Vehicle Braking Control Method, Device and Computer Readable Storage Medium

Abstract

The present application provides a vehicle braking control method, device and computer-readable storage medium. When the vehicle is braked to decelerate, the driving state information of the vehicle and the road surface gradient of the vehicle driving environment are obtained. When the driving state information and the road surface gradient meet the comfortable braking condition, the pedal feel parameter is adjusted to reduce the braking impact of the vehicle in the low-speed stage of vehicle braking, so as to improve the braking comfort.

Description

Technical Field

[0001] This application relates to the technical field of vehicle braking, and particularly to a vehicle braking control method, device, and computer-readable storage medium. Background Art

[0002] Currently, the primary consideration in the design of vehicle braking systems is safety, specifically manifested as achieving a short braking distance and rapid braking response. However, this design orientation sacrifices vehicle braking comfort to a certain extent and places high demands on the driving skills of drivers. It can be understood that during the vehicle braking process, under the combined action of physical factors such as inertia and deceleration, the posture of the vehicle body and the occupants inside the vehicle will change with the change in braking intensity. Especially at the moment when the vehicle is approaching a stop, the wheels are relatively stationary with respect to the ground, while the vehicle body will still produce pitching motion due to inertia, and the occupants inside the vehicle will also pitch passively, which is the key cause of occupant discomfort.

[0003] However, with the development of the automotive industry, vehicle manufacturers are gradually attaching importance to the comfort during vehicle braking, and the market consumers' expectations for vehicle comfort are also increasing day by day. The weight of braking comfort in the overall vehicle comfort evaluation system has also increased significantly. Therefore, improving braking comfort is an urgent problem to be solved at present. 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 the first aspect of the embodiments of this specification, a vehicle braking control method is provided, and the method includes:

[0006] When the vehicle is braked and decelerated, obtain the driving state information of the vehicle and the road surface gradient of the vehicle driving environment;

[0007] When the driving state information and the road surface gradient meet the comfortable braking condition, adjust the calibration value of the pedal feel parameter of the vehicle's brake pedal to obtain the adjusted value of the pedal feel parameter;

[0008] Control vehicle braking based on the adjusted value of the pedal feel parameter and the pedal travel of the brake pedal.

[0009] According to a vehicle braking control method provided by this application, the calibrated pedal feel parameter includes a pedal response parameter, which is used to characterize the linear change relationship between the pedal travel and the braking force.

[0010] When the driving state information and the road surface gradient of the vehicle driving environment meet the comfortable braking condition, adjusting the pedal feel parameter of the vehicle's brake pedal includes:

[0011] When the driving state information and the road surface slope of the vehicle driving environment meet the comfortable braking condition, reduce the calibration value of the pedal response parameter to obtain the adjusted value of the pedal response parameter;

[0012] Controlling the vehicle braking based on the adjusted value of the pedal feel parameter and the pedal travel of the brake pedal includes:

[0013] Obtain the calibrated braking force corresponding to the pedal travel of the brake pedal;

[0014] Adjust the calibrated braking force based on the adjusted value of the pedal response parameter to obtain the target braking force;

[0015] Control the vehicle braking based on the target braking force.

[0016] According to a vehicle braking control method provided by the present application, the pedal feel parameter includes the pressure build-up rate of the wheel cylinder of the vehicle,

[0017] When the driving state information and the road surface slope of the vehicle driving environment meet the comfortable braking condition, adjusting the calibrated pedal feel parameter of the vehicle's brake pedal includes:

[0018] When the driving state information and the road surface slope of the vehicle driving environment meet the comfortable braking condition, reduce the original value of the pressure build-up rate to obtain the adjusted value of the pressure build-up rate,

[0019] Controlling the vehicle braking based on the adjusted calibrated pedal feel parameter and the pedal travel of the brake pedal includes:

[0020] Control the pressure change of the wheel cylinder based on the adjusted value of the pressure build-up rate to reduce the braking response of the pedal travel and control the vehicle braking.

[0021] 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,

[0022] The comfortable braking condition includes: the real-time vehicle speed, the braking deceleration, and the road surface slope of the vehicle driving environment are all within a specified range, and the specified range represents that the vehicle is in a low-speed braking condition.

