Auxiliary braking control method and related device

Abstract

The embodiment of the invention provides an auxiliary braking control method and a related device, and is applied to the technical field of vehicle control. According to the embodiment of the invention, the target steering angle of the left rear wheel and the target steering angle of the right rear wheel can be determined according to the steering information of the vehicle, the lateral deviation information of the vehicle and the motion state information of the vehicle, the left rear wheel is controlled to steer based on the target steering angle of the left rear wheel, and / or the right rear wheel is controlled to steer based on the target steering angle of the right rear wheel. Therefore, the braking deceleration of the vehicle is increased, auxiliary braking is carried out, and the braking efficiency and the braking stability when the vehicle is braked are improved. In some cases, a braking system of the vehicle may break down, and the safety of driving the vehicle by a user can be improved by braking through the embodiment of the invention.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an auxiliary braking control method and related devices. Background Art

[0002] With the advancement of industrial technology and the improvement of people's living standards, vehicles as a means of transportation play an increasingly important role in people's daily lives. Consumers' demand for vehicles is also increasing, and users are gradually beginning to pay attention to the safety performance of vehicles, such as the braking performance of vehicles. At present, the braking of vehicles is mainly controlled by the vehicle's braking system or braking system control unit to slow down or stop the vehicle. However, as the functions of vehicles increase and the control becomes more and more complex, the braking system is prone to malfunction or failure, which will cause the vehicle to lose its braking ability. In severe cases, it will cause the vehicle to lose control, seriously endangering the safety of the vehicle and passengers.

[0003] Therefore, it is necessary to adopt a certain auxiliary braking control method to perform auxiliary braking when the vehicle's braking system fails, so as to improve the safety of users driving the vehicle. Summary of the invention

[0004] The embodiment of the present application provides an auxiliary braking control method and related devices, which can control the left rear wheel and the right rear wheel to turn based on the target steering angle to increase the braking deceleration of the vehicle, thereby performing auxiliary braking and improving the braking efficiency and braking stability of the vehicle during braking. If the vehicle's braking system fails, braking in this way can improve the safety of users driving the vehicle.

[0005] In a first aspect, an embodiment of the present application provides an auxiliary braking control method, which can determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel based on the steering information of the vehicle, the side deviation information of the vehicle and the motion state information of the vehicle, and control the steering of the left rear wheel based on the target steering angle of the left rear wheel, and / or control the steering of the right rear wheel based on the target steering angle of the right rear wheel. When the two rear wheels of the vehicle are turned respectively, the balance state of the rear axle of the vehicle changes, so that the braking deceleration of the vehicle increases, and the vehicle is braked. Among them, the motion state information of the vehicle includes at least one of the vehicle speed, the slip rate of the left rear wheel and the slip rate of the right rear wheel.

[0006] The above solution can be applied to a vehicle including a left rear wheel and a right rear wheel, for example, when the vehicle is in a braking condition.

[0007] The present application can determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the steering information, the side deviation information and the motion state information of the vehicle, thereby improving the accuracy of the determined target steering angle, and taking into account the side deviation state of the vehicle, the vehicle can be more stable during the braking process, thereby improving the stability of the user driving the vehicle. Moreover, the present application can realize the distributed deflection of the steering angle of the left rear wheel and the right rear wheel of the vehicle, increase the braking deceleration of the vehicle through the longitudinal component of the deflection force, and adjust the stability of the vehicle through the lateral component of the deflection force, thereby strengthening the braking efficiency of the vehicle and ensuring the stability of the vehicle during braking.

[0008] In some cases, the vehicle's braking system may malfunction. The solution of the present application can increase the vehicle's braking deceleration, perform vehicle braking, and improve the safety of users driving the vehicle.

[0009] In a possible implementation of the first aspect, a target steering angle of the left rear wheel and a target steering angle of the right rear wheel are determined based on the steering information, the side deviation information and the motion state information of the vehicle, including determining a braking assist mode based on the steering information of the vehicle, and determining the target steering angle of the left rear wheel and the target steering angle of the right rear wheel at least based on the braking assist mode, the side deviation information and the motion state information of the vehicle.

[0010] In this way, different braking assistance methods are selected for different braking scenarios to assist the vehicle in braking. While ensuring the braking efficiency, appropriate solutions are selected for auxiliary braking to reduce the possibility of wasting resources and improve resource utilization.

