Vehicle braking control method and device and vehicle

Abstract

The invention relates to a brake control method and device of a vehicle and the vehicle, and the method comprises the steps that under the condition that a brake signal is received, motion parameter information of the vehicle and first wheel cylinder pressure corresponding to the brake signal are obtained; second wheel cylinder pressure is obtained based on the motion parameter information of the vehicle; target wheel cylinder pressure is determined according to the motion parameter information of the vehicle, the first wheel cylinder pressure and the second wheel cylinder pressure; and generating a brake signal based on the target wheel cylinder pressure and outputting the brake signal to a brake device.

Description

Technical Field

[0001] The present disclosure relates to vehicle technology, and more particularly, to a braking control method, a control device, and a vehicle. Background Art

[0002] With the improvement of living standards, cars have entered every household. Experienced drivers have strong control over vehicles, and their driving actions such as braking, starting, and changing lanes are relatively quick. Inexperienced drivers feel nervous when facing the continuous acceleration and deceleration of vehicles on the road, and their poor control of distance can easily lead to rear-end collisions. At present, there is no safe braking control method to ensure driving safety through safe braking technology when the driver has the intention to brake. Summary of the invention

[0003] An object of the present invention is to provide a new technical solution for a vehicle braking control method.

[0004] According to a first aspect of the present invention, there is provided a vehicle braking control method, comprising:

[0005] When a brake signal is received, obtaining motion parameter information of the vehicle and a first wheel cylinder pressure corresponding to the brake signal;

[0006] acquiring a second wheel cylinder pressure based on the motion parameter information of the vehicle;

[0007] determining a target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure, and the second wheel cylinder pressure;

[0008] A brake signal is generated based on the target wheel cylinder pressure and output to the brake device.

[0009] Optionally, the motion parameter information of the vehicle includes at least: a road adhesion coefficient and a speed difference between the vehicle and a front target, wherein obtaining the second wheel cylinder pressure based on the motion parameter information of the vehicle includes:

[0010] The second wheel cylinder pressure is acquired based on the road adhesion coefficient and the speed difference.

[0011] Optionally, obtaining the second wheel cylinder pressure according to the road adhesion coefficient and the speed difference includes:

[0012] Based on a control algorithm, the second wheel cylinder pressure is obtained by taking the road adhesion coefficient and the speed difference as input values.

[0013] Optionally, the motion parameter information of the vehicle includes at least: a distance between the vehicle and a front target, and a speed difference between the vehicle and the front target, and determining the target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure, and the second wheel cylinder pressure includes:

[0014] When the distance does not exceed a preset distance threshold and the speed difference is greater than 0, if the second wheel cylinder pressure exceeds the first wheel cylinder pressure, taking the second wheel cylinder pressure as the target wheel cylinder pressure;

[0015] When the distance does not exceed a preset distance threshold and the speed difference is greater than 0, if the second wheel cylinder pressure does not exceed the first wheel cylinder pressure, the first wheel cylinder pressure is used as the target wheel cylinder pressure.

[0016] Optionally, the determining the target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure and the second wheel cylinder pressure further includes:

[0017] When the distance exceeds a preset distance threshold, or when the distance does not exceed the preset distance threshold and the speed difference is less than 0, the first wheel cylinder pressure is used as the target wheel cylinder pressure.

[0018] Optionally, the method further includes:

[0019] When the speed difference is zero, the operation of generating a brake signal based on the target wheel cylinder pressure and outputting the brake signal to the brake device is stopped.

[0020] Optionally, the method further includes:

[0021] A brake signal is generated based on the first wheel cylinder pressure and output to a brake device.

[0022] According to a second aspect of the present invention, there is provided a braking control device for a vehicle, comprising:

[0023] an acquisition module, configured to acquire, upon receiving a brake signal, motion parameter information of the vehicle and a first wheel cylinder pressure corresponding to the brake signal;

[0024] a second wheel cylinder pressure determination module, configured to obtain the second wheel cylinder pressure based on the motion parameter information of the vehicle;

[0025] a target wheel cylinder pressure determination module, configured to determine a target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure, and the second wheel cylinder pressure;

[0026] A generating module is used to generate a braking signal based on the target wheel cylinder pressure and output the braking signal to a braking device.

