Vehicle braking control method and system

Abstract

The invention discloses a vehicle braking control method and system. The vehicle braking control method comprises the steps that driving parameters of a vehicle are obtained; determining whether the vehicle meets a comfortable braking condition or not based on the driving parameters; when the vehicle meets the comfortable braking condition, a first braking force change rate is provided for the vehicle; when the vehicle does not meet the comfortable braking condition, a second braking force change rate is provided for the vehicle, and the second braking force change rate is larger than the first braking force change rate. By the adoption of the scheme, the problems of poor safety and stability during comfortable braking are solved.

Description

Technical Field

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

[0002] In existing vehicles, the vehicle body will inevitably experience jerking movement during braking, which results in a poor riding experience for the driver and passengers.

[0003] In the hydraulic system, when braking begins, the deformation of the pipeline has a buffering characteristic, which can buffer the brake frustration during the boost process. In the dry braking system, the motor boost acts directly on the brake disc, and the response becomes faster after the brake pipeline deformation is reduced. Even if the pedal speed is not large, it will produce a large acceleration change rate, resulting in obvious vehicle frustration.

[0004] In related technologies, in order to reduce the sense of frustration during braking and achieve comfortable braking, the braking force is usually reduced to achieve comfortable braking, and then the safe braking is ensured by monitoring the obstacles in front of the vehicle and calculating the braking distance. However, by reducing the braking force to achieve comfortable braking, the braking distance of the vehicle may increase in an emergency, thereby increasing the risk of collision. At the same time, reducing the braking force may lead to poor stability during braking. Summary of the invention

[0005] The invention provides a vehicle braking control method and system to solve the problem of poor safety and stability during comfort braking.

[0006] According to one aspect of the present invention, a vehicle braking control method is provided, the vehicle braking control method comprising:

[0007] Obtaining the driving parameters of the vehicle;

[0008] determining whether the vehicle meets a comfort braking condition based on the driving parameters;

[0009] When the vehicle meets the comfort braking condition, providing a first braking force change rate for the vehicle;

[0010] When the vehicle does not meet the comfort braking condition, a second braking force change rate is provided to the vehicle, wherein the second braking force change rate is greater than the first braking force change rate.

[0011] In an optional embodiment of the present invention, after determining whether the vehicle meets the comfort braking condition based on the driving parameters, the method further includes:

[0012] When the vehicle meets the comfort braking condition, it is determined whether the vehicle meets the comfort parking condition based on the driving parameter, and when the vehicle meets the comfort parking condition, the front axle braking force requirement is reduced and the rear axle braking force requirement is increased synchronously.

[0013] In an optional embodiment of the present invention, after determining whether the vehicle meets the comfortable parking condition based on the driving parameters, the method further includes:

[0014] When the vehicle does not meet the comfortable parking condition, the front axle braking force demand and the rear axle braking force demand are distributed based on a braking force distribution rule, and the braking force distribution coefficient is set to an initial distribution coefficient during distribution, wherein the braking force distribution rule is: F1=βF, F2=F–F1, F1 is the front axle braking force demand, F2 is the rear axle braking force demand, F is the total braking force demand, β is the braking force distribution coefficient, and the initial distribution coefficient is greater than 0.5;

[0015] Accordingly, reducing the front axle braking force requirement and simultaneously increasing the rear axle braking force requirement includes:

[0016] The front axle braking force requirement and the rear axle braking force requirement are allocated based on the braking force allocation rule, and the braking force allocation coefficient is gradually reduced to a coefficient setting value during allocation, wherein the coefficient setting value is smaller than the initial allocation coefficient.

[0017] In an optional embodiment of the present invention, the driving parameter includes a pedal stroke, and after determining whether the vehicle meets the comfortable parking condition based on the driving parameter, the method further includes:

[0018] When the vehicle satisfies the comfortable parking condition, it is determined whether the pedal stroke increases, and when the pedal stroke increases, the braking force distribution coefficient is adjusted to the initial distribution coefficient.