[0011] In another possible implementation of the first aspect, the steering information of the vehicle includes a steering wheel angle, and when the steering wheel angle falls within a first range, the braking assistance mode is linear braking assistance, when the steering wheel angle exceeds the first range and the duration for which the steering wheel angle exceeds the first range is less than a first threshold, the braking assistance mode is linear braking assistance, and when the steering wheel angle exceeds the first range and the duration for which the steering wheel angle exceeds the first range is greater than the first threshold, the braking assistance mode is steering braking assistance.

[0012] In this way, in view of the influence of the driver's steering intention on the vehicle's braking effect, the present application sets different rear-wheel steering strategies, determines the braking assist mode by conditionally judging the steering wheel angle, and selects a suitable scheme for auxiliary braking while ensuring braking efficiency.

[0013] In another possible implementation of the first aspect, the vehicle's slip information includes the vehicle's slip angle, and a target steering angle of the left rear wheel and a target steering angle of the right rear wheel are determined based at least on a braking assist mode, the vehicle's slip information and the vehicle's motion state information, including, when the vehicle's braking assist mode is linear braking assist and the vehicle's slip angle falls within a second range, determining the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the vehicle's motion state information, the target steering angle of the left rear wheel and the target steering angle of the right rear wheel having the same deflection angle and opposite deflection directions.

[0014] In this way, in the case of linear braking assistance with a small deflection angle, by controlling the left rear wheel and the right rear wheel to deflect inward or outward at the same angle at the same time, the lateral components of the deflection force of the left rear wheel and the right rear wheel cancel each other out, and the vehicle remains stable. The longitudinal components of the deflection force of the left rear wheel and the right rear wheel are superimposed, increasing the braking deceleration of the vehicle, thereby enhancing the braking efficiency of the vehicle.

[0015] In another possible implementation of the first aspect, the vehicle's sideslip information includes the vehicle's sideslip angle, and a target steering angle of the left rear wheel and a target steering angle of the right rear wheel are determined based at least on a braking assist mode, the vehicle's sideslip information, and the vehicle's motion state information, including determining an offset amplitude and a slip degree of the vehicle according to the vehicle's sideslip information and the vehicle's motion state information when the vehicle's braking assist mode is linear braking assist and the vehicle's sideslip angle exceeds a second range, and determining the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the vehicle's sideslip information and the vehicle's motion state information.

[0016] Optionally, the greater the offset amplitude, the greater the deflection angle of the outer rear wheel in the offset direction.

[0017] In this way, in the case of linear braking assistance with a large deflection angle, the deflection angle of the outer rear wheel in the offset direction is increased, so that the vehicle obtains a deflection angular velocity to offset the vehicle's sideslip angle to maintain the vehicle's stability. The longitudinal components of the deflection force of the left rear wheel and the right rear wheel are superimposed to increase the vehicle's braking deceleration, thereby enhancing the vehicle's braking efficiency.

[0018] In another possible implementation of the first aspect, the vehicle's sideslip information includes the vehicle's sideslip angle, and a target steering angle of the left rear wheel and a target steering angle of the right rear wheel are determined at least based on a braking assist mode, the vehicle's sideslip information and the vehicle's motion state information, including determining the vehicle's target steering angle based on the vehicle's steering wheel angle and the vehicle's steering ratio when the vehicle's braking assist mode is steering braking assist, and determining the target steering angle of the left rear wheel and the target steering angle of the right rear wheel based on the vehicle's sideslip angle, the vehicle's motion state information and the vehicle's target steering angle.

[0019] In this way, in the case of steering brake assist, the target steering angle of the left rear wheel and the target steering angle of the right rear wheel are determined in combination with the driver's steering requirement during braking. This can increase the vehicle's braking deceleration and enhance the vehicle's braking efficiency. At the same time, the vehicle can be controlled to achieve the target turning angle, thereby improving the user experience.

[0020] In a second aspect, an embodiment of the present application provides a processing device, which is included in a vehicle, wherein the vehicle includes a left rear wheel and a right rear wheel, and the processing device includes a processing unit and a control unit. The processing unit is used to determine a target steering angle of the left rear wheel and a target steering angle of the right rear wheel according to the steering information of the vehicle, the side deviation information of the vehicle and the motion state information of the vehicle when the vehicle is in a braking condition, the motion state information of the vehicle including the vehicle speed, the slip rate of the left rear wheel and the slip rate of the right rear wheel. The control unit is used to control the steering of the left rear wheel based on the target steering angle of the left rear wheel, and / or control the steering of the right rear wheel based on the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle.

