Vehicle braking control method and device and computer readable storage medium

Abstract

The invention provides a vehicle braking control method and device and a computer readable storage medium, when a vehicle is braked to decelerate, the driving state information of the vehicle and the road slope of the vehicle driving environment are obtained, and when the driving state information and the road slope meet the comfortable braking condition, the vehicle is braked. The braking impact of the vehicle is reduced at the low-speed stage of vehicle braking by adjusting the pedal feeling parameter, and the braking comfort is improved.

Description

Technical Field

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

[0002] At present, the primary consideration in the design of vehicle braking systems is safety, which is specifically reflected in achieving a shorter braking distance and a faster braking response. However, this design orientation sacrifices the braking comfort of the vehicle to a certain extent and also places higher demands on the driver's driving skills. It is understandable that during the braking process of the vehicle, the posture of the vehicle body and the passengers in the vehicle will change with the change of braking intensity due to the combined effect of physical factors such as inertia and deceleration. Especially at the moment when the vehicle is about to stop, the wheels are relatively still with the ground, but the vehicle body will still produce pitch motion due to inertia, and the passengers in the vehicle will also passively pitch accordingly. This phenomenon is the key to causing discomfort to the passengers.

[0003] However, with the development of the automobile industry, car companies have gradually paid attention to the comfort of vehicle braking, and market consumers' expectations for vehicle comfort have also increased day by day. The weight of braking comfort in the vehicle comfort evaluation system has also increased significantly. Therefore, improving braking comfort is an urgent problem to be solved. Summary of the invention

[0004] To overcome the problems existing in the related art, this specification provides a vehicle braking control method, device and computer-readable storage medium.

[0005] According to a first aspect of an embodiment of this specification, a vehicle braking control method is provided, the method comprising: When the vehicle is braked to decelerate, obtaining driving state information of the vehicle and the road slope of the vehicle driving environment; When the driving state information and the road slope meet the comfort braking condition, adjusting the calibration value of the pedal feel parameter of the brake pedal of the vehicle to obtain the adjustment value of the pedal feel parameter; Vehicle braking is controlled based on the adjustment value of the pedal feel parameter and the pedal travel of the brake pedal.

[0006] According to a vehicle braking control method provided by the present application, the calibrated pedal feel parameter includes a pedal response parameter, which is used to characterize the linear change relationship between the pedal stroke and the braking force. When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, adjusting the pedal feel parameter of the brake pedal of the vehicle includes: When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, reducing the calibration value of the pedal response parameter to obtain the adjustment value of the pedal response parameter; The step of controlling vehicle braking based on the adjustment value of the pedal feel parameter and the pedal stroke of the brake pedal comprises: Obtaining a standard braking force corresponding to a pedal stroke of the brake pedal; adjusting the standard braking force based on the adjustment value of the pedal response parameter to obtain a target braking force; Based on the target braking force, braking of the vehicle is controlled.

[0007] According to a vehicle braking control method provided by the present application, the pedal feel parameter includes a pressure building rate of a wheel cylinder of the vehicle, When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, adjusting the calibrated pedal feel parameter of the brake pedal of the vehicle includes: When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, the original value of the pressure building rate is reduced to obtain the adjusted value of the pressure building rate. The controlling of vehicle braking based on the adjusted calibrated pedal feel parameter and the pedal stroke of the brake pedal comprises: The pressure change of the wheel cylinder is controlled based on the adjustment value of the pressure build-up rate to reduce the braking response of the pedal stroke and control vehicle braking.

[0008] According to a vehicle braking control method provided by the present application, the driving state information includes the real-time vehicle speed and the braking deceleration when the vehicle is braked. The comfortable braking condition includes: the real-time vehicle speed, the braking deceleration, and the road slope of the vehicle driving environment are all within a specified range, and the specified range indicates that the vehicle is in a low-speed braking condition.

