Brake control method, control device, and vehicle

Abstract

The present disclosure relates to a brake control method, a control device and a vehicle, wherein the method comprises: in the case of receiving a brake signal, acquiring motion parameter information of the vehicle and a first wheel cylinder pressure corresponding to the brake signal; based on the motion parameter information of the vehicle, acquiring a second wheel cylinder pressure; 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; and generating the 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 brake control method, control device and vehicle of a vehicle. BACKGROUND

[0002] With the improvement of living standards, cars have entered every family. Experienced drivers have strong control ability of vehicles, and driving actions such as braking, starting and lane changing are relatively rapid. Drivers lacking experience have driving tension when facing vehicles accelerating and decelerating on the road, and are prone to rear-end accidents due to poor distance control. At present, there is no safe braking control method to ensure driving safety through safe braking technology when the driver has braking intention. SUMMARY

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

[0004] According to a first aspect of the present application, a brake control method of a vehicle is provided, comprising:

[0005] In the case of receiving a brake signal, the motion parameter information of the vehicle and the first wheel cylinder pressure corresponding to the brake signal are obtained;

[0006] Based on the motion parameter information of the vehicle, a second wheel cylinder pressure is obtained;

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

[0008] Based on the target wheel cylinder pressure, a brake signal is generated and output to a brake device.

[0009] Optionally, 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, based on the motion parameter information of the vehicle, the second wheel cylinder pressure is obtained, comprising:

[0010] According to the road adhesion coefficient and the speed difference, the second wheel cylinder pressure is obtained.

[0011] Optionally, according to the road adhesion coefficient and the speed difference, the second wheel cylinder pressure is obtained, comprising:

[0012] Based on a control algorithm, the road adhesion coefficient and the speed difference are taken as input values to obtain the second wheel cylinder pressure.

[0013] Optionally, the motion parameter information of the vehicle at least comprises: a distance between the vehicle and the front target, and a speed difference between the vehicle and the front target.

[0014] In a case where the distance does not exceed the 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 taken as the target wheel cylinder pressure.

[0015] In a case where the distance does not exceed the 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 taken as the target wheel cylinder pressure.

[0016] Optionally, the determining of 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 comprises:

[0017] In a case where the distance exceeds the preset distance threshold, or in a case where the distance does not exceed the preset distance threshold and the speed difference is less than 0, the first wheel cylinder pressure is taken as the target wheel cylinder pressure.

[0018] Optionally, the method further comprises:

[0019] In a case where the speed difference is 0, stopping generating the brake signal based on the target wheel cylinder pressure and outputting the brake signal to the brake device.

[0020] Optionally, the method further comprises:

[0021] Generating the brake signal based on the first wheel cylinder pressure and outputting the brake signal to the brake device.

[0022] According to a second aspect of the present application, a brake control device of a vehicle is provided, comprising:

[0023] an acquisition module, configured to acquire motion parameter information of the vehicle and a first wheel cylinder pressure corresponding to a brake signal in a case where the brake signal is received;

[0024] a second wheel cylinder pressure determination module, configured to acquire 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 generation module, configured to generate a brake signal based on the target wheel cylinder pressure and output the brake signal to a brake device.

[0027] According to a third aspect of the present application, there is provided a brake control device of a vehicle, comprising a memory and a processor, the memory being configured to control the processor to operate to perform the brake control method of the vehicle according to any one of the first aspect of the present application.

[0028] According to a fourth aspect of the present application, there is provided a vehicle comprising the brake control device of the vehicle according to the second aspect or the third aspect and a brake device, wherein the brake control device of the vehicle outputs a brake signal to the brake device.

[0029] In an embodiment of the present application, in the case of receiving a brake signal, 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; according to 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; and based on the target wheel cylinder pressure, the brake signal is generated and output to the brake device. According to the actual driving scene of the vehicle, the safe brake wheel cylinder pressure is selected to ensure that the brake system realizes deceleration braking, and the safety of braking is improved.