[0019] In an optional embodiment of the present invention, after determining whether the vehicle meets the comfortable parking condition based on the driving parameters, the method further includes:

[0020] When the vehicle satisfies the comfortable parking condition, it is determined whether the vehicle is in a stopped state based on the driving parameter, and the braking force distribution coefficient is gradually increased to the initial distribution coefficient when the vehicle is in a stopped state.

[0021] In an optional embodiment of the present invention, the driving parameters include a pedal speed and a pedal stroke; and determining whether the vehicle meets the comfortable parking condition based on the driving parameters includes:

[0022] determining whether the pedal speed is lower than a first preset pedal speed, whether the pedal stroke is lower than a first preset pedal stroke, and whether the pedal stroke is maintained or reduced;

[0023] When the pedal speed is lower than the first preset pedal speed, the pedal stroke is lower than the first preset pedal stroke, and the pedal stroke is maintained or reduced, determining that the vehicle meets the comfortable parking condition;

[0024] When the pedal speed is higher than or equal to the first preset pedal speed, the pedal stroke is higher than or equal to the first preset pedal stroke, or the pedal stroke increases, it is determined that the vehicle does not meet the comfort parking condition.

[0025] In an optional embodiment of the present invention, the driving parameter includes a vehicle speed, and determining whether the vehicle meets a comfort braking condition based on the driving parameter includes:

[0026] determining whether the pedal speed is lower than a second preset pedal speed, whether the pedal stroke is lower than a second preset pedal stroke, and whether the vehicle speed is lower than a preset vehicle speed, wherein the second preset pedal speed is greater than the first preset pedal speed, and the second preset pedal stroke is greater than the first preset pedal stroke;

[0027] When the pedal speed is lower than the second preset pedal speed, the pedal stroke is lower than the second preset pedal stroke, and the vehicle speed is lower than the preset vehicle speed, determining that the vehicle meets the comfort braking condition;

[0028] When the pedal speed is higher than or equal to the second preset pedal speed, the pedal stroke is higher than or equal to the second preset pedal stroke, and the vehicle speed is greater than or equal to the preset vehicle speed, it is determined that the vehicle does not meet the comfort braking condition.

[0029] In an optional embodiment of the present invention, after determining whether the vehicle meets the comfort braking condition based on the driving parameters, the method further includes:

[0030] When the vehicle satisfies the comfort braking condition, it is determined whether the vehicle satisfies the emergency braking condition based on the driving parameter, and when the vehicle satisfies the emergency braking condition, the second braking force change rate is provided to the vehicle.

[0031] In an optional embodiment of the present invention, the travel parameter includes a pedal speed, and before providing the first braking force change rate to the vehicle, the method further includes:

[0032] determining whether the pedal speed is within a preset speed range;

[0033] When the pedal speed is within the preset speed range, performing the step of providing a first braking force change rate for the vehicle;

[0034] When the pedal speed is not within the preset speed range, the step of providing the vehicle with a first braking force change rate is not performed, and the step of providing the vehicle with a second braking force change rate is performed.

[0035] According to another aspect of the present invention, a vehicle braking control system is provided, the vehicle braking control system comprising a control module and a braking module, the number of the braking modules is the same as the number of wheels of the vehicle, and the plurality of the braking modules are used to control the braking force of the plurality of wheels in a one-to-one correspondence;

[0036] The control module is electrically connected to the plurality of brake modules and is used to execute the vehicle braking control method described in any embodiment of the present invention.

[0037] The technical solution of the embodiment of the present invention obtains the driving parameters of the vehicle, determines whether the vehicle meets the comfortable braking conditions based on the driving parameters, and provides the vehicle with a first braking force change rate when the vehicle meets the comfortable braking conditions; and provides the vehicle with a second braking force change rate when the vehicle does not meet the comfortable braking conditions, wherein the second braking force change rate is greater than the first braking force change rate. Thus, the braking force change rate can be controlled during comfortable braking, avoiding the brake jerk during the braking intervention process. Since the braking force size is not changed, the occurrence of poor safety and stability caused by reducing the braking force size to achieve comfortable braking is avoided, thereby solving the problem of poor safety and stability during comfortable braking.