[0027] According to a third aspect of the present invention, a vehicle braking control device is provided, comprising a memory and a processor, wherein the memory is used to control the processor to operate so as to execute the vehicle braking control method according to any one of the first aspect of the present invention.

[0028] According to a fourth aspect of the present invention, a vehicle is provided, comprising a brake control device and a brake device of the vehicle as described in the second aspect or the third aspect, wherein the brake control device of the vehicle outputs a brake signal to the brake device.

[0029] In the embodiment of the present invention, when a brake signal is received, the motion parameter information of the vehicle and the first wheel cylinder pressure corresponding to the brake signal are obtained; based on the motion parameter information of the vehicle, the second wheel cylinder pressure is obtained; based on the motion parameter information of the vehicle, the first wheel cylinder pressure and the second wheel cylinder pressure, the target wheel cylinder pressure is determined; based on the target wheel cylinder pressure, a brake signal is generated and output to the brake device. According to the actual driving scene of the vehicle, a safe brake wheel cylinder pressure is selected to ensure that the brake system achieves deceleration braking, thereby improving the safety of braking.

[0030] Features and advantages of the embodiments of the present specification will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the specification and, together with the description, serve to explain the principles of the embodiments of the specification.

[0032] Figure 1 is a processing flow chart of a vehicle braking control method according to an embodiment of the present invention.

[0033] Figure 2 A schematic diagram of a process for calculating wheel cylinder pressure using a neural network-based PID algorithm according to an embodiment of the present invention is shown.

[0034] Figure 3 is another processing flow chart of a vehicle braking control method according to an embodiment of the present invention.

[0035] Figure 4 1 is a principle block diagram of a vehicle braking control device according to an embodiment of the present invention.

[0036] Figure 5 Schematic diagram of the hardware structure of a vehicle braking control device according to an embodiment of the present invention.

[0037] Figure 6 is a schematic structural diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the embodiments of the present specification and its application or uses.

[0040] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0041] <Method Example>

[0042] In this embodiment, a vehicle braking control method is provided. Figure 1 As shown, the vehicle braking control method of this embodiment may include the following steps S110 to S140.

[0043] Step S110 , when a brake signal is received, obtaining the motion parameter information of the vehicle and the first wheel cylinder pressure corresponding to the brake signal.

[0044] The vehicle may be any one of a fuel vehicle, a hybrid vehicle, and an electric vehicle.

[0045] In one embodiment, the brake signal is a brake signal triggered by the driver stepping on the brake pedal.

[0046] The brake pedal is provided with a brake pedal sensor. When the driver steps on the brake pedal, the brake pedal sensor generates a brake signal. The brake signal includes a brake pedal stepping depth signal. The brake pedal stepping depth signal is an analog signal, and the linear voltage signal changes with the change of the brake pedal stepping depth. The brake pedal stepping depth can be determined by the voltage signal.

[0047] In one embodiment, the vehicle's brake control device pre-stores a mapping table of brake pedal depression depth and wheel cylinder pressure. When the brake pedal depression depth is known, the wheel cylinder pressure corresponding to the external input brake signal can be determined using the mapping table.

[0048] Step S120 , obtaining the second wheel cylinder pressure based on the motion parameter information of the vehicle.

[0049] In one embodiment, the motion parameter information of the vehicle includes at least a road adhesion coefficient and a speed difference between the vehicle and a front target.

[0050] The road adhesion coefficient is the ratio of adhesion to wheel normal pressure (direction perpendicular to the road surface). The size of the road adhesion coefficient mainly depends on the type of road surface and the driving speed of the vehicle.

[0051] In one embodiment, a vehicle is provided with a camera. The camera can collect images of a road surface on which the vehicle is traveling, and send the images of the road surface to a brake control device of the vehicle. The brake control device of the vehicle can determine the type of the road surface based on the road surface image. The types of road surfaces include at least concrete road surfaces, gravel road surfaces, and block road surfaces. Then, based on the type of road surface and the speed of the vehicle, the road surface adhesion coefficient on which the vehicle is traveling is determined.

[0052] In one embodiment, each of the four wheels of the vehicle is provided with a wheel speed sensor. Each wheel speed sensor sends a detected wheel speed signal to a brake control device of the vehicle. The brake control device of the vehicle can obtain the vehicle speed according to the four wheel speed signals.