[0030] The features and advantages of embodiments of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

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

[0032] Figure 1 is a process flow diagram of a brake control method of a vehicle according to an embodiment of the present application.

[0033] Figure 2 shows a flow diagram of a PID algorithm based on a neural network calculating a wheel cylinder pressure according to an embodiment of the present application.

[0034] Figure 3 is yet another process flow diagram of a brake control method of a vehicle according to an embodiment of the present application.

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

[0036] Figure 5 is a hardware structure diagram of a brake control device of a vehicle according to an embodiment of the present application.

[0037] Figure 6 is a structure diagram of a vehicle according to an embodiment of the present application. Detailed Implementation

[0038] Various exemplary embodiments of this 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 and is in no way intended to limit the embodiments of this specification or their application or use.

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

[0041] <Method Implementation>

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

[0043] Step S110: Upon receiving a braking signal, acquire the vehicle's motion parameter information and the first wheel cylinder pressure corresponding to the braking signal.

[0044] The vehicle can be any of the following: a gasoline-powered vehicle, a hybrid vehicle, or an electric vehicle.

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

[0046] A brake pedal sensor is installed on the brake pedal. When the driver presses the brake pedal, the sensor generates a braking signal. This braking signal includes a brake pedal depth signal. The brake pedal depth signal is an analog signal, a linear voltage signal that changes with the brake pedal depth. The brake pedal depth can be determined from this voltage signal.

[0047] In one embodiment, the vehicle's braking control device has a pre-stored mapping table between brake pedal depth and wheel cylinder pressure. When the brake pedal depth is known, this mapping table can be used to determine the wheel cylinder pressure corresponding to an externally input braking signal.

[0048] Step S120: Obtain the pressure of the second wheel cylinder based on the vehicle's motion parameter information.

[0049] In one embodiment, the vehicle's motion parameters include at least the road surface adhesion coefficient and the speed difference between the vehicle and the target ahead.

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

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

[0052] In one embodiment, each of the four wheels of the vehicle is provided with a wheel speed sensor. Each wheel speed sensor sends the detected wheel speed signal to the brake control device of the vehicle. The brake control device of the vehicle can obtain the speed of the vehicle 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 front target can be obtained. The speed difference is the speed of the vehicle minus the speed of the front target. The front target can be any one of a vehicle, a pedestrian, an obstacle. The obstacle can be a roadblock or a wall.

[0054] In one embodiment of the present application, 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, the second wheel cylinder pressure is calculated based on a neural network PID algorithm, with the road adhesion coefficient and the speed difference as input values, wherein the proportional coefficient, the integral coefficient and the differential coefficient of the PID algorithm are pre-set values.

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

[0057] Referring to Figure 2 , the road adhesion coefficient and the speed difference are taken as input values of the PID algorithm to calculate the second wheel cylinder pressure. Every predetermined time interval, the speed difference between the vehicle and the front target is re-acquired, and the speed difference is taken as input values of the PID algorithm again to recalculate the second wheel cylinder pressure.

[0058] In step S130, the 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.

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

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

[0061] In another example, the vehicle is provided with a distance sensor. By 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 front target can be obtained. The speed difference is the speed of the vehicle minus the speed of the front target.

[0063] In one embodiment, in the case where the distance does not exceed the 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 taken as the target wheel cylinder pressure. In the case where the distance does not exceed the 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 taken as the target wheel cylinder pressure.

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

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

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

[0067] In one embodiment, in the case where the second wheel cylinder pressure is taken as the target wheel cylinder pressure, the braking signal is generated based on the second wheel cylinder pressure calculated for the first time based on the control algorithm and output to the braking device. The braking device always performs deceleration braking operation based on the braking signal. Alternatively, every interval of a preset time length, the second wheel cylinder pressure is calculated based on the control algorithm. The braking signal is generated based on the second wheel cylinder pressure calculated again and output to the braking device. The braking device receives a new braking signal every interval of a preset time length and performs deceleration braking operation based on the braking signal.