[0038] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A flow chart of a vehicle braking control method provided in Embodiment 1 of the present invention;

[0041] Figure 2 A flow chart of a vehicle braking control method provided in Embodiment 2 of the present invention;

[0042] Figure 3 A flowchart of a vehicle braking control method provided in Embodiment 3 of the present invention;

[0043] Figure 4 This is a control block diagram of a vehicle braking control system provided for Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Embodiment 1

[0047] Figure 1 This is a flow chart of a vehicle braking control method provided by Embodiment 1 of the present invention. This embodiment is applicable to vehicle braking. The vehicle braking control method can be executed by a control module of a vehicle braking control system, and the vehicle braking control system can be configured in a vehicle. Figure 1 As shown, the vehicle braking control method includes:

[0048] S110: Obtain driving parameters of the vehicle.

[0049] Among them, the vehicle driving parameters refer to the parameters related to driving during the vehicle driving process. In some embodiments, the vehicle driving parameters include one or more of pedal speed, pedal travel and vehicle speed. Pedal speed refers to the speed at which the driver steps on the brake pedal, reflecting the deceleration change rate requirement. Pedal travel refers to the travel of the brake pedal, reflecting the deceleration requirement. Vehicle speed refers to the speed at which the vehicle is running.

[0050] S120. Determine whether the vehicle meets a comfort braking condition based on the driving parameters.

[0051] The comfort braking condition refers to the condition that the driving parameters will meet when the driver has a demand for comfort braking. Since the driving parameters reflect the current driving conditions of the vehicle, it can be judged whether the driver is performing comfort braking at this time.

[0052] When the vehicle meets the comfort braking condition, step S130 is executed; when the vehicle does not meet the comfort braking condition, step S140 is executed.

[0053] S130: Provide a first braking force change rate for the vehicle.

[0054] Among them, the braking force change rate refers to the rate at which the braking force of the vehicle changes over time. The vehicle usually includes a braking module for braking the wheels. The braking force change rate provided to the vehicle can be adjusted by controlling the boost rate of the braking module on the wheels to provide a first braking force change rate for the vehicle.

[0055] S140. Provide a second braking force change rate for the vehicle, wherein the second braking force change rate is greater than the first braking force change rate.

[0056] Among them, the second braking force change rate is the normal braking force change rate of the vehicle, and the braking force change rate can be obtained according to the current pedal speed. Specifically, the boost rate can be obtained according to the pedal speed. By controlling the boost rate, the second braking force change rate can be provided for the vehicle.

[0057] In some embodiments, the first braking force change rate is obtained by the second braking force change rate. In some embodiments, after obtaining the current boost rate according to the current pedal speed, the boost rate corresponding to the first braking force change rate can be obtained by reducing the preset percentage on the basis of the current boost rate. In some embodiments, the preset percentage is greater than 0 and less than 20%. In some embodiments, after obtaining the current boost rate according to the current pedal speed, the boost rate corresponding to the first braking force change rate can be obtained by reducing the preset rate on the basis of the current boost rate. The specific method of obtaining the first braking force change rate is not specifically limited here, and it only needs to be appropriately reduced on the basis of the second braking force change rate.

[0058] Since the first braking force change rate is smaller than the second braking force change rate, when comfortable braking is required, a smaller braking force change rate is provided, which can avoid the braking frustration during the braking intervention process.

[0059] The above scheme obtains the driving parameters of the vehicle, determines whether the vehicle meets the comfortable braking condition based on the driving parameters, and provides the vehicle with a first braking force change rate when the vehicle meets the comfortable braking condition; and provides the vehicle with a second braking force change rate when the vehicle does not meet the comfortable braking condition, wherein the second braking force change rate is greater than the first braking force change rate. Thus, the braking force change rate can be controlled during comfortable braking, avoiding the brake jerk during the braking intervention process. Since the braking force size is not changed, the situation of poor safety and stability caused by reducing the braking force size to achieve comfortable braking is avoided, thereby solving the problem of poor safety and stability during comfortable braking.

