiting the motor torque in the event of signal failure, thereby reducing safety risks. In addition, the braking torque is dynamically determined according to the vehicle speed and motor speed, which can adapt to the braking requirements under different driving conditions. When the vehicle is driving at high speed and has high kinetic energy, sufficient braking torque is provided to ensure that the vehicle can decelerate quickly, thereby improving the effectiveness and adaptability of braking.

[0096] In an optional embodiment of the present application, when the failure type is a mechanical failure type, sending a braking request to a drive motor control unit according to the failure type and vehicle driving parameters includes:

[0097] determining a mechanical failure level according to the vehicle driving parameters;

[0098] determining a target speed limit according to the mechanical failure level;

[0099] When the current vehicle speed is greater than the target speed limit, determining a required braking torque corresponding to the current vehicle speed;

[0100] A braking request carrying the required braking torque is sent to the drive motor control unit.

[0101] In the specific implementation process, when the failure type is a mechanical failure type, the severity of the mechanical failure is determined according to the driving parameters of the vehicle and divided into different levels, that is, the mechanical failure level is determined.

[0102] The corresponding target speed limit is set for different mechanical failure levels. When the mechanical failure level is the first level, the target speed limit is determined to be the first vehicle speed; when the mechanical failure level is the second level, the target speed limit is determined to be the second vehicle speed, and the first vehicle speed is greater than the second vehicle speed. The setting of the target speed limit can reduce the risk of accidents by limiting the vehicle speed in the event of mechanical failure of the brake pedal, so that the vehicle can travel within a relatively safe speed range for subsequent processing or maintenance.

[0103] When the current vehicle speed exceeds the target speed limit, it means that the vehicle needs to slow down to reach the target speed limit. At this time, the required braking torque is determined according to the corresponding relationship between the vehicle speed and the braking torque based on the current vehicle speed.

[0104] The braking request carrying the required braking torque is sent to the drive motor control unit, and the drive motor control unit controls the drive motor to generate braking torque based on the request, so as to decelerate the vehicle to the target speed limit.

[0105] The above implementation scheme of the present application realizes the hierarchical treatment of mechanical failure situations by determining the mechanical failure level and the corresponding target speed limit. Different speed limits and braking strategies can be adopted for mechanical failures of different severity, making the braking control more flexible, reducing the risk of accidents caused by high-speed driving and insufficient braking force, and improving driving safety.

[0106] In an optional embodiment of the present application, determining the required braking torque corresponding to the current vehicle speed includes:

[0107] Obtaining the corresponding relationship between vehicle speed and braking torque;

[0108] According to the corresponding relationship and the current vehicle speed, a required braking torque corresponding to the current vehicle speed is determined.

[0109] Specifically, the correspondence between vehicle speed and braking torque can be stored in advance. For example, during the vehicle development process, the braking torque required for the vehicle to achieve the expected deceleration effect is determined according to different vehicle speeds, and these data are stored in the vehicle control unit in a table or other form.

[0110] When the braking torque needs to be determined, the corresponding required braking torque is queried according to the current vehicle speed. For example, if the current vehicle speed is high, according to the corresponding relationship, a larger braking torque is required to slow the vehicle down within a reasonable time; if the vehicle speed is low, the required braking torque is relatively small.

[0111] The above implementation scheme of the present application, based on the accurate correspondence between vehicle speed and braking torque, can accurately determine the braking torque required at different vehicle speeds, making the braking process smoother and more effective, and avoiding problems such as vehicle instability or excessive braking distance caused by excessive or insufficient braking torque.

[0112] In an optional embodiment of the present application, determining the mechanical failure level according to the vehicle driving parameters includes:

[0113] Determine a first threshold and a second threshold corresponding to the first deceleration; wherein the second threshold is greater than the first threshold;

[0114] When both the first deceleration difference and the second deceleration difference are greater than the first threshold, determining that the mechanical failure level is a first level;

[0115] When both the first deceleration difference and the second deceleration difference are greater than the second threshold, the mechanical failure level is determined to be the second level.