[0068] In one embodiment, the brake signal is generated based on the target wheel cylinder pressure and output to the brake device to make the brake device perform the deceleration operation. Every predetermined time length, the speed difference between the vehicle and the front target is re-acquired, and in the case that the speed difference is 0, the operation of generating the brake signal based on the target wheel cylinder pressure and outputting the brake signal to the brake device is stopped. When the speed difference between the vehicle and the front target is 0, it indicates that the travel of the vehicle and the front target has synchronization, and the vehicle can ensure travel safety without deceleration.

[0069] In one embodiment, in the case that the speed difference is 0, the brake signal is also generated based on the first wheel cylinder pressure and output to the brake device in response to the brake signal. The brake signal is the brake signal triggered by the driver stepping on the brake pedal. In this way, the brake intention of the driver is met, the driver will not have the feeling of vehicle out of control, and the driving safety is ensured.

[0070] The vehicle brake control method provided by the application selects a safe wheel cylinder pressure according to the actual travel scene of the vehicle to ensure that the brake system realizes deceleration braking, and improves the safety of braking.

[0071] Figure 3 Another flowchart of a vehicle brake control method according to one embodiment of the application is shown. According to the embodiment, the method comprises steps S301-S309. Figure 3

[0072] Step S301, in the case that a brake signal is received, the first wheel cylinder pressure corresponding to the brake signal, the road surface image of the vehicle travel, the vehicle speed, the distance between the vehicle and the front target, and the speed difference between the vehicle and the front target are acquired. The brake signal is the brake signal triggered by the driver stepping on the brake pedal.

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

[0074] Step S303, the second wheel cylinder pressure is calculated based on the PID algorithm of the neural network, with the road surface adhesion coefficient and the speed difference as input values.

[0075] Step S304, it is judged whether the distance between the vehicle and the front target exceeds a preset distance threshold to obtain a first judgment result.

[0076] In the case that 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 the brake signal based on the first wheel cylinder pressure and output to the brake device.

[0077] In the case that 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 judge whether the speed difference is greater than 0 to obtain a second judgment result.​

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

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

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

[0081] If the second judgment result is that the speed difference is not greater than 0, proceed to step S305.

[0082] After step S308, step S309 is executed, and when the speed difference is 0, the operation of generating a braking signal based on the pressure of the second wheel cylinder and outputting it to the braking device is stopped.

[0083] <Device Embodiment>

[0084] One embodiment of the present invention provides a vehicle braking control device, such as... Figure 4 As shown. The vehicle's braking 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 vehicle's motion parameter information and the first wheel cylinder pressure corresponding to the braking signal when a braking signal is received.

[0086] The second cylinder pressure determination module 420 is used to obtain the second cylinder pressure based on the vehicle's motion parameter information.

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

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

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

[0090] In an embodiment of the present application, the motion parameter information of the vehicle further comprises a vehicle speed of the vehicle, wherein the road adhesion coefficient is determined according to the following manner: obtaining a road surface image of a road surface on which the vehicle travels, which is captured by the camera; determining a type of the road surface according to the road surface image; and determining the road adhesion coefficient based on the type of the road surface and the vehicle speed of the vehicle.

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

[0092] In an embodiment of the present application, the motion parameter information of the vehicle comprises at least a distance between the vehicle and a front target and a speed difference between the vehicle and the front target. The target wheel cylinder pressure determination module 430 is configured to, in a case where the distance is not more than a preset distance threshold and the speed difference is greater than 0, determine the second wheel cylinder pressure as the target wheel cylinder pressure if the second wheel cylinder pressure is greater than the first wheel cylinder pressure, and determine the first wheel cylinder pressure as the target wheel cylinder pressure if the second wheel cylinder pressure is not greater than the first wheel cylinder pressure.

[0093] In an embodiment of the present application, the target wheel cylinder pressure determination module 430 is further configured to, in a case where the distance is more than the preset distance threshold, or in a case where the distance is not more than the preset distance threshold and the speed difference is less than 0, determine the first wheel cylinder pressure as the target wheel cylinder pressure.