[0023] According to a vehicle braking control method provided by the present application, the specified range of the road surface slope of the vehicle driving environment is determined according to the friction between the vehicle and the road surface when the vehicle is fully loaded and the minimum braking force of the braking system when parking.

[0024] According to a vehicle braking control method provided by the present application, the specified range includes:

[0025] The real-time vehicle speed is 1 kph to 8 kph;

[0026] The braking deceleration is 0.1 to 0.5 g;

[0027] The road surface gradient of the vehicle driving environment is less than or equal to 2%.

[0028] According to a vehicle braking control method provided by the present application, the method further includes:

[0029] When the driving state information and the road surface gradient do not meet the comfortable braking condition, the vehicle braking is controlled based on the calibrated value of the pedal feel parameter and the pedal stroke of the brake pedal.

[0030] According to a vehicle braking control method provided by the present application, the pedal feel parameter includes the force feedback of the brake pedal,

[0031] The method further includes:

[0032] When the vehicle is braked and decelerated, the pedal force of the brake pedal is acquired;

[0033] Based on the product of the pedal force and the force feedback adjustment coefficient, the force feedback adjustment amount of the brake pedal is determined; as the pedal force increases, the force feedback adjustment coefficient shows a decreasing trend;

[0034] Based on the force feedback adjustment amount, the force feedback is adjusted.

[0035] The present application further provides a vehicle braking control device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the vehicle braking control method as described in any one of the above is implemented.

[0036] The present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle braking control method as described in any one of the above is implemented.

[0037] In the embodiments of the present specification, for the vehicle braking control method, device, and computer-readable storage medium, when the vehicle is braked and decelerated, the driving state information of the vehicle and the road surface gradient of the vehicle driving environment are acquired. When the driving state information and the road surface gradient meet the comfortable braking condition, the pedal feel parameter is adjusted to reduce the braking impact of the vehicle in the low-speed stage of vehicle braking, so as to improve the braking comfort.

[0038] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this specification. Description of the Drawings

[0039] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this specification, and are used together with the specification to explain the principles of this specification.

[0040] Figure 1 is a diagram showing the changes in human body posture during braking according to an exemplary embodiment of this specification;

[0041] Figure 2 is a schematic flowchart of a vehicle braking control method according to an exemplary embodiment of this specification;

[0042] Figure 3 is a schematic diagram showing the forces acting on a vehicle when going uphill according to an exemplary embodiment of this specification;

[0043] Figure 4 is another schematic diagram of a vehicle comfort braking method according to an exemplary embodiment of this specification;

[0044] Figure 5 is a diagram for adjusting pedal feel parameters of a vehicle braking control method according to an exemplary embodiment of this specification;

[0045] Figure 6 is a schematic diagram of a vehicle braking control device according to an exemplary embodiment of this specification;

[0046] Figure 7 is a schematic block diagram of a vehicle braking control device according to an exemplary embodiment of this specification. Detailed Embodiments

[0047] Here, the technical solutions in the embodiments (or "embodiment modes") of this application will be clearly and completely described in conjunction with the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0048] If there are terms in the embodiments of this application related to directional indications or positional relationships (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.), then such terms are only used to explain the relative positional relationships and movement conditions between components in a specific posture (as shown in the accompanying drawings); if this specific posture changes, then the directional indication or positional relationship also changes accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of this application are only for the purpose of convenient description and cannot be understood as indicating or implying relative importance.

[0049] The present application provides a vehicle braking control method, device, and computer-readable storage medium. The following will describe the present application in detail with reference to the accompanying drawings. Without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0050] When a vehicle brakes, factors such as inertia and deceleration will cause changes in the posture of the vehicle body and occupants (varying with the braking intensity), which will cause discomfort to the occupants. The braking stage can be simply summarized as the pre-braking period, the mid-braking period, and the post-braking period. In the pre-braking period, the vehicle is braked according to the driver's subjective judgment, and the comfort is mainly dominated by the braking intensity. As Figure 1 shown, at this time, due to inertia, the occupants will have a tendency to lean forward, and the discomfort is not very obvious. In the mid-braking period, due to continuous braking, the forward lean of the occupants' bodies is no longer a tendency but a substantial forward lean behavior. At this time, the discomfort of the occupants increases sharply. In the post-braking period, the wheels are relatively stationary with the ground, but due to inertia, the vehicle body will undergo a certain degree of pitching motion, and the increased shaking of the vehicle body causes the occupants to also have a lagging shaking and pitching, and the discomfort reaches the peak, which is the most critical problem causing the discomfort of the occupants.