[0021] In a possible implementation of the second aspect, the processing unit is also used to determine the braking assistance mode according to the steering information of the vehicle, and to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel at least based on the braking assistance mode, the vehicle's side deviation information and the vehicle's motion state information.

[0022] In another possible implementation of the second aspect, the steering information of the vehicle includes a steering wheel angle. When the steering wheel angle falls within a first range, the braking assistance mode is linear braking assistance. When the steering wheel angle exceeds the first range and the duration for which the steering wheel angle exceeds the first range is less than a first threshold, the braking assistance mode is linear braking assistance. When the steering wheel angle exceeds the first range and the duration for which the steering wheel angle exceeds the first range is greater than the first threshold, the braking assistance mode is steering braking assistance.

[0023] In another possible implementation of the second aspect, the vehicle's sideslip information includes the vehicle's sideslip angle, and the processing unit is further used to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the vehicle's motion state information when the vehicle's braking assist mode is linear braking assist and the vehicle's sideslip angle falls within a second range, the target steering angle of the left rear wheel and the target steering angle of the right rear wheel having the same deflection angle and opposite deflection directions.

[0024] In another possible implementation of the second aspect, the vehicle's sideslip information includes the vehicle's sideslip angle, and the processing unit is further used to determine the vehicle's offset amplitude and slip degree according to the vehicle's sideslip information and the vehicle's motion state information when the vehicle's braking assist mode is linear braking assist and the vehicle's sideslip angle exceeds a second range, and to determine the target steering angles of the left rear wheel and the right rear wheel according to the vehicle's offset amplitude and slip degree.

[0025] Optionally, the greater the offset amplitude, the greater the deflection angle of the outer rear wheel in the offset direction.

[0026] In another possible implementation of the second aspect, the vehicle's sideslip information includes the vehicle's sideslip angle, and the processing unit is further used to determine the vehicle's target turning angle based on the vehicle's steering wheel angle and the vehicle's steering ratio when the vehicle's braking assist mode is steering braking assist, and to determine the target steering angles of the left rear wheel and the right rear wheel based on the vehicle's sideslip angle, the vehicle's motion state information and the vehicle's target turning angle.

[0027] In a third aspect, an embodiment of the present application provides a processing device, which includes a processor and a memory, and the processor executes instructions / programs stored in the memory so that the processing device implements any method described in the first aspect.

[0028] Optionally, the processing device further includes a communication interface, where the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0029] It should be noted that the above embodiments are described by taking a processor (or general-purpose processor) that executes the method by calling a computer instruction / program as an example. In the specific implementation process, the processor may also be a dedicated processor, in which case the computer instruction / program has been pre-loaded in the processor. Optionally, the processor may also include both a dedicated processor and a general-purpose processor.

[0030] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0031] In a fourth aspect, the present application provides a vehicle comprising a left rear wheel, a right rear wheel and the aforementioned processing device, so that the vehicle can implement the method described in any one of the aforementioned first aspects.

[0032] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed by a processing device, the processing device implements the method described in any one of the first aspects above.

[0033] In a sixth aspect, the present application provides a computer program product, which includes computer instructions. When the instructions are executed by a processing device, the processing device implements the method described in any one of the first aspects above.

[0034] Optionally, the computer program product may be a software installation package or an image file. When the aforementioned method is required, the computer program product may be obtained and executed on a computing device.

[0035] The beneficial effects of the technical solutions provided in the second to sixth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The following is a brief introduction to the drawings required for describing the embodiments.

[0037] Figure 1 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0038] Figure 2 is a flow chart of an auxiliary braking control method provided in an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a linear braking assistance method provided in an embodiment of the present application;

[0040] Figure 4 is a curve diagram showing the change of lateral force with sideslip angle provided by an embodiment of the present application;

[0041] Figure 5 is a schematic diagram of another linear braking assistance method provided in an embodiment of the present application;

[0042] Figure 6 is a schematic diagram of a function curve provided in an embodiment of the present application;

[0043] Figure 7 is a schematic diagram of a steering brake assist method provided in an embodiment of the present application;

[0044] Figure 8 is a structural schematic diagram of a processing device provided in an embodiment of the present application;