[0053] In one embodiment, the vehicle is provided with a radar. By analyzing the echo signal of the radar, the speed difference between the vehicle and the target in front can be obtained. The speed difference is the speed obtained by subtracting the speed of the target in front from the speed of the vehicle. The target in front can be any one of a vehicle, a pedestrian, and an obstacle. Among them, the obstacle can be a roadblock or a wall.

[0054] In one embodiment of the present invention, the second wheel cylinder pressure is obtained according to the road adhesion coefficient and the speed difference. The second wheel cylinder pressure can be obtained based on a control algorithm with the road adhesion coefficient and the speed difference as input values.

[0055] For example, a PID algorithm based on a neural network uses the road adhesion coefficient and the speed difference as input values ​​to calculate the second wheel cylinder pressure, wherein the proportional coefficient, integral coefficient and differential coefficient of the PID algorithm are preset values.

[0056] The proportional coefficient of the PID algorithm (K p )、Integral coefficient (K i ) and differential coefficient (K d ) can be obtained through neural network optimization.

[0057] See also Figure 2 , the road adhesion coefficient and the speed difference are used as the input values ​​of the PID algorithm to calculate the second wheel cylinder pressure. At predetermined intervals, the speed difference between the vehicle and the target ahead is obtained again, and the speed difference is used as the input value of the PID algorithm again to recalculate the second wheel cylinder pressure.

[0058] Step S130 , determining a target wheel cylinder pressure according to the vehicle motion parameter information, the first wheel cylinder pressure, and the second wheel cylinder pressure.

[0059] In one embodiment, the motion parameter information of the vehicle includes at least: a distance between the vehicle and a front target, and a speed difference between the vehicle and the front target.

[0060] In one example, a vehicle is provided with a radar. By analyzing the echo signal of the radar, the distance between the vehicle and the target ahead can be obtained.

[0061] In another example, the vehicle is provided with a distance sensor. Using the distance sensor, the distance between the vehicle and the front target can be detected.

[0062] In one example, the vehicle is provided with a radar. By analyzing the echo signal of the radar, the speed difference between the vehicle and the target ahead can be obtained. The speed difference is the speed obtained by subtracting the speed of the target ahead from the speed of the vehicle.

[0063] In one embodiment, when the distance does not exceed a preset distance threshold and the speed difference is greater than 0, if the second wheel cylinder pressure exceeds the first wheel cylinder pressure, the second wheel cylinder pressure is used as the target wheel cylinder pressure. When the distance does not exceed a preset distance threshold and the speed difference is greater than 0, if the second wheel cylinder pressure does not exceed the first wheel cylinder pressure, the first wheel cylinder pressure is used as the target wheel cylinder pressure.

[0064] The preset distance threshold is a pre-set value and can be set according to the braking performance of the vehicle.

[0065] In one embodiment, when the distance exceeds a preset distance threshold, or when the distance does not exceed the preset distance threshold and the speed difference is less than 0, the first wheel cylinder pressure is used as the target wheel cylinder pressure.

[0066] In step S140 , a brake signal is generated based on the target wheel cylinder pressure and output to the brake device.

[0067] In one embodiment, when the second wheel cylinder pressure is used as the target wheel cylinder pressure, a brake signal is generated by the second wheel cylinder pressure calculated for the first time based on the control algorithm and output to the brake device, and the brake device always performs a deceleration braking operation based on the brake signal. Alternatively, the second wheel cylinder pressure is calculated based on the control algorithm at every preset time interval. A brake signal is generated by using the recalculated second wheel cylinder pressure and output to the brake device. The brake device receives a new brake signal at every preset time interval and performs a deceleration braking operation based on the brake signal.

[0068] In one embodiment, a brake signal is generated based on the target wheel cylinder pressure and output to the brake device so that the brake device performs a deceleration operation. The speed difference between the vehicle and the target ahead is re-acquired at predetermined intervals, and when the speed difference is 0, the operation of generating a brake signal based on the target wheel cylinder pressure and outputting it to the brake device is stopped. When the speed difference between the vehicle and the target ahead is 0, it indicates that the vehicle and the target ahead are traveling synchronously, and the vehicle can ensure driving safety without decelerating.

[0069] In one embodiment, when the speed difference is 0, a braking signal is also generated based on the first wheel cylinder pressure in response to the braking signal and output to the braking device. The braking signal is a braking signal triggered by the driver stepping on the brake pedal. This meets the driver's braking intention, ensures that the driver does not feel that the vehicle is out of control, and ensures driving safety.