[0051] To solve the above technical problems, this specification provides a vehicle braking control method.

[0052] Aiming at the low-speed braking stage of the vehicle, on the basis of the original hardware facilities, the pedal feel parameters of the brake pedal are adjusted to reduce the braking impact of the vehicle, so as to reduce the body shaking of the occupants caused by the shaking of the vehicle body and improve the riding comfort.

[0053] Figure 2 FIG. is a schematic flow chart of a vehicle braking control method provided by an embodiment of this specification, including the following steps:

[0054] Step 100, when the vehicle is braked and decelerated, obtain the driving state information of the vehicle and the road surface gradient of the vehicle driving environment.

[0055] When the driver steps on the brake pedal, an electrical signal or other form of signal is generated. The vehicle control system judges the driver's braking intention and braking demand degree by receiving this signal, so as to perform corresponding braking operations.

[0056] In some embodiments, the driving state information described herein includes the real-time vehicle speed of the vehicle and the braking deceleration when the vehicle is braked.

[0057] Since in the post-braking period of the vehicle, the wheels are relatively stationary with the ground, and at this time, the discomfort of the occupants caused by the pitching motion of the vehicle body due to inertia is the most serious. Therefore, in the low-speed braking stage of the vehicle, the comfort braking function is activated.

[0058] Specifically, the comfortable braking conditions include that the real-time vehicle speed, the braking deceleration, and the road surface gradient 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.

[0059] It can be understood that the real-time vehicle speed of the vehicle is one of the key factors for judging whether to enter the comfortable braking mode. When driving at a 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 vehicle speed is high, even if the comfortable braking strategy is adopted, since the vehicle needs to significantly reduce a large amount of kinetic energy in a short time, the sharp change in braking force may cause the occupants in the vehicle to feel an obvious impact and it is difficult to achieve a comfortable effect. At the same time, the calibration value of the pedal feel parameter of the vehicle's brake pedal during emergency braking is excluded. Therefore, based on considerations of safety and comfort, it is possible to meet the comfortable braking conditions only when the vehicle speed is within a relatively low specified range. As an example, the specified range of the real-time vehicle speed is 1 kph to 8 kph.

[0060] The setting of the specified range of the braking deceleration is to ensure that the deceleration of the vehicle during braking is stable and gentle. If the braking deceleration is too small, the vehicle may require a longer braking distance to stop, which may affect driving safety in some cases; while if the braking deceleration is too large, the occupants in the vehicle will feel a sudden forward impact force, just like a sudden hard brake, which does not meet the requirements of comfortable braking. Therefore, setting an appropriate range of braking deceleration can enable the vehicle to smoothly reduce its speed and improve the comfort of braking. As an example, the specified range of the braking deceleration is 0.1 to 0.5 g.

[0061] The road surface gradient of the vehicle driving environment is equally important. If it is a large uphill gradient, when the vehicle brakes, in addition to overcoming its own inertia, it also needs to overcome the component of gravity along the slope, which may cause the braking system to apply a greater braking force, making the braking process less stable and comfortable. While a large downhill gradient will increase the driving inertia of the vehicle, making braking more difficult and it is also difficult to ensure a comfortable braking effect. As Figure 3 shown, when braking on an upward slope, at this time the vehicle has a component of gravity that can be used as a braking force, and at this time the vehicle output braking force can be reduced to achieve comfortable braking. Therefore, only when the road surface gradient is within a suitable range, the braking system can better adjust the braking force accurately according to factors such as vehicle speed and braking deceleration to achieve the goal of comfortable braking. At the same time, considering that the braking force during comfortable braking is relatively smaller than the standard value, exceeding the specified range of the road surface gradient is likely to cause the vehicle to slip, ensuring the vehicle attitude stability and braking reliability during braking within this gradient range.

[0062] As an example, the specified range of the road surface gradient of the vehicle driving environment is determined according to the friction between the vehicle and the road surface when the vehicle is fully loaded and the minimum braking force of the braking system when braking to a stop. Exemplarily, the specified range of the road surface gradient of the vehicle driving environment is less than or equal to 2%.