[0060] Embodiment 2

[0061] Figure 2 A flowchart of a vehicle braking control method provided in Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiment is that Embodiment 1 is improved. Optionally, after determining whether the vehicle meets the comfort braking condition based on the driving parameters, it further includes: when the vehicle meets the comfort braking condition, determining whether the vehicle meets the comfort parking condition based on the driving parameters, and when the vehicle meets the comfort parking condition, reducing the front axle braking force requirement and synchronously increasing the rear axle braking force requirement. Figure 2 As shown, the vehicle braking control method includes:

[0062] S210: Obtain driving parameters of the vehicle.

[0063] S220. Determine whether the vehicle meets a comfort braking condition based on the driving parameters.

[0064] When the vehicle meets the comfort braking condition, step S230 is executed; when the vehicle does not meet the comfort braking condition, step S250 is executed.

[0065] S230: Provide a first braking force change rate for the vehicle.

[0066] S240. Determine whether the vehicle satisfies a comfortable parking condition based on the driving parameters, and when the vehicle satisfies the comfortable parking condition, reduce the front axle braking force requirement and simultaneously increase the rear axle braking force requirement.

[0067] Among them, the comfortable parking condition refers to the condition that the driving parameters will meet when the driver has the need for comfortable parking. The front axle braking force demand refers to the braking force required to be provided by the front axle of the vehicle, that is, the braking force required to be provided to the front wheels. The rear axle braking force demand refers to the braking force required to be provided by the rear axle of the vehicle, that is, the braking force required to be provided to the rear wheels.

[0068] S250. Provide a second braking force change rate for the vehicle, wherein the second braking force change rate is greater than the first braking force change rate.

[0069] The above scheme, by reducing the front axle braking force requirement and simultaneously increasing the rear axle braking force requirement when the vehicle meets the comfortable parking conditions, can transfer part of the front axle braking force to the rear axle without changing the total braking force, thereby reducing the nodding feeling caused by load transfer during braking, and at the same time will not affect the braking distance of the vehicle. Compared with the related technology of achieving comfortable parking by reducing the braking force, this scheme can achieve comfortable parking more safely and stably.

[0070] In an optional embodiment of the present invention, after determining whether the vehicle meets the comfortable parking condition based on the driving parameters, the method further includes:

[0071] When the vehicle does not meet the comfortable parking condition, the front axle braking force demand and the rear axle braking force demand are allocated based on a braking force distribution rule, and the braking force distribution coefficient is set to an initial distribution coefficient during distribution, wherein the braking force distribution rule is: F1=βF, F2=F-F1, F1 is the front axle braking force demand, F2 is the rear axle braking force demand, F is the total braking force demand, β is the braking force distribution coefficient, and the initial distribution coefficient is greater than 0.5.

[0072] Accordingly, reducing the front axle braking force requirement and simultaneously increasing the rear axle braking force requirement includes:

[0073] The front axle braking force requirement and the rear axle braking force requirement are allocated based on the braking force allocation rule, and the braking force allocation coefficient is gradually reduced to a coefficient setting value during allocation, wherein the coefficient setting value is smaller than the initial allocation coefficient.

[0074] Among them, the braking force distribution coefficient can be reduced in a step-by-step manner, and the coefficient setting value can be calibrated according to the front and rear load ratio of the actual vehicle, and the specific value of the coefficient setting value is not specifically limited accordingly. By gradually reducing the braking force distribution coefficient to the coefficient setting value when the vehicle needs to park comfortably, the front axle braking force requirement can be gradually reduced and the rear axle braking force requirement can be simultaneously increased, and part of the front axle braking force can be gradually transferred to the rear axle, thereby reducing the nodding feeling caused by load transfer during braking and preventing the vehicle from being unstable due to excessive single transfer of braking force.