[0009] According to a vehicle braking control method provided in the present application, the specified range of the road slope of the vehicle driving environment is determined based on the friction between the vehicle and the road when the vehicle is fully loaded and the minimum braking force of the braking system when parking.

[0010] According to a vehicle braking control method provided by the present application, the specified range includes: The real-time vehicle speed is 1 kph~8 kph; The braking deceleration is 0.1~0.5g; The road slope of the vehicle driving environment is less than or equal to 2%.

[0011] According to a vehicle braking control method provided by the present application, the method further includes: When the driving state information and the road slope do not satisfy the comfort braking condition, the vehicle braking is controlled based on the calibrated value of the pedal feel parameter and the pedal travel of the brake pedal.

[0012] According to a vehicle braking control method provided by the present application, the pedal feel parameter includes the force feedback of the brake pedal, The method further comprises: When the vehicle is braked to decelerate, obtaining the pedal force of the brake pedal; Determining a force feedback adjustment amount of the brake pedal based on the product of the pedal force and a force feedback adjustment coefficient; as the pedal force increases, the force feedback adjustment coefficient tends to decrease; The force feedback is adjusted based on the force feedback adjustment amount.

[0013] The present application also provides a vehicle braking control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the vehicle braking control methods described above is implemented.

[0014] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle braking control method as described in any one of the above is implemented.

[0015] The vehicle braking control method, device and computer-readable storage medium in the embodiments of this specification obtain the driving state information of the vehicle and the road slope of the vehicle's driving environment when the vehicle is braked to decelerate. When the driving state information and the road slope meet the comfortable braking conditions, the pedal feel parameters are adjusted to reduce the braking impact of the vehicle in the low-speed stage of vehicle braking, thereby improving braking comfort.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0018] Figure 1 is a diagram of changes in human body posture during braking according to an exemplary embodiment of the present specification; Figure 2 is a flow chart of a vehicle braking control method according to an exemplary embodiment of the present specification; Figure 3 is a schematic diagram of the forces acting on a vehicle when going uphill according to an exemplary embodiment of this specification; Figure 4 is another schematic diagram of a vehicle comfort braking method according to an exemplary embodiment of the present specification; Figure 5 is a pedal feel parameter adjustment diagram of a vehicle braking control method according to an exemplary embodiment of the present specification; Figure 6 is a schematic diagram of a vehicle brake control device according to an exemplary embodiment of the present specification; Figure 7 It is a schematic block diagram of a vehicle brake control device according to an exemplary embodiment of the present specification. DETAILED DESCRIPTION

[0019] Here, the technical solutions in the embodiments (or "implementation methods") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0020] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first" and "second" in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0021] The present application provides a vehicle braking control method, device and computer readable storage medium. The present application is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0022] When the vehicle brakes, the posture of the vehicle body and passengers will change due to factors such as inertia and deceleration (changing with the braking intensity), which will cause discomfort to the passengers. The braking stages can be simply summarized as the early, middle and late stages of braking. In the early stage of braking, the vehicle is braked according to the driver's subjective judgment, and comfort is dominated by the braking intensity, such as Figure 1As shown, at this time, the occupants will have a tendency to lean forward due to inertia, and the discomfort is not very obvious. In the middle of braking, due to continuous braking, the forward leaning of the occupants' bodies is no longer a tendency, but a real forward leaning behavior. At this time, the discomfort of the occupants increases sharply. In the late stage of braking, the wheels and the ground are relatively still, but due to inertia, the body will have a certain degree of pitching motion. The intensified shaking of the body causes the occupants to have a delayed shaking and pitching, and the discomfort reaches a peak. This is the most critical problem causing occupant discomfort.

[0023] In order to solve the above technical problems, this specification provides a vehicle braking control method.

[0024] The purpose is to adjust the pedal feel parameters of the brake pedal based on the original hardware facilities during the vehicle's low-speed braking stage, reduce the vehicle's braking impact, thereby reducing the body shaking of the occupants caused by the shaking of the vehicle body and improving riding comfort.