[0116] In the specific implementation process, two thresholds for judging the mechanical failure level are determined based on the vehicle's performance, design requirements, and a large amount of test data. The first threshold and the second threshold correspond to different degrees of braking performance degradation, and the second threshold indicates a more serious braking failure. Different first decelerations correspond to different first thresholds and second thresholds.

[0117] When the calculated first deceleration difference and the second deceleration difference both exceed the first threshold, it indicates that there is a certain degree of mechanical failure in the braking system, but it is relatively light. At this time, the mechanical failure level is determined to be the first level.

[0118] When the calculated first deceleration difference and the second deceleration difference both exceed the second threshold, it indicates that the mechanical failure of the braking system is relatively serious and the braking performance is greatly reduced, and the mechanical failure level is determined to be the second level.

[0119] The above implementation scheme of the present application achieves a quantitative assessment of mechanical failure conditions by setting clear thresholds to classify mechanical failure levels.

[0120] In an optional embodiment of the present application, determining the target speed limit according to the mechanical failure level includes:

[0121] When the mechanical failure level is the first level, determining the target speed limit to be a first vehicle speed;

[0122] When the mechanical failure level is the second level, determining the target speed limit to be a second vehicle speed;

[0123] Wherein, the first vehicle speed is greater than the second vehicle speed.

[0124] Specifically, when the mechanical failure level is the first level, a relatively high target speed limit, i.e., the first vehicle speed, is set according to the safety and maneuverability requirements of the vehicle. This speed can ensure that the vehicle can still travel a certain distance relatively safely when the brake pedal fails partially, and can also provide the driver with a certain amount of operating space, such as finding a safe parking place or waiting for rescue.

[0125] When the mechanical failure level is the second level, since the brake system failure is more serious, a lower target speed limit is set, namely the second vehicle speed. A lower target speed limit can reduce the vehicle's speed more quickly, reduce the risk of accidents caused by insufficient braking, and ensure that the vehicle runs within a safer speed range. For example, the first vehicle speed can be set to 10km / h and the second vehicle speed can be set to 0km / h.

[0126] The above implementation scheme of the present application sets different target speed limits according to different mechanical failure levels, which can be well adapted to the failure risk of the brake system. When the brake system failure is minor, a relatively loose speed limit is given, and when the failure is serious, the vehicle speed is strictly limited, thereby minimizing the possibility of accidents.

[0127] The above introduces the braking control method provided by the embodiment of the present application. The following will introduce the braking control device provided by the embodiment of the present application in conjunction with the accompanying drawings.

[0128] like Figure 2 As shown, an embodiment of the present invention further provides a braking control device, the device comprising:

[0129] The detection module 201 is used to detect the brake pedal during the driving of the vehicle, and when the brake pedal is detected to be in failure, determine the failure type; wherein the failure type includes a signal failure type and a mechanical failure type;

[0130] The sending module 202 is used to send a braking request to the drive motor control unit according to the failure type and the vehicle driving parameters, so that the drive motor control unit controls the drive motor to brake the vehicle.

[0131] Optionally, the determination module includes:

[0132] A first detection submodule, used to detect a brake pedal control signal;

[0133] A first determination submodule, configured to determine that the failure type is a signal failure type when the brake pedal control signal is abnormal;

[0134] A first acquisition submodule, configured to acquire vehicle driving parameters when the brake pedal control signal is normal and the brake pedal control signal indicates that the brake pedal is depressed, wherein the vehicle driving parameters include: a first deceleration calculated by a chassis brake controller based on a brake pedal travel signal, a current vehicle speed, and a current motor speed;

[0135] A first calculation submodule, configured to calculate a second deceleration based on the current vehicle speed;

[0136] A second calculation submodule, configured to calculate a third deceleration based on the current motor speed;

[0137] a third determining submodule, configured to determine a difference between the first deceleration and the second deceleration as a first deceleration difference;

[0138] a fourth determining submodule, configured to determine a difference between the first deceleration and the third deceleration as a second deceleration difference;

[0139] The fifth determination submodule is configured to determine that the failure type is a mechanical failure type when both the first deceleration difference and the second deceleration difference are greater than zero.