[0075] In an optional embodiment of the present invention, the driving parameters include pedal stroke, and after determining whether the vehicle satisfies the comfortable parking condition based on the driving parameters, it also includes: when the vehicle satisfies the comfortable parking condition, determining whether the pedal stroke increases, and when the pedal stroke increases, adjusting the braking force distribution coefficient to the initial distribution coefficient.

[0076] Among them, during the comfortable parking process, when the pedal stroke increases, it means that the driver needs a greater braking force at this time. At this time, the braking force distribution coefficient is adjusted to the initial distribution coefficient, and the distribution method with a greater demand for front axle braking force is restored, which can provide the driver with a better driving experience and meet the driver's braking needs.

[0077] In an optional embodiment of the present invention, after determining whether the vehicle satisfies the comfortable parking condition based on the driving parameters, it also includes: when the vehicle satisfies the comfortable parking condition, determining whether the vehicle is in a stopped state based on the driving parameters, and gradually increasing the braking force distribution coefficient to the initial distribution coefficient when the vehicle is in a stopped state.

[0078] Among them, the vehicle is in a stopped state, which indicates that the vehicle has stopped. At this time, gradually increasing the braking force distribution coefficient to the initial distribution coefficient can gradually restore the front axle braking force demand and the rear axle braking force demand to a normal distribution ratio, so that the vehicle can travel normally when it is used again, and can provide the driver with a better driving experience.

[0079] In an optional embodiment of the present invention, the driving parameters include a pedal speed and a pedal stroke; and determining whether the vehicle meets the comfortable parking condition based on the driving parameters includes:

[0080] It is determined whether the pedal speed is lower than a first preset pedal speed, whether the pedal stroke is lower than a first preset pedal stroke, and whether the pedal stroke is maintained or reduced.

[0081] When the pedal speed is lower than the first preset pedal speed, the pedal stroke is lower than the first preset pedal stroke, and the pedal stroke is maintained or reduced, it is determined that the vehicle satisfies the comfort parking condition.

[0082] When the pedal speed is higher than or equal to the first preset pedal speed, the pedal stroke is higher than or equal to the first preset pedal stroke, or the pedal stroke increases, it is determined that the vehicle does not meet the comfort parking condition.

[0083] Among them, the first preset pedal speed refers to the value that the pedal speed will be less than when a comfortable stop is required. When the pedal speed is lower than the first preset pedal speed, it means that the pedal speed is low. When the pedal speed is low, it means that the driver is more stable and slow in controlling the pedal. This operation method helps to reduce the impact and discomfort caused by sudden acceleration or deceleration of the vehicle. The first preset pedal stroke refers to the value that the pedal stroke will be less than when a comfortable stop is required. When the pedal stroke is lower than the first preset pedal stroke, it means that the driver does not rely too much on the braking system when decelerating or stopping, but adopts a softer braking method. This operation method helps to reduce the frustration and impact of the vehicle during braking, thereby improving the comfort of the ride. The maintenance or reduction of the pedal stroke usually means that the driver is gradually reducing the braking force or acceleration force, so that the vehicle can decelerate and eventually stop in a smoother manner.

[0084] Therefore, by determining that the vehicle meets the comfortable parking conditions when the pedal speed is lower than the first preset pedal speed, the pedal stroke is lower than the first preset pedal stroke and the pedal stroke is maintained or reduced, allowing the vehicle to be parked comfortably can help improve the comfort and safety of the ride and also help extend the service life of the vehicle.

[0085] In an optional embodiment of the present invention, the driving parameter includes a vehicle speed, and determining whether the vehicle meets a comfort braking condition based on the driving parameter includes:

[0086] Determine whether the pedal speed is lower than a second preset pedal speed, whether the pedal stroke is lower than a second preset pedal stroke, and whether the vehicle speed is lower than a preset vehicle speed, wherein the second preset pedal speed is greater than the first preset pedal speed, and the second preset pedal stroke is greater than the first preset pedal stroke.

[0087] When the pedal speed is lower than the second preset pedal speed, the pedal stroke is lower than the second preset pedal stroke, and the vehicle speed is lower than the preset vehicle speed, it is determined that the vehicle meets the comfort braking condition.