[0045] Fig. 9 It is a structural schematic diagram of another processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0047] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0048] See also Figure 1 , Figure 1 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 1 As shown, the vehicle 10 includes a processing device 105 and a plurality of wheels. The plurality of wheels may be distributed on both sides of the vehicle's traveling direction, i.e., a left wheel and a right wheel. For example, a left front wheel 101, a right front wheel 102, a left rear wheel 103, and a right rear wheel 104. The steering direction of the wheel can be adjusted. Exemplarily, the processing device 105 may control the steering of the left rear wheel 103, and / or control the steering of the right rear wheel 104. Since the left front wheel 101 and the right front wheel 102 of the vehicle are used to control the driving direction of the vehicle, if the braking efficiency of the vehicle is increased by controlling the steering of the left front wheel 101 and the right front wheel 102, the vehicle will be greatly offset, which may cause the vehicle to be in an unstable state, and the user's safety cannot be guaranteed. The left rear wheel 103 and the right rear wheel 104 of the vehicle have a low impact on the driving direction of the vehicle. By controlling the steering of the left rear wheel 103 and the right rear wheel 104, the balance state of the rear axle can be changed, and the stability of the vehicle can be maintained while increasing the braking deceleration of the vehicle.

[0049] The processing device 105 is a module with data processing and control capabilities, and is used to process relevant data of the vehicle 10 and control the vehicle 10 to complete relevant functions. Exemplarily, the processing device 105 can determine the target steering angle of the left rear wheel 103 and the target steering angle of the right rear wheel 104 according to the steering information of the vehicle, the side deviation information of the vehicle, and the motion state information of the vehicle, and control the steering of the left rear wheel 103 based on the target steering angle of the left rear wheel 103, and / or control the steering of the right rear wheel 104 based on the target steering angle of the right rear wheel 104, so that the braking deceleration of the vehicle 10 increases.

[0050] As a possible implementation, the processing device 105 may be a physical device, for example, the processing device 105 may include one or more of the following modules: a central processing unit (CPU), a microprocessor unit (MPU), an application specific-integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (to assist the central processor in completing corresponding processing and applications), a microcontroller unit (MCU), and / or an electronic control unit (ECU). Of course, the above description is based on the example that the processing device 105 is an on-board device. In some solutions, the processing device 105 may be a physical device set outside the vehicle, such as a server, a cloud, or a host. As a possible implementation, the processing device 105 may be a software module, such as a virtual machine, software, program code, or a container.

[0051] In the above-mentioned manner, it is mentioned that the processing device 105 can be arranged outside the vehicle. It should be understood that when the processing device 105 is arranged outside the vehicle 10, the vehicle 10 and the processing device 105 can be connected in communication, for example, the two are directly connected through a wired communication method, such as a tangible medium such as a metal wire or an optical fiber, or the two are indirectly connected through a wireless communication method, such as ultra-wideband (UWB) technology, long term evolution (LTE) communication technology, fifth generation mobile communication technology (5th generation mobile networks or 5th generation wireless systems, 5th-Generation, referred to as 5G or 5G technology), global system for mobile communications (GSM), general packet radio service (GPRS), or universal mobile telecommunications system (UMTS).

[0052] Optionally, the above is an exemplary vehicle provided for the purpose of facilitating the understanding of the present solution, and is not intended to limit the application scenarios of the present solution. The solution provided by the present application is also applicable to similar devices that use wheeled devices for traveling and have data processing capabilities, such as logistics robots. In addition, Figure 1 The number of wheels of the vehicle 10 shown is also an example. In a specific implementation, the vehicle 10 may include more (eg, six wheels, eight wheels) or fewer (eg, three wheels) wheels.

[0053] In addition, the present application does not limit the purpose, power supply method, classification, model, etc. of the vehicle 10. For example, the vehicle 10 can be a passenger car, a bus, a truck, a rescue vehicle, a special vehicle (such as a mud tanker, a tanker, a water truck, a fire truck, etc.). For another example, the vehicle 10 can be a pure electric vehicle, a fuel vehicle, a hybrid vehicle, etc.

[0054] The following describes the scenarios of the embodiments of the present application.

[0055] In some scenarios, the braking of a vehicle is mainly controlled by the vehicle's braking system or braking system control unit to slow down or stop the vehicle. However, as the vehicle's functions become more and more numerous and the control becomes more and more complex, the braking system is prone to malfunction or failure, which can cause the vehicle to lose braking ability and even cause the vehicle to lose control in severe cases, seriously endangering the safety of the vehicle and passengers.