[0025] Figure 2 1 is a flow chart of a vehicle braking control method provided in an embodiment of this specification, comprising the following steps: Step 100: When the vehicle is braked to decelerate, the driving state information of the vehicle and the road slope of the vehicle's driving environment are obtained.

[0026] The electrical signal or other form of signal generated when the driver steps on the brake pedal. The vehicle control system receives the signal to determine the driver's braking intention and degree of braking demand in order to perform corresponding braking operations.

[0027] In some embodiments, the driving status information described herein includes the real-time vehicle speed and the braking deceleration when the vehicle is braked.

[0028] Because the wheels and the ground are relatively stationary in the later stage of vehicle braking, the discomfort to the passengers caused by the pitching movement of the vehicle body due to inertia is most serious at this time. Therefore, the comfort braking function is activated during the low-speed braking stage of the vehicle.

[0029] Specifically, the comfortable braking condition includes: the real-time vehicle speed, the braking deceleration and the road slope of the vehicle driving environment are all within a specified range, and the specified range indicates that the vehicle is in a low-speed braking condition.

[0030] It can be understood that the real-time speed of the vehicle is one of the key factors in determining whether to enter the comfort braking mode. When driving at low speed, the kinetic energy of the vehicle is relatively small, the braking process is relatively gentle, and it is easier to achieve a comfortable braking experience. If the speed is high, even if the comfort braking strategy is adopted, since the vehicle needs to significantly reduce the large kinetic energy in a short period of time, the sudden change in braking force may cause the occupants of the vehicle to feel a significant impact, making it difficult to achieve a comfortable effect. At the same time, it is excluded to adjust the calibration value of the pedal feel parameter of the vehicle's brake pedal during emergency braking. Therefore, based on safety and comfort considerations, it is possible to meet the comfort braking condition only when the vehicle speed is within a relatively low specified range. As an example, the specified range of the real-time speed is 1kph~8kph.

[0031] The specified range of braking deceleration is set to ensure that the vehicle decelerates smoothly and gently during braking. If the braking deceleration is too small, the vehicle may need a longer braking distance to stop, which may affect driving safety in some cases; and if the braking deceleration is too large, the occupants will feel a sudden forward impact, just like sudden emergency braking, which does not meet the requirements of comfortable braking. Therefore, setting a suitable braking deceleration range can enable the vehicle to reduce speed smoothly and improve braking comfort. As an example, the specified range of braking deceleration is 0.1~0.5g.

[0032] The road slope of the vehicle's driving environment is also important. If the slope is large, the vehicle will not only have to overcome its own inertia when braking, but also the component of gravity along the slope, which may cause the braking system to apply greater braking force, making the braking process less smooth and comfortable. A large downhill slope will increase the vehicle's driving inertia, making braking more difficult and also difficult to ensure a comfortable braking effect. Figure 3 As shown in the figure, when braking on an upward slope, the vehicle has a component of gravity that can be used as braking force. At this time, the vehicle output braking force can be reduced to achieve comfortable braking. Therefore, only when the road slope is within an appropriate range can the braking system better adjust the braking force according to factors such as vehicle speed and braking deceleration to achieve the goal of comfortable braking. At the same time, given that the braking force during comfortable braking is relatively small relative to the standard value, exceeding the specified range of road slope is likely to cause the vehicle to slide down the slope, so as to ensure the stability of the vehicle posture and braking reliability when braking within the slope range.

[0033] As an example, the specified range of the road slope of the vehicle driving environment is determined based on the friction between the vehicle and the road when the vehicle is fully loaded and the minimum braking force of the braking system when parking. Exemplarily, the specified range of the road slope of the vehicle driving environment is less than or equal to 2%.

[0034] It should be noted that the vehicle braking control method described in this article relates to the field of vehicle longitudinal control technology. Figure 3 The uphill, downhill and normal road conditions shown in the figure also include the front and rear wheels on either axle being in uphill / downhill conditions and the other axle being in normal road conditions) to reduce the impact during braking, achieve less vehicle shaking and increase comfort during braking.