[0063] It should be noted that the vehicle braking control method described in this article relates to the technical field of vehicle longitudinal control. In the braking working condition scenario (in addition to the uphill, downhill, and normal road surface working conditions shown, it also includes the working condition where any one of the front and rear axle wheels is in the uphill / downhill working condition and the other axle wheels are in the normal road surface working condition), it reduces the impact degree during braking, realizes less vehicle shaking, and increases the comfort during braking. Figure 3 The above is the case for the uphill, downhill, and normal road surface working conditions shown. It also includes the working condition where any one of the front and rear axle wheels is in the uphill / downhill working condition and the other axle wheels are in the normal road surface working condition), reducing the impact degree during braking, realizing less vehicle shaking, and increasing the comfort during braking.

[0064] Step 200, when the driving state information and the road surface gradient satisfy the comfortable braking condition, adjust the calibration value of the pedal feel parameter of the vehicle's brake pedal to obtain the adjusted value of the pedal feel parameter.

[0065] Refer to Figure 4 , when the vehicle is in the braking process, the electronic control unit (ECU) will collect and analyze the driving state information and the road surface gradient information from each sensor in real time. Only when all this information is within the specified range defined by the comfortable braking condition does it mean that the current vehicle working condition is suitable for starting the comfortable braking mode. In the comfortable braking mode, the calibration value of the pedal feel parameter of the vehicle's brake pedal is adjusted to enable the driver to have a more comfortable operation feeling during braking and enable the passengers in the vehicle to experience a smoother deceleration process.

[0066] 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. Normally, there is a calibration value set for the corresponding relationship between the pedal stroke and the braking force. Under the ideal linear relationship, as the pedal stroke increases, the braking force will increase uniformly according to a certain proportion. During comfortable braking, this corresponding relationship will be appropriately changed to increase the range of the pedal stroke.

[0067] As an example, when the driving state information and the road surface gradient of the vehicle driving environment satisfy the comfortable braking condition, adjusting the pedal feel parameter of the vehicle's brake pedal includes:

[0068] When the driving state information and the road surface gradient of the vehicle driving environment satisfy the comfortable braking condition, reduce the calibration value of the pedal response parameter to obtain the adjusted value of the pedal response parameter.

[0069] Reducing the calibration value of the pedal response parameter means that for the same pedal stroke, the adjusted braking force is less than the originally calibrated braking force, thereby realizing comfortable braking.

[0070] Based on the adjustment value of the pedal feel parameter and the pedal travel of the brake pedal, controlling the vehicle braking includes:

[0071] Obtaining the calibrated braking force corresponding to the pedal travel of the brake pedal;

[0072] Adjusting the calibrated braking force based on the adjustment value of the pedal response parameter to obtain the target braking force;

[0073] Based on the target braking force, controlling the vehicle braking.

[0074] The original calibration value of the pedal response parameter defines the linear change relationship between the pedal travel and the braking force. Obtain the pedal travel of the brake pedal during the current vehicle braking, and determine the calibrated braking force corresponding to the pedal travel according to the pedal travel and the linear change relationship.

[0075] When the comfortable braking condition is met, in order to make the braking process more gentle and comfortable, the calibration value of this pedal response parameter needs to be reduced. For example, when the driver presses the brake pedal and the pedal travel reaches 10 millimeters, according to the initial calibration of the vehicle braking system, based on the pedal response parameter relationship before adjustment, the corresponding braking force calculated may be 1000N.

[0076] After obtaining the calibrated braking force corresponding to the above pedal travel, further adjust it according to the adjusted value of the pedal response parameter. Exemplarily, the adjusted value of the pedal response parameter is 8%, that is, reducing by 8% based on the calibrated braking force to obtain the target braking force. Continuing with the above example, the pedal travel is 10 millimeters, and the originally corresponding calibrated braking force is 1000N. Now, due to comfortable braking and the pedal response parameter being reduced by 8%, the target braking force is 1000N×(1 - 8%) = 920N. Through such adjustment, the actually applied braking force conforms to the more gentle growth characteristic required by comfortable braking, rather than being executed according to the braking force magnitude of conventional braking.