[0056] In view of this, the present application provides an adjustment method and related devices, and the processing device 105 can determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel based on the steering information of the vehicle 10, the side deviation information of the vehicle 10 and the motion state information of the vehicle 10, thereby improving the accuracy of the determined target steering angle.

[0057] Further, the processing device 105 controls the steering of the left rear wheel based on the target steering angle of the left rear wheel, and / or controls the steering of the right rear wheel based on the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle 10. In this way, when the vehicle 10 is in a braking condition, the steering angles of the left rear wheel and the right rear wheel of the vehicle 10 are distributedly deflected, the balance state of the rear axle is changed, the braking deceleration of the vehicle 10 is increased by the longitudinal component of the deflection force, and the stability of the vehicle 10 is adjusted by the lateral component of the deflection force, so as to enhance the braking performance of the vehicle 10 and ensure the stability of the vehicle 10 during braking. Moreover, if the braking system of the vehicle 10 fails, the braking deceleration of the vehicle 10 is increased in this way, so as to brake, which can improve the safety of the user driving the vehicle.

[0058] The method of the embodiment of the present application is described in detail below.

[0059] See also Figure 2 , Figure 2is a flow chart of an auxiliary braking control method provided in an embodiment of the present application. Optionally, the method can be applied to a vehicle, for example, the method can be applied to Figure 1 The vehicle 10 shown is executed, for example, by a processing device 105 in the vehicle 10 .

[0060] like Figure 2 The adjustment method shown may include multiple steps in steps S201-S202. It should be understood that for the convenience of description, this application is described in the order of steps S201-S202, and is not intended to limit the execution to the above order. The embodiment of the application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. Steps S201-S202 are as follows:

[0061] Step S201: The processing device determines a target steering angle of the left rear wheel and a target steering angle of the right rear wheel according to the steering information of the vehicle, the side deviation information of the vehicle and the motion state information of the vehicle.

[0062] The processing device is a device with data processing, communication and control capabilities, which may be set inside the vehicle or may be a processing module integrated in the vehicle, such as a microcontroller unit MCU and / or an electronic control unit ECU. In some solutions, the processing device may also be set outside the vehicle, such as a server, cloud, or host, or it may be a virtual device, such as a virtual machine, software, program code, or container. Optionally, when the processing device is installed on the vehicle, the functions implemented by the processing device can also be regarded as implemented by the vehicle. Specifically, when the processing device is installed on the vehicle, it can be a functional module, for example, the processing device can be Figure 1 The processing device 105 in the vehicle can be integrated into a central domain controller of the vehicle.

[0063] The vehicle's steering information is used to indicate the vehicle's steering condition, and may include, for example, one or more of the vehicle's steering wheel angle, the vehicle's steering angular velocity, and the like.

[0064] The side slip information of the vehicle is used to indicate the deviation of the vehicle, for example, including one or more of the side slip angle of the vehicle, the deviation direction of the vehicle, etc. Optionally, the processing device obtains the side slip angle of the vehicle through a side slip sensing device (such as a tilt sensor).

[0065] The vehicle's motion state information is used to indicate the vehicle's motion state under braking conditions, including but not limited to one or more of the vehicle's speed, the slip rate of the left rear wheel, and the slip rate of the right rear wheel.

[0066] Because the driver may have different braking intentions during different driving processes, the braking effect of the vehicle will also be affected. For example, when the driver wants to maintain straight-line braking, the braking process of the vehicle needs to ensure the braking efficiency while controlling the vehicle to remain stable during the braking process. For another example, when the driver turns the steering wheel during braking to maintain steering braking, the braking process of the vehicle needs to ensure the braking efficiency while controlling the vehicle to achieve the target turning angle required by the driver. Therefore, the present application combines the steering information, the side deviation information and the motion state information of the vehicle to determine the steering angle of the wheels on both sides of the vehicle for braking.

[0067] As a possible implementation, the steering information of the vehicle indicates the steering condition of the vehicle, so that the driving trend of the vehicle can be determined, and different driving trends correspond to different braking assistance methods. Therefore, the processing device can determine the braking assistance method of the vehicle based on the steering information of the vehicle, and determine the steering angles of the vehicles on both sides of the vehicle based on at least the braking assistance method of the vehicle, the side deviation information of the vehicle, and the motion state information.