[0140] Optionally, when the failure type is the signal failure type, the sending module includes:

[0141] A first sending submodule is used to send first indication information indicating that a signal failure of a brake pedal occurs to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle based on the first indication information; wherein when the vehicle is driving forward, the maximum available positive torque is limited, and when the vehicle is driving reversely, the maximum available negative torque is limited;

[0142] A second acquisition submodule is used to acquire the current vehicle speed and the current motor speed in the vehicle driving parameters;

[0143] a sixth determination submodule, configured to determine a required braking torque corresponding to the current vehicle speed when the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold;

[0144] The second sending submodule is used to send the braking request carrying the required braking torque to the driving motor control unit.

[0145] Optionally, when the failure type is a mechanical failure type, the sending module includes:

[0146] a seventh determination submodule, configured to determine a mechanical failure level according to the vehicle driving parameters;

[0147] an eighth determination submodule, configured to determine a target speed limit according to the mechanical failure level;

[0148] a ninth determination submodule, configured to determine a required braking torque corresponding to the current vehicle speed when the current vehicle speed is greater than the target speed limit;

[0149] The third sending submodule is used to send the braking request carrying the required braking torque to the driving motor control unit.

[0150] Optionally, the sixth determining submodule and the ninth determining submodule both include:

[0151] An acquisition unit, used for acquiring a corresponding relationship between vehicle speed and braking torque;

[0152] The first determining unit is used to determine a required braking torque corresponding to the current vehicle speed according to the corresponding relationship and the current vehicle speed.

[0153] Optionally, the seventh determining submodule includes:

[0154] A second determining unit, configured to determine a first threshold and a second threshold corresponding to the first deceleration; wherein the second threshold is greater than the first threshold;

[0155] a third determining unit, configured to determine that the mechanical failure level is a first level when both the first deceleration difference and the second deceleration difference are greater than the first threshold;

[0156] The fourth determining unit is configured to determine that the mechanical failure level is a second level when both the first deceleration difference and the second deceleration difference are greater than the second threshold.

[0157] Optionally, the eighth determining submodule includes:

[0158] a fifth determining unit, configured to determine, when the mechanical failure level is the first level, that the target speed limit is a first vehicle speed;

[0159] a sixth determining unit, configured to determine, when the mechanical failure level is the second level, that the target speed limit is a second vehicle speed;

[0160] Wherein, the first vehicle speed is greater than the second vehicle speed.

[0161] The braking control device provided by the present application detects the state of the brake pedal in real time when the vehicle is traveling. Once a brake pedal failure is detected, a braking request is sent to a drive motor control unit based on the failure type and the vehicle driving parameters. When the brake pedal fails, the drive motor can intervene in time to brake the vehicle. At the same time, by distinguishing the failure type and formulating a braking strategy based on the vehicle driving parameters, the braking control is made more accurate and effective, thereby avoiding the vehicle from losing control due to brake failure and improving driving safety.

[0162] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0163] An embodiment of the present application also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned braking control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0164] For example, Figure 3 FIG. 1 shows a schematic diagram of the physical structure of an electronic device. Figure 3 As shown, the electronic device may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 230 and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 240. The processor 310 can call the logic instructions in the memory 330, and the processor 310 is used to perform the following steps: during the driving process of the vehicle, the brake pedal is detected, and when the brake pedal failure is detected, the failure type is determined; wherein the failure type includes a signal failure type and a mechanical failure type; according to the failure type and the vehicle driving parameters, a braking request is sent to the drive motor control unit so that the drive motor control unit controls the drive motor to brake the vehicle. The processor 310 can also execute other schemes in the embodiments of the present application, which will not be further elaborated here.