[0094] In an embodiment of the present application, the generation module 440 is further configured to, in a case where the speed difference is 0, stop generating the braking signal based on the target wheel cylinder pressure and outputting the braking signal to the brake device. The generation module 440 is further configured to generate the braking signal based on the first wheel cylinder pressure and output the braking signal to the brake device.

[0095] An embodiment of the present application provides a vehicle braking control device, as shown in Figure 5 The vehicle braking control device 500 comprises a memory 510 and a processor 520. The memory 510 is configured to control the processor 520 to perform the vehicle braking control method in any of the above embodiments.

[0096] <Embodiment of vehicle>

[0097] An embodiment of the present application provides a vehicle comprising the vehicle braking control device and the brake device according to any of the above embodiments, wherein the vehicle braking control device outputs the braking signal to the brake device.

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

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

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

[0101] Wheel speed sensors 602, 603, 604, and 605 respectively send the detected wheel speed signals to the vehicle's braking control device. The vehicle's braking control device can determine the vehicle speed based on these four wheel speed signals.

[0102] Radar 606 transmits the received echo signal to the vehicle's braking control device. The vehicle's braking control device analyzes the echo signal to determine the speed difference between the vehicle and the target ahead.

[0103] Camera 607 sends the captured images of the road surface to the vehicle's braking control unit. The vehicle's braking control unit can determine the type of road surface based on the images.

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

[0105] Brake pedal sensor 609 sends a braking signal to the vehicle's brake control unit. This braking signal includes a brake pedal depressance signal. Based on this braking signal, the vehicle's brake control unit uses a pre-stored mapping table of brake pedal depressance and wheel cylinder pressure to determine the wheel cylinder pressure corresponding to the externally input braking signal, which is recorded as the first wheel cylinder pressure.

[0106] Wheel cylinder pressure sensors 610, 620, 630, and 640 respectively send the detected wheel cylinder pressures to the vehicle's braking control device. The vehicle's braking control device uses these four wheel cylinder pressures to verify whether the left front wheel cylinder, right front wheel cylinder, left rear wheel cylinder, and right rear wheel cylinder have reached the wheel cylinder pressure value corresponding to the braking signal.

[0107] The brake control device of the vehicle determines a road surface adhesion coefficient based on a kind of a road surface and a vehicle speed. Then, a second wheel cylinder pressure is calculated based on a control algorithm with the road surface adhesion coefficient and a speed difference as input values.

[0108] The brake control device of the vehicle determines a target wheel cylinder pressure based on a distance between the vehicle and a front target, a speed difference between the vehicle and the front target, 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 of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. For the vehicle embodiment, the relevant parts can be referred to the part of the method embodiment.

[0111] The above describes specific embodiments of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order in which they are recited and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or necessary.

[0112] The embodiments of the present specification can be a system, a method and / or a computer program product. The computer program product can include a computer readable storage medium having computer instructions loaded thereon for causing a processor to implement various aspects of the embodiments of the present specification.

[0113] Computer readable storage media can be tangible storage media which can retain and store computer instructions for use by a computer instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic 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 (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, 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 disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched-tape, a

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

[0115] The computer program product of the second aspect can include a computer readable storage medium. The computer readable storage medium can include instructions. The instructions can include one or both of: instructions for causing a computer to implement a method as described above; and instructions for causing a computer to operate based on a system as described above. The computer readable storage medium can include one or more of: a magnetic disk; a magnetic disk drive; a magnetic tape; a magneto-optical drive; a solid state drive; a semiconductor drive; a flash drive; an optical drive; a holographic drive; a holographic medium; a memory stick; a floppy disk; a flexible disk; a hard disk; a hard disk drive; a holographic disk; a holographic disk drive; a RAM drive; a ROM drive; a flash drive; an optical drive; a solid state drive; a solid state drive; a DVD; a DVD drive; a DVD-ROM; a DVD-RW; a DVD+RW; a Blu-Ray disk; a Blu-Ray disk drive; a memory stick; a memory card; an electrical connection via one or more busses; an other appropriate device.