[0068] In some schemes, the braking assistance method includes linear braking assistance, steering braking assistance, etc. Exemplarily, the processing device can obtain the steering wheel angle of the vehicle. When the steering wheel angle falls within the first range, the vehicle's driving trend is straight-line driving. When the steering wheel angle exceeds the first range and the duration of the steering wheel angle exceeding the first range is less than the first threshold, the vehicle's driving trend is straight-line driving. In other words, the vehicle needs to brake while driving in a straight line at this time, and the corresponding braking assistance method is linear braking assistance. Furthermore, when the steering wheel angle exceeds the first range and the duration of the steering wheel angle exceeding the first range is greater than the first threshold, the vehicle's driving trend is turning driving, and accordingly, the braking assistance method is steering braking assistance.

[0069] Wherein, the first range and the first threshold are predefined or predefined. For example, the first range can be a value between -20° and 20°, such as 10°, 12°, etc. Wherein, positive and negative are used to indicate the direction of rotation of the steering wheel, for example, a positive angle indicates that the direction of rotation is clockwise, and a negative angle indicates that the direction of rotation is counterclockwise. Optionally, the first range can be related to factors such as the model of the vehicle, the tire structure of the wheel, the tread pattern of the wheel, the tire material of the wheel, and the quality of the vehicle. The first threshold can be a value greater than 20s, such as 25s, 30s, etc. In this way, when the steering wheel angle exceeds a certain range for a duration exceeding the threshold, it is determined that the vehicle has a steering demand during the braking process, and the braking assistance mode is steering braking assistance, which reduces the possibility of misjudgment of the vehicle's braking assistance mode due to the driver's accidental touching of the steering wheel, resulting in a steering angle deviation of the steering wheel, and improves the accuracy of determining the braking assistance mode.

[0070] Further, the processing device determines the target steering angle of the left rear wheel and the target steering angle of the right rear wheel based on at least the braking assistance mode, the side deviation information of the vehicle and the motion state information of the vehicle. For ease of understanding, several implementation methods for determining the target steering angle of the left rear wheel and the target steering angle of the right rear wheel under different braking assistance modes are introduced below.

[0071] In the first implementation mode, when the braking assist mode is linear braking assist, and the side slip information of the vehicle indicates that the offset degree of the vehicle is small, for example, the side slip information of the vehicle includes the side slip angle of the vehicle, when the side slip angle of the vehicle falls into the second range, the processing device considers that the offset degree of the vehicle is small, that is, it is judged that the vehicle is relatively stable during braking and there is no need for lateral stability. At this time, the left rear wheel and the right rear wheel can be controlled to deflect inward or outward at the same angle at the same time, so that the lateral components of the offset force of the left rear wheel and the right rear wheel cancel each other out, the vehicle remains stable, and the longitudinal components of the offset force of the left rear wheel and the right rear wheel are superimposed, thereby increasing the braking deceleration of the vehicle, and enhancing the braking efficiency of the vehicle.

[0072] Specifically, the side slip information of the vehicle includes the side slip angle of the vehicle. When the braking assistance mode of the vehicle is linear braking assistance and the side slip angle of the vehicle falls into the second range, the processing device determines the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the motion state information of the vehicle, and the deflection angle of the target steering angle of the left rear wheel and the target steering angle of the right rear wheel are the same and the deflection direction is opposite. Wherein, the second range is predefined or predefined. For example, the second range can be a value between -30° and 30°, such as 20°, 23°, etc. Wherein, positive and negative are used to indicate the deflection direction of the vehicle relative to the longitudinal axis of the vehicle body, for example, a positive angle indicates that the deflection direction of the vehicle relative to the longitudinal axis of the vehicle body is deflected to the right side of the longitudinal axis of the vehicle body (i.e., clockwise), and a negative angle indicates that the deflection direction of the vehicle relative to the longitudinal axis of the vehicle body is deflected to the left side of the longitudinal axis of the vehicle body (i.e., counterclockwise). Optionally, the second range can be related to factors such as the model of the vehicle, the tire structure of the wheel, the tread pattern of the wheel, the tire material of the wheel, and the mass of the vehicle.