[0070] The vehicle braking control method provided by the present invention selects a safe wheel cylinder pressure according to the actual driving scenario of the vehicle to ensure that the braking system achieves deceleration braking, thereby improving the safety of braking.

[0071] Figure 3 FIG. 2 shows another flow chart of a vehicle braking control method according to an embodiment of the present invention. Figure 3 The method includes steps S301 to S309.

[0072] Step S301, when a brake signal is received, the first wheel cylinder pressure corresponding to the brake signal, the road surface image on which the vehicle is traveling, the vehicle speed, the distance between the vehicle and the front target, and the speed difference between the vehicle and the front target are obtained. The brake signal is a brake signal triggered by the driver stepping on the brake pedal.

[0073] Step S302, determining the type of road surface according to the road surface image; and determining the road surface adhesion coefficient based on the type of road surface and the vehicle speed.

[0074] Step S303 : Based on the PID algorithm of the neural network, the road adhesion coefficient and the speed difference are used as input values ​​to calculate the second wheel cylinder pressure.

[0075] Step S304, determining whether the distance between the vehicle and the target ahead exceeds a preset distance threshold, and obtaining a first determination result.

[0076] When the first judgment result is that the distance between the vehicle and the front target exceeds the preset distance threshold, step S305 is executed to generate a braking signal based on the first wheel cylinder pressure and output it to the braking device.

[0077] When the first judgment result is that the distance between the vehicle and the front target does not exceed the preset distance threshold, step S306 is executed to determine whether the speed difference is greater than 0 to obtain a second judgment result.

[0078] When the second judgment result is that the speed difference is greater than 0, step S307 is executed to determine whether the second wheel cylinder pressure exceeds the first wheel cylinder pressure to obtain a third judgment result.

[0079] If the third determination result is that the second wheel cylinder pressure exceeds the first wheel cylinder pressure, step S308 is executed to generate a brake signal based on the second wheel cylinder pressure and output the brake signal to the brake device.

[0080] If the third determination result is that the second wheel cylinder pressure does not exceed the first wheel cylinder pressure, step S305 is executed.

[0081] When the second judgment result is that the speed difference is not greater than 0, step S305 is executed.

[0082] After step S308 , step S309 is executed, and when the speed difference is zero, the operation of generating a brake signal based on the second wheel cylinder pressure and outputting the brake signal to the brake device is stopped.

[0083] <Device Example>

[0084] One embodiment of the present invention provides a vehicle brake control device, such as Figure 4 The vehicle brake control device 400 includes an acquisition module 410 , a second wheel cylinder pressure determination module 420 , a target wheel cylinder pressure determination module 430 and a generation module 440 .

[0085] The acquisition module 410 is used to acquire the motion parameter information of the vehicle and the first wheel cylinder pressure corresponding to the brake signal when receiving the brake signal.

[0086] The second wheel cylinder pressure determination module 420 is configured to obtain the second wheel cylinder pressure based on the motion parameter information of the vehicle.

[0087] The target wheel cylinder pressure determination module 430 is used to determine the target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure and the second wheel cylinder pressure.

[0088] The generating module 440 is used to generate a braking signal based on the target wheel cylinder pressure and output the braking signal to the braking device.

[0089] In one embodiment of the present invention, the vehicle motion parameter information includes at least: a road adhesion coefficient and a speed difference between the vehicle and a front target. The second wheel cylinder pressure determination module 420 is further configured to obtain the second wheel cylinder pressure according to the road adhesion coefficient and the speed difference.

[0090] In one embodiment of the present invention, the motion parameter information of the vehicle also includes: the speed of the vehicle, wherein the road adhesion coefficient is determined according to the following method: obtaining an image of the road on which the vehicle is traveling captured by a camera; determining the type of the road based on the road image; and determining the road adhesion coefficient based on the type of the road and the speed of the vehicle.

[0091] In one embodiment of the present invention, the second wheel cylinder pressure determination module 420 is further configured to obtain the second wheel cylinder pressure based on a control algorithm with the road adhesion coefficient and the speed difference as input values.