[0035] Step 200: When the driving state information and the road slope satisfy a comfortable braking condition, a calibration value of a pedal feel parameter of the vehicle's brake pedal is adjusted to obtain an adjusted value of the pedal feel parameter.

[0036] Reference Figure 4 When the vehicle is in the braking process, the electronic control unit (ECU) will collect and analyze the driving status information and road slope information from various sensors in real time. Only when these information are within the specified range specified by the comfort braking conditions, it means that the current vehicle working conditions are suitable for starting the comfort braking mode. In the comfort braking mode, the calibration value of the pedal feel parameter of the vehicle's brake pedal is adjusted to give the driver a more comfortable operating experience during braking and allow the passengers in the car to experience a smoother deceleration process.

[0037] In some embodiments, the calibrated pedal feel parameter includes a pedal response parameter, which is used to characterize the linear change relationship between the pedal stroke and the braking force. Under normal circumstances, the corresponding relationship between the pedal stroke and the braking force has a calibration value setting. Under an ideal linear relationship, as the pedal stroke increases, the braking force will increase evenly in a certain proportion. During comfort braking, this corresponding relationship will be appropriately changed to increase the range of the pedal stroke.

[0038] As an example, when the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, adjusting the pedal feel parameter of the brake pedal of the vehicle includes: When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, the calibration value of the pedal response parameter is reduced to obtain the adjustment value of the pedal response parameter.

[0039] By lowering the calibrated value of the pedal response parameter, for the same pedal travel, the adjusted braking force is smaller than the originally calibrated braking force, thereby achieving comfortable braking.

[0040] The controlling of vehicle braking based on the adjustment value of the pedal feel parameter and the pedal stroke of the brake pedal comprises: Obtaining a standard braking force corresponding to a pedal stroke of the brake pedal; adjusting the standard braking force based on the adjustment value of the pedal response parameter to obtain a target braking force; Based on the target braking force, braking of the vehicle is controlled.

[0041] The original calibration value of the pedal response parameter defines the linear change relationship between the pedal stroke and the braking force. The pedal stroke of the brake pedal during the current vehicle braking is obtained, and the standard braking force corresponding to the pedal stroke is determined based on the pedal stroke and the linear change relationship.

[0042] When the comfortable braking conditions are met, in order to make the braking process more gentle and comfortable, the calibration value of the pedal response parameter should be reduced. For example, when the driver steps on the brake pedal and the pedal travel reaches 10 mm, according to the initial calibration of the vehicle braking system, the corresponding braking force calculated based on the pedal response parameter relationship before adjustment may be 1000N.

[0043] After obtaining the standard braking force corresponding to the above-mentioned pedal stroke, it is further adjusted according to the adjustment value of the already adjusted pedal response parameter. Exemplarily, the adjustment value of the pedal response parameter is 8%, that is, the target braking force is obtained by reducing the calibrated braking force by 8%. Continuing with the above example, the pedal stroke is 10 mm, and the original corresponding standard braking force is 1000N. Now, due to the comfortable braking, the pedal response parameter is reduced by 8%, and the target braking force is 1000N×(1-8%)=920N. Through such an adjustment, the actual applied braking force meets the more gradual growth characteristics required for comfortable braking, rather than being executed according to the braking force size of conventional braking.

[0044] Finally, the vehicle's braking system will actually control the vehicle's braking operation based on the calculated target braking force. The ECU will send corresponding instructions to the brake actuator (which may be, but is not limited to, the brake master cylinder, wheel cylinder and other components in the hydraulic brake system, or the motor and other drive components in the wire control brake system) to enable them to apply braking force to the wheels according to the target braking force requirements, thereby achieving smooth and comfortable deceleration and braking of the vehicle, meeting the working conditions of comfortable braking, and improving the comfort of the occupants during braking and the overall driving quality of the vehicle.