[0077] Finally, the braking system of the vehicle will actually control the braking operation of the vehicle according to the calculated target braking force. The ECU will send corresponding instructions to the braking actuator (which can be but is not limited to components such as the brake master cylinder and wheel cylinders in the hydraulic braking system, or drive components such as motors in the brake-by-wire system), so that they apply the braking force to the wheels according to the requirements of the target braking force, thereby achieving smooth and comfortable deceleration braking of the vehicle, meeting the working condition requirements of comfortable braking, and improving the comfort of the passengers in the vehicle during braking and the overall driving quality of the vehicle.

[0078] Refer to Figure 5, after adjusting the pedal feel parameters, the pedal response drops by about 8%, making the braking smoother at this time. The feedback pedal force increases somewhat, and the actual wheel cylinder pressure drops compared to the original pedal position, reducing the braking impact at this time, decreasing the longitudinal pitching motion, and increasing the braking comfort at this time.

[0079] 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 as the pedal stroke increases slows down, thus avoiding a large impact felt by the vehicle occupants due to a sharp increase in the braking force during braking and achieving a more comfortable braking experience.

[0080] In some other embodiments, the pedal feel parameter includes the pressure build-up rate of the wheel cylinder of the vehicle. The pressure build-up rate described herein refers to the speed at which the hydraulic pressure inside the brake wheel cylinder builds up during braking. When the driver steps on the brake pedal, through a series of mechanical or hydraulic transmission mechanisms (such as the master cylinder, hydraulic pipelines, etc.), the brake fluid will be prompted to flow to the wheel cylinder, causing the pressure in the wheel cylinder to gradually increase, and then pushing components such as brake shoes or brake calipers to contact the wheels, generating braking force and achieving vehicle deceleration. And the pressure build-up rate determines the speed at which this braking force increases from the start to a certain intensity.

[0081] For example, if the pressure build-up rate of the wheel cylinder is relatively fast, it means that within a short time, the pressure in the wheel cylinder can rise rapidly, the braking force will also increase rapidly, and the deceleration of the vehicle will change rapidly accordingly; conversely, if the pressure build-up rate is slow, the growth of the braking force will be relatively gentle, and the vehicle deceleration process will also be more gradual.

[0082] When the driving state information and the road surface gradient of the vehicle driving environment meet the comfortable braking conditions, adjusting the calibrated pedal feel parameters of the vehicle's brake pedal includes:

[0083] When the driving state information and the road surface gradient of the vehicle driving environment meet the comfortable braking conditions, reduce the original value of the pressure build-up rate to obtain the adjusted value of the pressure build-up rate.

[0084] When the driving state information of the vehicle (including the real-time vehicle speed being in a relatively low and appropriate range, and the braking deceleration being stable and moderate) and the road surface gradient of the vehicle driving environment (being in a relatively gentle angle range, for example, the uphill and downhill gradients being within a small 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 pressure build-up rate of the wheel cylinder.

[0085] Controlling vehicle braking based on the adjusted calibrated pedal feel parameters and the pedal stroke of the brake pedal includes:

[0086] Control the pressure change of the wheel cylinder based on the adjusted value of the pressure build-up rate to reduce the braking response of the pedal stroke and control vehicle braking.

[0087] In a comfort braking scenario, to avoid a sudden increase in braking force that brings an abrupt impact to the vehicle occupants, the original value of the pressure build-up rate is reduced to obtain the adjusted value of the pressure build-up rate. Controlling the pressure change of the wheel cylinder based on the adjusted pressure build-up rate, and then realizing the control of vehicle braking, is mainly reflected in reducing the braking response of the pedal stroke.

[0088] When the driver presses the brake pedal and the pedal stroke changes, according to the conventional braking logic, different pedal strokes correspond to corresponding wheel cylinder pressure changes and braking force magnitudes. However, in the comfort braking mode, since the pressure build-up rate has been adjusted to a lower value, even if the pedal stroke increases, the pressure of the wheel cylinder will not increase as rapidly as in conventional braking.

[0089] In this embodiment, through such adjustment, the pressure increase in the wheel cylinder becomes slower, the braking force increases more gently, the braking response speed corresponding to the pedal stroke is reduced, the vehicle deceleration process is smoother and more comfortable, and the overall driving comfort is improved.