[0073] For example, see Figure 3 , Figure 3 is a schematic diagram of a linear braking assistance method provided by an embodiment of the present application, such as Figure 3 As shown, β1 represents the deflection angle of the left rear wheel relative to the longitudinal axis of the vehicle body, and β2 represents the deflection angle of the right rear wheel relative to the longitudinal axis of the vehicle body. During the braking process of the vehicle, the lateral force applied to the wheel is perpendicular to the tire, and the longitudinal force component is opposite to the driving direction. Optionally, the lateral force applied to the wheel can be calculated by the following formula.

[0074] F y，f =Cf β

[0075] Among them, C f is the cornering stiffness, C f The value of is the slope of the curve of the lateral force and the side slip angle function when the side slip angle is 0°. Figure 4 , Figure 4 It is a curve diagram showing the change of lateral force with sideslip angle provided in an embodiment of the present application.

[0076] For example, Figure 3 F L1 F is the lateral force exerted on the left rear wheel by the road surface, R1 is the lateral force on the right rear wheel from the road surface, calculated according to the above formula L1 With F R1 :

[0077] F L1 =C f β1

[0078] F R1 =C f β2

[0079] F Ly1 is the lateral component of the lateral force of the left rear wheel, F Ry1 is the lateral component of the lateral force of the right rear wheel, F Lx1 is the longitudinal component of the lateral force of the left rear wheel, F Rx1 is the longitudinal component of the lateral force of the right rear wheel, where F Ly1 、F Ry1 、F Lx1 and F Rx1 The values ​​of are as follows:

[0080] F Ly1 =F L1 cosβ1=C f β1cosβ1

[0081] F Ry1 =F R1 cosβ2=C f β2cosβ2

[0082] F Lx1 =F L1 sinβ1=C f β1sinβ1

[0083] F Rx1 =F R1 sinβ2=C f β2sinβ2

[0084] In some scenarios, if the vehicle is driving on a low-adhesion road surface such as a rainy or snowy day, the road adhesion coefficient is smaller than that of a dry road, which reduces the braking friction between the tire and the road surface. When the vehicle brakes, the braking deceleration will be less than the braking deceleration on a normal dry road surface, resulting in an increase in the braking distance and a traffic accident. Therefore, when the driver has no obvious steering intention and the vehicle is stable during the braking process, the F calculated above is Lx1 With F Rx1 It can be used as an additional braking force to participate in the braking process to increase the braking deceleration, as shown in the following formula:

[0085] Ma plus =F Lx1 +F Rx1

[0086]

[0087] Among them, a plus is the additional braking deceleration, and M is the vehicle mass. When the driver has no obvious steering intention and the vehicle is stable during the braking process, β1 and β2 can be controlled to have the same angle and opposite directions. plus It can be simplified into the following formula:

[0088]

[0089] Wherein, β is the deflection angle of the left rear wheel and the right rear wheel relative to the longitudinal axis of the vehicle body.

[0090] It can be seen that when the driver has no obvious steering intention and the vehicle is stable during the braking process, β can be appropriately increased to increase a plus , thereby increasing the braking deceleration to reduce the braking distance.

[0091] Specifically, the processing device obtains the vehicle speed U x , the slip rate of the left rear wheel s L2 , right rear wheel slip rate s R2 , the processing device according to U x 、s L2 and R2, the steering angle β required for the rear wheels is obtained by fuzzy calculation. In implementation mode one, the target steering angle of the left rear wheel and the target steering angle of the right rear wheel calculated by the processing device have the same deflection angle, that is, both are β, but the target steering angle of the left rear wheel and the target steering angle of the right rear wheel have opposite deflection directions. For example, the left rear wheel deflects β clockwise, and the right rear wheel deflects β counterclockwise. For another example, the left rear wheel deflects β counterclockwise, and the right rear wheel deflects β clockwise. In this way, the lateral components of the deflection force of the left rear wheel and the right rear wheel cancel each other out, the vehicle remains stable, and the longitudinal components of the deflection force of the left rear wheel and the right rear wheel are superimposed, which increases the braking deceleration of the vehicle and can enhance the braking efficiency of the vehicle.