[0045] Reference Figure 5 After adjusting the pedal feel parameters, the pedal response dropped by about 8%, making the braking increase smoothly. The feedback pedal force increased, and the actual wheel cylinder pressure decreased compared to the original pedal position, which reduced the impact of braking and reduced the longitudinal pitching movement, increasing the braking comfort at this time.

[0046] In this embodiment, through such adjustment, the linear change between the pedal stroke and the braking force becomes smoother, and the speed at which the braking force increases with the increase of the pedal stroke becomes slower, thereby avoiding the occupants in the vehicle feeling a greater impact due to the sharp increase in braking force during the braking process, and achieving a more comfortable braking experience.

[0047] In other embodiments, the pedal feel parameter includes the pressure building rate of the wheel cylinder of the vehicle. The decompression rate described herein refers to the speed at which the hydraulic pressure inside the brake wheel cylinder is built up during the braking process. When the driver steps on the brake pedal, a series of mechanical or hydraulic transmission mechanisms (such as the brake master cylinder, hydraulic pipeline, etc.) will cause the brake fluid to flow to the wheel cylinder, causing the pressure in the wheel cylinder to gradually increase, thereby pushing components such as the brake shoe or brake caliper to contact the wheel, generating braking force and achieving vehicle deceleration. The pressure building rate determines how fast the braking force is applied from the beginning to reaching a certain intensity.

[0048] For example, if the wheel cylinder pressure building rate is fast, it means that the pressure in the wheel cylinder can rise quickly in a shorter period of time, the braking force will also increase rapidly, and the vehicle's deceleration will change rapidly accordingly; conversely, if the pressure building rate is slow, the increase in braking force will be relatively slow, and the vehicle's deceleration process will also be gentler.

[0049] When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, adjusting the calibrated pedal feel parameter of the brake pedal of the vehicle includes: When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, the original value of the pressure building rate is reduced to obtain the adjusted value of the pressure building rate.

[0050] When the vehicle's driving status information (including the real-time vehicle speed being within a low and appropriate range and the braking deceleration being smooth and moderate) and the road slope of the vehicle's driving environment (within a relatively gentle angle range, such as uphill and downhill slopes within a minimum value of 2%) meet the comfortable braking conditions, it is necessary to adjust the calibrated pedal feel parameters of the brake pedal, which involves changing the original value of the wheel cylinder pressure buildup rate.

[0051] The controlling of vehicle braking based on the adjusted calibrated pedal feel parameter and the pedal stroke of the brake pedal comprises: The pressure change of the wheel cylinder is controlled based on the adjustment value of the pressure build-up rate to reduce the braking response of the pedal stroke and control vehicle braking.

[0052] In the comfort braking scenario, in order to avoid a sudden increase in braking force and bring an abrupt impact to the occupants, the original value of the pressure build-up rate should be reduced to obtain the adjusted value of the pressure build-up rate. Based on the adjusted pressure build-up rate, the pressure change of the wheel cylinder is controlled, and then the vehicle braking is controlled, which is mainly reflected in the braking response of reducing the pedal stroke.

[0053] When the driver steps on the brake pedal and the pedal stroke changes, according to conventional braking logic, different pedal strokes correspond to corresponding changes in wheel cylinder pressure and braking force. However, in comfort braking mode, since the pressure build-up rate has been adjusted to a lower value, even if the pedal stroke increases, the wheel cylinder pressure will not increase as quickly as in conventional braking.

[0054] In this embodiment, through such adjustments, the pressure in the wheel cylinder increases more slowly, and the braking force increases more gently, thereby reducing the braking response speed corresponding to the pedal stroke, making the vehicle deceleration process smoother and more comfortable, and improving the overall driving comfort.

[0055] In other embodiments, the pedal feel parameter includes the force feedback of the brake pedal, which is mainly reflected in the magnitude and change of the reaction force fed back to the driver's foot by the brake pedal when the driver steps on the brake pedal. Appropriate force feedback can enable the driver to clearly perceive the degree of control over the braking operation, and help improve the comfort and operation accuracy of the braking process.