[0116] Embodiments of the present description have been described above, the description is exemplary only, and is not exhaustive or limited to the disclosed embodiments. Many modifications and variations of the described embodiments are possible in light of the above teachings. The choice of words in this document is intended to convey the best of the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A braking control method for a vehicle, characterized in that, include: Upon receiving a braking signal, acquire the vehicle's motion parameters and the first wheel cylinder pressure corresponding to the braking signal; Based on the vehicle's motion parameter information, the pressure of the second wheel cylinder is obtained; The target wheel cylinder pressure is determined based on the vehicle's motion parameters, the first wheel cylinder pressure, and the second wheel cylinder pressure. A braking signal is generated based on the target wheel cylinder pressure and output to the braking device; The vehicle's motion parameters include at least: the distance between the vehicle and the target ahead, and the speed difference between the vehicle and the target ahead. Determining the target wheel cylinder pressure based on the vehicle's motion parameters, the first wheel cylinder pressure, and the second wheel cylinder pressure includes: If the distance does not exceed a preset distance threshold and the speed difference is greater than 0, and the pressure of the second wheel cylinder exceeds the pressure of the first wheel cylinder, then the pressure of the second wheel cylinder is taken as the target wheel cylinder pressure. If the distance does not exceed a preset distance threshold and the speed difference is greater than 0, and if the pressure of the second wheel cylinder does not exceed the pressure of the first wheel cylinder, then the pressure of the first wheel cylinder is taken as the target wheel cylinder pressure.

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

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

4. The method according to claim 1, characterized in that, The step of determining the target wheel cylinder pressure based on the vehicle's motion parameter information, the first wheel cylinder pressure, and the second wheel cylinder pressure further includes: If the distance exceeds a preset distance threshold, or if the distance does not exceed the preset distance threshold and the speed difference is less than 0, the first wheel cylinder pressure is taken as the target wheel cylinder pressure.

5. The method according to claim 1, characterized in that, The method further includes: When the speed difference is 0, the operation of generating a braking signal based on the target wheel cylinder pressure and outputting it to the braking device is stopped.

6. The method according to claim 5, characterized in that, The method further includes: A braking signal is generated based on the pressure of the first wheel cylinder and output to the braking device.

7. A braking control device for a vehicle, characterized in that, include: The acquisition module is used to acquire the vehicle's motion parameter information and the first wheel cylinder pressure corresponding to the braking signal when a braking signal is received. The second wheel cylinder pressure determination module is used to obtain the second wheel cylinder pressure based on the vehicle's motion parameter information; The target wheel cylinder pressure determination module is used to determine the target wheel cylinder pressure based on the vehicle's motion parameter information, the first wheel cylinder pressure, and the second wheel cylinder pressure. The generation module is used to generate a braking signal based on the target wheel cylinder pressure and output it to the braking device; The vehicle's motion parameters include 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 is specifically used for: If the distance does not exceed a preset distance threshold and the speed difference is greater than 0, and the pressure of the second wheel cylinder exceeds the pressure of the first wheel cylinder, then the pressure of the second wheel cylinder is taken as the target wheel cylinder pressure. If the distance does not exceed a preset distance threshold and the speed difference is greater than 0, and if the pressure of the second wheel cylinder does not exceed the pressure of the first wheel cylinder, then the pressure of the first wheel cylinder is taken as the target wheel cylinder pressure.

8. A braking control device for a vehicle, characterized in that, It includes a memory and a processor, the memory being used to control the processor to operate in order to execute the braking control method for a vehicle according to any one of claims 1-6.

9. A vehicle, characterized in that, Includes a vehicle braking control device and a braking device as described in claim 7 or 8, wherein the vehicle braking control device outputs a braking signal to the braking device.

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