[0090] In other embodiments, the pedal feel parameter includes the force feedback of the brake pedal. The force feedback is mainly reflected in the magnitude and change of the reaction force that the pedal gives back to the driver's foot when the driver presses the brake pedal. Appropriate force feedback can enable the driver to clearly perceive their control degree of the braking operation and contribute to improving the comfort and operation accuracy of the braking process.

[0091] The method further includes:

[0092] When the vehicle is braked and decelerated, obtain the pedal force of the brake pedal;

[0093] Based on the product of the pedal force and the force feedback adjustment coefficient, determine the force feedback adjustment amount of the brake pedal; as the pedal force increases, the force feedback adjustment coefficient shows a decreasing trend;

[0094] Adjust the force feedback based on the force feedback adjustment amount.

[0095] When the vehicle is in a state of decelerating while being braked, the pedal force of the brake pedal is accurately obtained through a force sensor installed at the brake pedal, converted into a corresponding electrical signal, and then transmitted to the vehicle's ECU. Based on the obtained pedal force and the associated force feedback adjustment coefficient, the force feedback adjustment amount of the brake pedal is determined. For example, if the currently obtained pedal force is 50 N and the corresponding force feedback adjustment coefficient is 0.6, the force feedback adjustment amount at this time is determined by the product of the two (50 N × 0.6 = 30 N). This adjustment amount represents the degree to which the current force feedback needs to be changed and is the key basis for subsequent force feedback adjustment.

[0096] 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 shows a decreasing trend.

[0097] After determining the force feedback adjustment amount, for a vehicle braking system with an electronically controlled brake force simulator, the force feedback adjustment amount will be sent by the ECU to the control module related to the brake force simulator. If the force feedback adjustment amount is positive and the force feedback needs to be reduced, the brake force simulator may adjust internal parameters (which can but are not limited to parameters such as electromagnetic force magnitude or spring stiffness) to reduce the pedal reaction force felt by the driver.

[0098] In this embodiment, dynamically adjusting the force feedback according to the pedal force can better adapt to braking operations of different intensities, optimize the pedal touch of the driver during braking, and improve the quality of the entire braking process.

[0099] Step 300, control vehicle braking based on the adjustment value of the pedal feeling parameter and the pedal stroke of the brake pedal.

[0100] By combining the adjustment value obtained after adjusting at least one pedal feeling parameter among the force feedback, wheel cylinder pressure build-up rate, and other parameters related to pedal feeling and braking performance with the pedal stroke of the brake pedal, multi-dimensional information is provided for the vehicle braking system. Based on the adjusted braking force, the vehicle is controlled to achieve a smooth, comfortable, and effective deceleration braking effect, meeting the requirements of different driving scenarios and vehicle occupants for the braking experience and improving braking comfort.

[0101] Continue to refer to Figure 4 , when the driving state information and the road surface gradient do not meet the comfortable braking condition, control vehicle braking based on the calibrated value of the pedal feeling parameter and the pedal stroke of the brake pedal.

[0102] The present application provides a vehicle braking control method, device and computer-readable storage medium. When the vehicle is braked and decelerated, the driving state information of the vehicle and the road surface gradient of the vehicle driving environment are obtained. When the driving state information and the road surface gradient meet the comfortable braking condition, the pedal feel parameter is adjusted to reduce the braking impact of the vehicle in the low-speed stage of vehicle braking, so as to improve the braking comfort.

[0103] Based on the same application concept as the above method, an embodiment of the present application also proposes a vehicle braking control device, as Figure 6 shown.

[0104] The device includes:

[0105] An information acquisition module 602, configured to obtain the driving state information of the vehicle and the road surface gradient of the vehicle driving environment when the vehicle is braked and decelerated;

[0106] A parameter adjustment module 604, configured to adjust the calibration value of the pedal feel parameter of the vehicle's brake pedal to obtain an adjusted value of the pedal feel parameter when the driving state information and the road surface gradient meet the comfortable braking condition;

[0107] A braking control module 606, configured to control vehicle braking based on the adjusted value of the pedal feel parameter and the pedal stroke of the brake pedal.

[0108] For the specific implementation process of the functions and roles of each module / sub-module / unit in the above device, refer to the implementation process of the corresponding steps in the above method, which can achieve the same technical effect and will not be elaborated here.

[0109] Figure 7 An example of the physical structure diagram of a vehicle braking control device is shown as Figure 7 shown. The vehicle braking control device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the vehicle braking control method.