[0088] When the pedal speed is higher than or equal to the second preset pedal speed, the pedal stroke is higher than or equal to the second preset pedal stroke, and the vehicle speed is greater than or equal to the preset vehicle speed, it is determined that the vehicle does not meet the comfort braking condition.

[0089] Among them, the second preset pedal speed refers to the value that the pedal speed will be lower than when comfort braking is performed, and the second preset pedal stroke refers to the value that the pedal stroke will be lower than when comfort braking is performed. Since comfort braking is performed first, and then whether to perform comfortable parking is determined after a period of comfortable braking, by making the second preset pedal speed greater than the first preset pedal speed, and the second preset pedal stroke greater than the first preset pedal stroke, it is possible to more reasonably determine whether to enter comfortable parking and comfortable braking, which helps to improve the comfort and safety of the ride, and also helps to extend the service life of the vehicle.

[0090] The preset vehicle speed refers to the value that the vehicle speed does not exceed when comfort braking is performed. If comfort braking is performed at a higher speed, the risk of vehicle loss of control may increase. By performing comfort braking only at a lower speed, the safety of the vehicle is improved.

[0091] Embodiment 3

[0092] Figure 3 A flowchart of a vehicle braking control method provided in Embodiment 3 of the present invention. The relationship between this embodiment and the above embodiment is that Embodiment 2 is improved. Optionally, after determining whether the vehicle meets the comfort braking condition based on the driving parameters, it also includes: when the vehicle meets the comfort braking condition, determining whether the vehicle meets the emergency braking condition based on the driving parameters, and providing the vehicle with the second braking force change rate when the vehicle meets the emergency braking condition. Figure 3 As shown, the vehicle braking control method includes:

[0093] S310: Obtain driving parameters of the vehicle.

[0094] S320. Determine whether the vehicle meets a comfort braking condition based on the driving parameters.

[0095] When the vehicle meets the comfort braking condition, step S330 is executed; when the vehicle does not meet the comfort braking condition, step S360 is executed.

[0096] S330: Provide a first braking force change rate for the vehicle.

[0097] S340. Determine whether the vehicle meets an emergency braking condition based on the driving parameters, and provide the second braking force change rate for the vehicle when the vehicle meets the emergency braking condition.

[0098] Among them, the emergency braking condition refers to the condition that the driving parameters will meet when the driver has an emergency braking demand. In some embodiments, the driving parameters include pedal stroke and pedal speed. When the pedal stroke is greater than the third preset pedal stroke or the pedal speed is greater than the third preset pedal speed, it is determined that the vehicle meets the emergency braking condition.

[0099] S350. Determine whether the vehicle satisfies a comfortable parking condition based on the driving parameters, and when the vehicle satisfies the comfortable parking condition, reduce the front axle braking force requirement and simultaneously increase the rear axle braking force requirement.

[0100] S360. Provide a second braking force change rate for the vehicle, wherein the second braking force change rate is greater than the first braking force change rate.

[0101] The above scheme determines whether the vehicle meets the emergency braking conditions during the comfort braking process, and cancels the restriction on the braking force change rate when the vehicle meets the emergency braking conditions. Instead of providing the vehicle with a smaller first braking force change rate, the vehicle is provided with a larger second braking force change rate, which can achieve rapid braking to meet the needs of emergency braking and improve the safety of the vehicle.

[0102] In an optional embodiment of the present invention, the stroke parameter includes a pedal speed, and before providing the vehicle with a first braking force change rate, the step further includes: determining whether the pedal speed is within a preset speed range; when the pedal speed is within the preset speed range, executing the step of providing the vehicle with a first braking force change rate; when the pedal speed is not within the preset speed range, not executing the step of providing the vehicle with a first braking force change rate, and executing the step of providing the vehicle with a second braking force change rate.