[0056] The method further comprises: When the vehicle is braked to decelerate, obtaining the pedal force of the brake pedal; Determining a force feedback adjustment amount of the brake pedal based on the product of the pedal force and a force feedback adjustment coefficient; as the pedal force increases, the force feedback adjustment coefficient tends to decrease; The force feedback is adjusted based on the force feedback adjustment amount.

[0057] When the vehicle is in a state of being braked and decelerating, the force sensor installed at the brake pedal accurately obtains the pedal force of the brake pedal, converts it into a corresponding electrical signal, and then transmits it to the vehicle's ECU. Based on the acquired pedal force and the associated force feedback adjustment coefficient, the force feedback adjustment amount of the brake pedal is determined. For example, the current pedal force acquired is 50N, and the corresponding force feedback adjustment coefficient is 0.6. The force feedback adjustment amount at this time is determined by multiplying the two (50N×0.6=30N). This adjustment amount indicates the degree to which the current force feedback needs to be changed, and is the key basis for subsequent adjustment of the force feedback.

[0058] It should be noted that there is a specific relationship between the pedal force and the force feedback coefficient, that is, as the pedal force increases, the force feedback adjustment coefficient tends to decrease.

[0059] After the force feedback adjustment is determined, for a vehicle braking system using an electronically controlled brake simulator, the force feedback adjustment will be sent by the ECU to a control module related to the brake simulator. If the force feedback adjustment is positive and the force feedback needs to be reduced, the brake simulator may reduce the pedal reaction force felt by the driver by adjusting internal parameters (which may include but are not limited to electromagnetic force or spring stiffness).

[0060] In this embodiment, the force feedback is dynamically adjusted according to the pedal force, so as to better adapt to braking operations of different intensities, optimize the driver's pedal feel during braking, and improve the quality of the entire braking process.

[0061] Step 300: Control vehicle braking based on the adjustment value of the pedal feel parameter and the pedal travel of the brake pedal.

[0062] By adjusting at least one of the pedal feel parameters related to pedal feel and braking performance, such as the force feedback and wheel cylinder pressure building rate, the adjustment value is combined with the pedal stroke of the brake pedal to provide multi-dimensional information for the vehicle braking system. The vehicle is controlled based on the adjusted braking force to achieve a smooth, comfortable and effective deceleration and braking effect, meeting the requirements of different driving scenarios and the braking experience of the driver and passengers, and improving braking comfort.

[0063] Continue to refer to Figure 4 When the driving state information and the road slope do not meet the comfortable braking conditions, the vehicle braking is controlled based on the calibration value of the pedal feel parameter and the pedal travel of the brake pedal.

[0064] The present application provides a vehicle braking control method, device and computer-readable storage medium. When a vehicle is braked to decelerate, the driving state information of the vehicle and the road slope of the vehicle's driving environment are obtained. When the driving state information and the road slope meet the comfortable braking conditions, the braking impact of the vehicle is reduced in the low-speed stage of vehicle braking by adjusting the pedal feel parameters to improve the braking comfort.

[0065] Based on the same application concept as the above method, the embodiment of the present application also proposes a vehicle braking control device, such as Figure 6 shown.

[0066] The device comprises: The information acquisition module 602 is used to acquire the driving state information of the vehicle and the road slope of the vehicle driving environment when the vehicle is braked to decelerate; A parameter adjustment module 604 is used to adjust a calibration value of a pedal feel parameter of a brake pedal of the vehicle to obtain an adjustment value of the pedal feel parameter when the driving state information and the road slope meet a comfortable braking condition; The brake control module 606 is used to control vehicle braking based on the adjustment value of the pedal feel parameter and the pedal travel of the brake pedal.

[0067] The implementation process of the functions and effects of each module / submodule / unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and the same technical effect can be achieved, so it will not be repeated here.

[0068] Figure 7 An example of a physical structure diagram of a vehicle brake control device is shown in FIG. Figure 7 As shown, the vehicle brake control device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the vehicle brake control method.