[0110] In addition, when the logical instructions in the aforementioned memory 830 can be 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 such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0111] On the other hand, this application also provides a computer program product. The computer program product includes a computer program that 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 method provided by the above-mentioned various methods.

[0112] On another aspect, this application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the vehicle braking control method provided by the above-mentioned various methods.

[0113] 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 conflict. 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 replacements, improvements, etc., made within the spirit and principle of this application shall be included within the scope of protection of this application.

Claims

1. A vehicle braking control method, characterized in that, The method includes: When the vehicle is braked and decelerated, obtaining the driving state information of the vehicle and the road surface gradient of the vehicle driving environment; When the driving state information and the road surface gradient meet the comfortable braking condition, adjusting the calibration value of the pedal feel parameter of the vehicle's brake pedal to obtain the adjusted value of the pedal feel parameter; Based on the adjusted value of the pedal feel parameter and the pedal stroke of the brake pedal, controlling the vehicle braking; Wherein, the pedal feel parameter includes the pressure building rate of the wheel cylinder of the vehicle, and the method further includes: when the driving state information and the road surface gradient of the vehicle driving environment meet the comfortable braking condition, reducing the original value of the pressure building rate to obtain the adjusted value of the pressure building rate, and controlling the pressure change of the wheel cylinder based on the adjusted value of the pressure building rate to reduce the braking response of the pedal stroke and control the vehicle braking; The pedal feel parameter includes the force feedback of the brake pedal, and the method further includes: when the vehicle is braked and decelerated, obtaining the pedal force of the brake pedal; adjusting the force feedback based on the pedal force and the force feedback adjustment coefficient.

2. The vehicle braking control method according to claim 1, characterized in that The pedal feel parameter includes a pedal response parameter for characterizing the linear change relationship between the pedal stroke and the braking force, When the driving state information and the road surface gradient of the vehicle driving environment meet the comfortable braking condition, adjusting the pedal feel parameter of the vehicle's brake pedal includes: When the driving state information and the road surface gradient of the vehicle driving environment meet the comfortable braking condition, reducing the calibration value of the pedal response parameter to obtain the adjusted value of the pedal response parameter; Based on the adjusted value of the pedal feel parameter and the pedal stroke of the brake pedal, controlling the vehicle braking includes: Obtaining the calibrated braking force corresponding to the pedal stroke of the brake pedal; Adjusting the calibrated braking force based on the adjusted value of the pedal response parameter to obtain the target braking force; Based on the target braking force, controlling the vehicle braking.

3. The vehicle braking control method according to claim 1, characterized in that The driving state information includes the real-time vehicle 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 surface gradient of the vehicle driving environment are all within a specified range, and the specified range represents that the vehicle is in a low-speed braking condition.

4. The vehicle braking control method according to claim 3, characterized in that The specified range of the road surface gradient of the vehicle driving environment is determined according to the friction between the vehicle and the road surface when the vehicle is fully loaded and the minimum braking force of the braking system when parking.

5. The vehicle braking control method according to claim 4, characterized in that The specified range includes: The real-time vehicle speed is 1 kph to 8 kph; The braking deceleration is 0.1 to 0.5 g; The road surface gradient of the vehicle driving environment is less than or equal to 2%.

6. The vehicle braking control method according to claim 1, wherein The method further includes: When the driving state information and the road surface gradient do not meet the comfortable braking condition, control vehicle braking based on the calibrated value of the pedal feel parameter and the pedal stroke of the brake pedal.

7. The vehicle braking control method according to claim 1, characterized in that The adjusting the force feedback based on the pedal force and the force feedback adjustment coefficient includes: Determine the force feedback adjustment amount of the brake pedal based on the product of the pedal force and the force feedback adjustment coefficient; as the pedal force increases, the force feedback adjustment coefficient shows a decreasing trend; Adjust the force feedback based on the force feedback adjustment amount.

8. A vehicle braking control device, characterized in that, It includes a memory, a processor, and a vehicle braking control program stored on the memory and executable on the processor. When the processor executes the vehicle braking control program, it implements the steps of the vehicle braking control method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that A vehicle braking control program is stored on the computer-readable storage medium. When the vehicle braking control program is executed, it implements the steps of the vehicle braking control method according to any one of claims 1-7.

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