[0092] In one embodiment of the present invention, the motion parameter information of the vehicle includes at least: the distance between the vehicle and the target ahead, and the speed difference between the vehicle and the target ahead. The target wheel cylinder pressure determination module 430 is used to use the second wheel cylinder pressure as the target wheel cylinder pressure if the second wheel cylinder pressure exceeds the first wheel cylinder pressure when the distance does not exceed the preset distance threshold and the speed difference is greater than 0; and use the first wheel cylinder pressure as the target wheel cylinder pressure if the second wheel cylinder pressure does not exceed the first wheel cylinder pressure when the distance does not exceed the preset distance threshold and the speed difference is greater than 0.

[0093] In one embodiment of the present invention, the target wheel cylinder pressure determination module 430 is further configured to use the first wheel cylinder pressure as the target wheel cylinder pressure when the distance exceeds a preset distance threshold, or when the distance does not exceed the preset distance threshold and the speed difference is less than 0.

[0094] In one embodiment of the present invention, the generating module 440 is further configured to stop generating a braking signal based on the target wheel cylinder pressure and outputting it to the braking device when the speed difference is 0. The generating module 440 is further configured to generate a braking signal based on the first wheel cylinder pressure and output it to the braking device.

[0095] One embodiment of the present invention provides a vehicle brake control device, such as Figure 5 The vehicle braking control device 500 includes a memory 510 and a processor 520. The memory 510 is used to control the processor 520 to operate so as to execute the vehicle braking control method in any of the above embodiments.

[0096] <Vehicle Embodiment>

[0097] An embodiment of the present invention provides a vehicle, comprising a brake control device and a brake device of the vehicle as described in any of the above embodiments, wherein the brake control device of the vehicle outputs a brake signal to the brake device.

[0098] Figure 6 A schematic diagram of a vehicle according to an embodiment of the present invention is shown.

[0099] See also Figure 6The vehicle at least includes a vehicle braking control device (not shown in the figure), a braking device 601, a wheel speed sensor 602, a wheel speed sensor 603, a wheel speed sensor 604, a wheel speed sensor 605, a radar 606, a camera 607, a distance sensor 608, a brake pedal sensor 609, a wheel cylinder pressure sensor 610, a wheel cylinder pressure sensor 611, a wheel cylinder pressure sensor 612 and a wheel cylinder pressure sensor 613.

[0100] The input end of the vehicle's brake control device is electrically connected to the wheel speed sensor 602, the wheel speed sensor 603, the wheel speed sensor 604, the wheel speed sensor 605, the radar 606, the camera 607, the distance sensor 608 and the brake pedal sensor 609. The output end of the vehicle's brake control device is electrically connected to the brake device 601.

[0101] Wheel speed sensor 602, wheel speed sensor 603, wheel speed sensor 604 and wheel speed sensor 605 respectively send detected wheel speed signals to the brake control device of the vehicle. The brake control device of the vehicle can obtain the vehicle speed according to the four wheel speed signals.

[0102] The radar 606 sends the received echo signal to the brake control device of the vehicle. The brake control device of the vehicle analyzes the echo signal to obtain the speed difference between the vehicle and the target in front.

[0103] The camera 607 sends the collected road surface image on which the vehicle is traveling to the vehicle's brake control device. The vehicle's brake control device can determine the type of the road surface based on the road surface image.

[0104] The distance sensor 608 sends a distance signal detected between the vehicle and the front target to the vehicle's brake control device.

[0105] The brake pedal sensor 609 sends a brake signal to the brake control device of the vehicle. The brake signal includes a brake pedal depression depth signal. The brake control device of the vehicle determines the wheel cylinder pressure corresponding to the externally input brake signal based on the brake signal and uses a pre-stored mapping table of brake pedal depression depth and wheel cylinder pressure, and records it as the first wheel cylinder pressure.

[0106] Wheel cylinder pressure sensor 610, wheel cylinder pressure sensor 620, wheel cylinder pressure sensor 630 and wheel cylinder pressure sensor 640 respectively send the detected wheel cylinder pressures to the vehicle's brake control device. The vehicle's brake control device verifies whether the left front wheel cylinder, the right front wheel cylinder, the left rear wheel cylinder and the right rear wheel cylinder have reached the wheel cylinder pressure values ​​corresponding to the brake signal based on the four wheel cylinder pressures.