[0069] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0070] On the other hand, the present application also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle braking control methods provided by the above methods.

[0071] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the vehicle braking control method provided by the above-mentioned methods.

[0072] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A vehicle braking control method, characterized in that: The method comprises: When the vehicle is braked to decelerate, obtaining driving state information of the vehicle and the road slope of the vehicle driving environment; When the driving state information and the road slope meet the comfort braking condition, adjusting the calibration value of the pedal feel parameter of the brake pedal of the vehicle to obtain the adjustment value of the pedal feel parameter; Vehicle braking is controlled based on the adjustment value of the pedal feel parameter and the pedal travel of the brake pedal.

2. The vehicle braking control method according to claim 1, characterized in that: The calibrated pedal feel parameters include pedal response parameters, which are used to characterize the linear relationship between pedal travel and braking force. When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, adjusting the pedal feel parameter of the brake pedal of the vehicle includes: When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, reducing the calibration value of the pedal response parameter to obtain the adjustment value of the pedal response parameter; The step of controlling vehicle braking based on the adjustment value of the pedal feel parameter and the pedal stroke of the brake pedal comprises: Obtaining a standard braking force corresponding to a pedal stroke of the brake pedal; adjusting the standard braking force based on the adjustment value of the pedal response parameter to obtain a target braking force; Based on the target braking force, braking of the vehicle is controlled.

3. The vehicle braking control method according to claim 1, characterized in that: The pedal feel parameter includes a pressure building rate of a wheel cylinder of the vehicle, When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, adjusting the calibrated pedal feel parameter of the brake pedal of the vehicle includes: When the driving state information and the road slope of the vehicle driving environment meet the comfortable braking condition, the original value of the pressure building rate is reduced to obtain the adjusted value of the pressure building rate. The controlling of vehicle braking based on the adjusted calibrated pedal feel parameter and the pedal stroke of the brake pedal comprises: The pressure change of the wheel cylinder is controlled based on the adjustment value of the pressure build-up rate to reduce the braking response of the pedal stroke and control vehicle braking.

4. The vehicle braking control method according to claim 1, characterized in that: The driving state information includes the real-time speed of the vehicle and the braking deceleration when the vehicle is braked. The comfortable braking condition includes: the real-time vehicle speed, the braking deceleration, and the road slope of the vehicle driving environment are all within a specified range, and the specified range indicates that the vehicle is in a low-speed braking condition.

5. The vehicle braking control method according to claim 4, characterized in that: The specified range of the road slope of the vehicle driving environment is determined based on the friction between the vehicle and the road when the vehicle is fully loaded and the minimum braking force of the braking system when parking.

6. The vehicle braking control method according to claim 5, characterized in that: The specified range includes: The real-time vehicle speed is 1 kph~8 kph; The braking deceleration is 0.1~0.5g; The road slope of the vehicle driving environment is less than or equal to 2%.

7. The vehicle braking control method according to claim 1, characterized in that: The method further comprises: When the driving state information and the road slope do not satisfy the comfortable braking condition, the vehicle braking is controlled based on the calibrated value of the pedal feel parameter and the pedal travel of the brake pedal.

8. The vehicle braking control method according to claim 1, characterized in that: The pedal feel parameter includes the force feedback of the brake pedal, The method further comprises: When the vehicle is braked to decelerate, obtaining the pedal force of the brake pedal; Determining a force feedback adjustment amount of the brake pedal based on the product of the pedal force and a force feedback adjustment coefficient; as the pedal force increases, the force feedback adjustment coefficient tends to decrease; The force feedback is adjusted based on the force feedback adjustment amount.

9. A vehicle brake control device, characterized in that: It comprises a memory, a processor and a vehicle braking control program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle braking control method as described in any one of claims 1 to 8 when executing the vehicle braking control program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle braking control program, which, when executed, implements the steps of the vehicle braking control method according to any one of claims 1 to 8.

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