[0165] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0166] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned braking control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0167] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0168] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0169] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0170] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0171] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0172] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0173] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0174] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0175] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0176] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A braking control method, characterized in that: The method comprises: During the driving process of the vehicle, the brake pedal is detected, and when the brake pedal is detected to be in failure, the failure type is determined; wherein the failure type includes a signal failure type and a mechanical failure type; According to the failure type and the vehicle driving parameters, a braking request is sent to a drive motor control unit so that the drive motor control unit controls the drive motor to brake the vehicle.

2. The braking control method according to claim 1, characterized in that: The brake pedal is tested, and when failure of the brake pedal is detected, a failure type is determined, including: Detecting brake pedal control signal; When the brake pedal control signal is abnormal, determining that the failure type is a signal failure type; When the brake pedal control signal has no abnormality and the brake pedal control signal indicates that the brake pedal is depressed, obtaining vehicle driving parameters, the vehicle driving parameters including: a first deceleration calculated by a chassis brake controller based on a brake pedal travel signal, a current vehicle speed, and a current motor speed; calculating a second deceleration based on the current vehicle speed; Calculating a third deceleration based on the current motor speed; determining a difference between the first deceleration and the second deceleration as a first deceleration difference; determining a difference between the first deceleration and the third deceleration as a second deceleration difference; When the first deceleration difference and the second deceleration difference are both greater than zero, it is determined that the failure type is a mechanical failure type.

3. The braking control method according to claim 2, characterized in that: When the failure type is the signal failure type, sending a braking request to a drive motor control unit according to the failure type and the vehicle driving parameters, including: Sending first indication information indicating that a brake pedal signal fails to function to the drive motor control unit; wherein the drive motor control unit limits the maximum available torque for driving the vehicle based on the first indication information; wherein when the vehicle is moving forward, the maximum available positive torque is limited, and when the vehicle is moving reversely, the maximum available negative torque is limited; Obtaining the current vehicle speed and the current motor speed from the vehicle driving parameters; When the current vehicle speed is greater than a preset vehicle speed threshold and the motor speed is greater than a preset speed threshold, determining a required braking torque corresponding to the current vehicle speed; A braking request carrying the required braking torque is sent to the drive motor control unit.

4. The braking control method according to claim 2, characterized in that: When the failure type is a mechanical failure type, sending a braking request to a drive motor control unit according to the failure type and vehicle driving parameters includes: determining a mechanical failure level according to the vehicle driving parameters; determining a target speed limit according to the mechanical failure level; When the current vehicle speed is greater than the target speed limit, determining a required braking torque corresponding to the current vehicle speed; A braking request carrying the required braking torque is sent to the drive motor control unit.

5. The braking control method according to claim 3 or 4, characterized in that: Determining a required braking torque corresponding to the current vehicle speed includes: Obtaining the corresponding relationship between vehicle speed and braking torque; According to the corresponding relationship and the current vehicle speed, a required braking torque corresponding to the current vehicle speed is determined.

6. The braking control method according to claim 4, characterized in that: Determining a mechanical failure level according to the vehicle driving parameters includes: Determine a first threshold and a second threshold corresponding to the first deceleration; wherein the second threshold is greater than the first threshold; When both the first deceleration difference and the second deceleration difference are greater than the first threshold, determining that the mechanical failure level is a first level; When both the first deceleration difference and the second deceleration difference are greater than the second threshold, the mechanical failure level is determined to be the second level.

7. The braking control method according to claim 6, characterized in that: According to the mechanical failure level, a target speed limit is determined, including: When the mechanical failure level is the first level, determining the target speed limit to be a first vehicle speed; When the mechanical failure level is the second level, determining the target speed limit to be a second vehicle speed; Wherein, the first vehicle speed is greater than the second vehicle speed.

8. A brake control device, characterized in that: include: A detection module, used to detect the brake pedal during vehicle driving, and when the brake pedal is detected to be in failure, determine the failure type; wherein the failure type includes a signal failure type and a mechanical failure type; The sending module is used to send a braking request to the drive motor control unit according to the failure type and the vehicle driving parameters, so that the drive motor control unit controls the drive motor to brake the vehicle.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program implements the braking control method according to any one of claims 1 to 7 when executed by the processor.

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

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