[0107] The vehicle brake control device determines the road adhesion coefficient based on the type of road surface and the vehicle speed, and then calculates the second wheel cylinder pressure based on the control algorithm using the road adhesion coefficient and the speed difference as input values.

[0108] A brake control device for a vehicle determines a target wheel cylinder pressure based on a distance between the vehicle and a front object, a speed difference between the vehicle and the front object, a first wheel cylinder pressure, and a second wheel cylinder pressure.

[0109] The brake control device of the vehicle generates a brake signal based on the target wheel cylinder pressure and outputs the brake signal to the brake device 601 .

[0110] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the vehicle embodiment, its related parts can be referred to the partial description of the method embodiment.

[0111] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0112] The embodiments of the present specification may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer instructions for causing a processor to implement various aspects of the embodiments of the present specification.

[0113] A computer-readable storage medium may be a tangible device that can hold and store computer instructions used by a computer instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which computer instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0114] The computer instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer instructions from the network and forwards the computer instructions for storage in the computer-readable storage medium in each computing / processing device.

[0115] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of this specification. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a computer instruction, and a part of a module, a program segment or a computer instruction contains one or more executable computer instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0116] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle braking control method, characterized in that: include: When a brake signal is received, obtaining motion parameter information of the vehicle and a first wheel cylinder pressure corresponding to the brake signal; acquiring a second wheel cylinder pressure based on the motion parameter information of the vehicle; determining a target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure, and the second wheel cylinder pressure; A brake signal is generated based on the target wheel cylinder pressure and output to the brake device.

2. The method according to claim 1, characterized in that The motion parameter information of the vehicle at least includes: a road adhesion coefficient and a speed difference between the vehicle and a front target, wherein the obtaining of the second wheel cylinder pressure based on the motion parameter information of the vehicle includes: The second wheel cylinder pressure is acquired based on the road adhesion coefficient and the speed difference.

3. The method according to claim 2, characterized in that The obtaining the second wheel cylinder pressure according to the road adhesion coefficient and the speed difference includes: Based on a control algorithm, the second wheel cylinder pressure is obtained by taking the road adhesion coefficient and the speed difference as input values.

4. The method according to claim 1, characterized in that: The motion parameter information of the vehicle includes at least: a distance between the vehicle and a front target, and a speed difference between the vehicle and the front target. The determining the target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure, and the second wheel cylinder pressure includes: When the distance does not exceed a preset distance threshold and the speed difference is greater than 0, if the second wheel cylinder pressure exceeds the first wheel cylinder pressure, taking the second wheel cylinder pressure as the target wheel cylinder pressure; When the distance does not exceed a preset distance threshold and the speed difference is greater than 0, if the second wheel cylinder pressure does not exceed the first wheel cylinder pressure, the first wheel cylinder pressure is used as the target wheel cylinder pressure.

5. The method according to claim 4, characterized in that The determining the target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure and the second wheel cylinder pressure further includes: When the distance exceeds a preset distance threshold, or when the distance does not exceed the preset distance threshold and the speed difference is less than 0, the first wheel cylinder pressure is used as the target wheel cylinder pressure.

6. The method according to claim 4, characterized in that The method further comprises: When the speed difference is zero, the operation of generating a brake signal based on the target wheel cylinder pressure and outputting the brake signal to the brake device is stopped.

7. The method according to claim 6, characterized in that The method further comprises: A brake signal is generated based on the first wheel cylinder pressure and output to a brake device.

8. A vehicle braking control device, characterized in that: include: an acquisition module, configured to acquire, upon receiving a brake signal, motion parameter information of the vehicle and a first wheel cylinder pressure corresponding to the brake signal; a second wheel cylinder pressure determination module, configured to obtain the second wheel cylinder pressure based on the motion parameter information of the vehicle; a target wheel cylinder pressure determination module, configured to determine a target wheel cylinder pressure according to the motion parameter information of the vehicle, the first wheel cylinder pressure, and the second wheel cylinder pressure; A generating module is used to generate a braking signal based on the target wheel cylinder pressure and output the braking signal to a braking device.

9. A vehicle braking control device, characterized in that: The invention comprises a memory and a processor, wherein the memory is used to control the processor to operate so as to execute the vehicle braking control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The invention comprises a vehicle brake control device and a brake device as claimed in claim 8 or 9, wherein the vehicle brake control device outputs a brake signal to the brake device.

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