[0103] Among them, by controlling the braking force change rate only when the pedal speed is within a certain range when comfortable braking is required, a smaller first braking force change rate is provided for the vehicle. This can prevent the vehicle from being unable to brake effectively or stop due to limiting the braking force change rate when the pedal speed is too low, thereby improving the safety of vehicle braking.

[0104] Embodiment 4

[0105] Embodiment 4 of the present invention provides a vehicle braking control system, such as Figure 4 As shown, the vehicle braking control system includes a control module 41 and a brake module 42. The number of the brake modules 42 is the same as the number of the wheels of the vehicle. The multiple brake modules 42 are used to control the braking force of the multiple wheels in a one-to-one correspondence. The control module 41 and the multiple brake modules 42 are electrically connected to execute the vehicle braking control method of any embodiment of the present invention.

[0106] The brake module 42 refers to a module capable of braking the wheels. In this embodiment, there are four wheels, two of which are front wheels and two of which are rear wheels. The brake modules 42 are four in number, and the four brake modules 42 are used to brake the four wheels independently. Preferably, the brake module 42 includes a dry wheel brake, so that the four brake modules 42 can independently control the braking force and boost rate of the four wheels. By independently controlling the braking force of every other wheel, the response during braking is faster.

[0107] The control module 41 refers to a functional module capable of performing logical control. In some embodiments, the control module 41 includes a central domain controller. In other embodiments, the control module 41 may also be other controllers, which are not specifically limited here, but are only used as examples.

[0108] In the related art, when performing comfortable parking, the braking force will be reduced, so a longer braking distance is required. In order to reduce the adverse effects caused by the increase in braking distance, driving safety is ensured by adding sensors, complex algorithms, etc., which lacks safety and requires more devices and more complex calculation methods. In the above scheme, multiple braking modules 42 are used to control the braking force of multiple wheels in a one-to-one correspondence. The control module 41 is electrically connected to the multiple braking modules 42, and is used to execute the vehicle braking control method of any embodiment of the present invention. This scheme can independently control the braking force of the front wheels and the rear wheels. Therefore, by changing the ratio of the front axle braking force requirement and the rear axle braking force requirement, the braking distance of the whole vehicle will not be affected. By reducing the braking force of the front wheel, the nodding feeling of the vehicle caused by load transfer can be overcome, and comfortable parking can be achieved under the premise of unchanged total braking force requirement, without increasing the braking distance, and the scheme is safer and more reliable. In addition, by controlling the boost rate during comfortable braking to achieve the control of the braking force change rate, the sense of frustration during braking intervention can be well eliminated.

[0109] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0110] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle braking control method, characterized in that: include: Obtaining the driving parameters of the vehicle; determining whether the vehicle meets a comfort braking condition based on the driving parameters; When the vehicle meets the comfort braking condition, providing a first braking force change rate for the vehicle; When the vehicle does not meet the comfort braking condition, a second braking force change rate is provided to the vehicle, wherein the second braking force change rate is greater than the first braking force change rate.

2. The vehicle braking control method according to claim 1, characterized in that: After determining whether the vehicle meets the comfort braking condition based on the driving parameters, the method further includes: When the vehicle meets the comfort braking condition, it is determined whether the vehicle meets the comfort parking condition based on the driving parameter, and when the vehicle meets the comfort parking condition, the front axle braking force requirement is reduced and the rear axle braking force requirement is increased synchronously.

3. The vehicle braking control method according to claim 2, characterized in that: After determining whether the vehicle meets the comfortable parking condition based on the driving parameters, the method further includes: When the vehicle does not meet the comfortable parking condition, the front axle braking force demand and the rear axle braking force demand are distributed based on a braking force distribution rule, and the braking force distribution coefficient is set to an initial distribution coefficient during distribution, wherein the braking force distribution rule is: F1=βF, F2=F–F1, F1 is the front axle braking force demand, F2 is the rear axle braking force demand, F is the total braking force demand, β is the braking force distribution coefficient, and the initial distribution coefficient is greater than 0.5; Accordingly, reducing the front axle braking force requirement and simultaneously increasing the rear axle braking force requirement includes: The front axle braking force requirement and the rear axle braking force requirement are allocated based on the braking force allocation rule, and the braking force allocation coefficient is gradually reduced to a coefficient setting value during allocation, wherein the coefficient setting value is smaller than the initial allocation coefficient.

4. The vehicle braking control method according to claim 3, characterized in that: The driving parameter includes a pedal stroke, and after determining whether the vehicle meets the comfortable parking condition based on the driving parameter, the method further includes: When the vehicle satisfies the comfortable parking condition, it is determined whether the pedal stroke increases, and when the pedal stroke increases, the braking force distribution coefficient is adjusted to the initial distribution coefficient.

5. The vehicle braking control method according to claim 3 or 4, characterized in that: After determining whether the vehicle meets the comfortable parking condition based on the driving parameters, the method further includes: When the vehicle satisfies the comfortable parking condition, it is determined whether the vehicle is in a stopped state based on the driving parameter, and the braking force distribution coefficient is gradually increased to the initial distribution coefficient when the vehicle is in a stopped state.

6. The vehicle braking control method according to any one of claims 2 to 4, characterized in that: The driving parameters include pedal speed and pedal travel; The determining whether the vehicle meets the comfortable parking condition based on the driving parameter includes: determining whether the pedal speed is lower than a first preset pedal speed, whether the pedal stroke is lower than a first preset pedal stroke, and whether the pedal stroke is maintained or reduced; When the pedal speed is lower than the first preset pedal speed, the pedal stroke is lower than the first preset pedal stroke, and the pedal stroke is maintained or reduced, determining that the vehicle meets the comfortable parking condition; When the pedal speed is higher than or equal to the first preset pedal speed, the pedal stroke is higher than or equal to the first preset pedal stroke, or the pedal stroke increases, it is determined that the vehicle does not meet the comfort parking condition.

7. The vehicle braking control method according to claim 6, characterized in that: The driving parameter includes a vehicle speed, and determining whether the vehicle meets a comfort braking condition based on the driving parameter includes: determining whether the pedal speed is lower than a second preset pedal speed, whether the pedal stroke is lower than a second preset pedal stroke, and whether the vehicle speed is lower than a preset vehicle speed, wherein the second preset pedal speed is greater than the first preset pedal speed, and the second preset pedal stroke is greater than the first preset pedal stroke; When the pedal speed is lower than the second preset pedal speed, the pedal stroke is lower than the second preset pedal stroke, and the vehicle speed is lower than the preset vehicle speed, determining that the vehicle meets the comfort braking condition; When the pedal speed is higher than or equal to the second preset pedal speed, the pedal stroke is higher than or equal to the second preset pedal stroke, and the vehicle speed is greater than or equal to the preset vehicle speed, it is determined that the vehicle does not meet the comfort braking condition.

8. The vehicle braking control method according to any one of claims 1 to 4, characterized in that: After determining whether the vehicle meets the comfort braking condition based on the driving parameters, the method further includes: When the vehicle satisfies the comfort braking condition, it is determined whether the vehicle satisfies the emergency braking condition based on the driving parameter, and when the vehicle satisfies the emergency braking condition, the second braking force change rate is provided to the vehicle.

9. The vehicle braking control method according to any one of claims 1 to 4, characterized in that: The travel parameter includes a pedal speed, and before providing the vehicle with a first braking force change rate, the method further includes: determining whether the pedal speed is within a preset speed range; When the pedal speed is within the preset speed range, performing the step of providing a first braking force change rate for the vehicle; When the pedal speed is not within the preset speed range, the step of providing the vehicle with a first braking force change rate is not performed, and the step of providing the vehicle with a second braking force change rate is performed.

10. A vehicle braking control system, characterized in that: It includes a control module and a brake module, wherein the number of the brake modules is the same as the number of wheels of the vehicle, and the plurality of brake modules are used to control the braking force of the plurality of wheels in a one-to-one correspondence; The control module is electrically connected to the plurality of brake modules and is used to execute the vehicle braking control method according to any one of claims 1 to 9.

Images