[0092] In the second implementation mode, when the braking assist mode is linear braking assist, and the side slip information of the vehicle indicates that the vehicle has a large degree of deviation, for example, the side slip information of the vehicle includes the side slip angle of the vehicle, when the side slip angle of the vehicle exceeds the second range, that is, the vehicle deflects to one side, the processing device considers that the vehicle has a large degree of deviation, that is, it is judged that the vehicle is not very stable during braking and there is a need for lateral stability. At this time, the steering of the left and right rear wheels can be controlled, and the deflection angle of the outer rear wheel in the deviation direction can be increased. The vehicle obtains a deflection angular velocity, which is offset by the side slip angle of the vehicle to maintain the stability of the vehicle. The longitudinal components of the deflection forces of the left and right rear wheels are superimposed to increase the braking deceleration of the vehicle, thereby enhancing the braking efficiency of the vehicle.

[0093] Specifically, the side slip information of the vehicle includes the side slip angle of the vehicle. When the braking assistance mode of the vehicle is linear braking assistance and the side slip angle of the vehicle exceeds the second range, the processing device determines the offset amplitude and slip degree of the vehicle according to the side slip information of the vehicle and the motion state information of the vehicle, and determines the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the offset amplitude and slip degree of the vehicle. Optionally, the larger the offset amplitude, the larger the deflection angle of the outer rear wheel in the offset direction. Optionally, the side slip information of the vehicle indicates the offset direction of the vehicle. When the braking assistance mode of the vehicle is linear braking assistance, if the offset degree of the vehicle is large, the processing device determines the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the side slip information of the vehicle and the motion state information of the vehicle. The vehicle offsets the offset in the offset direction to maintain the stability of the vehicle.

[0094] For example, see Figure 5 , Figure 5 is a schematic diagram of another linear braking assistance method provided in an embodiment of the present application, such as Figure 5As shown, if the vehicle is affected by environmental factors such as an unstable road surface and a large lateral wind speed during braking, resulting in a clockwise sideslip angle β0, the processing device controls the outer rear wheel in the offset direction (i.e., the left rear wheel) to deflect in the clockwise direction by β3, and controls the inner rear wheel in the offset direction (i.e., the right rear wheel) to deflect in the counterclockwise direction by β4. At this time, the left rear wheel deflection angle β3 is greater than the right rear wheel deflection angle β4. For example, Figure 5 F L2 F is the lateral force exerted on the left rear wheel by the road surface, R2 is the lateral force on the right rear wheel from the road surface, calculated according to the above formula L2 With F R2 :

[0095] F L2 =C f β3

[0096] F R2 =C f β4

[0097] At this time, the lateral resultant force of the two-wheel deflection force on the rear axle can be expressed by the following formula:

[0098] F R0 =F Ly2 -F Ry2 =C f (β3cosβ3-β4cosβ4)

[0099] Among them, F R0 is the lateral resultant force of the two-wheel deflection forces on the rear axle, F Ly2 is the lateral component of the lateral force of the left rear wheel, F Ry2 is the lateral component of the lateral force of the right rear wheel. At this time, let f(x) = xcos(x), then F R0 =C f (f(β3)-f(β4)), the values ​​of β3 and β4 are within the range of the rear wheel steering angle 0 to the maximum allowable steering angle. Figure 6 , Figure 6 is a schematic diagram of a function curve provided in an embodiment of the present application, such as Figure 6 As shown in Figure 2, as x increases, the value of function f(x) increases. Since the left rear wheel deflection angle β3 is greater than the right rear wheel deflection angle β4, it can be seen that F R0 is a positive number, F R0 The direction is the same as the lateral component of the lateral force of the left rear wheel, which is equivalent to the road surface applying a horizontal rightward deflection force perpendicular to the driving direction at the rear axle of the vehicle, which acts on the vehicle body as a counterclockwise angular velocity ω1.

[0100] Moreover, since the left rear wheel deflection angle β2 is greater than the right rear wheel deflection angle β4, the left rear wheel is subjected to the longitudinal component of the lateral force of the road surface (i.e., F Lx2 ) is also greater than the longitudinal component of the lateral force on the right rear wheel (i.e. F Rx2 ), it can be regarded as the road surface exerting a braking force on the vehicle body, which acts on the left half of the vehicle and is opposite to the direction of vehicle travel. The force acts on the vehicle body as a counterclockwise angular velocity ω2. The resultant angular velocity of ω1 and ω2 (i.e. ω) is counterclockwise, which is opposite to the direction of the vehicle's current sideslip angle β0. This can reduce β0 to a certain extent and restore the stability of the vehicle's braking process.

[0101] It can be seen that when the driver has no obvious steering intention and the vehicle is not stable during the braking process, the deflection angle of the outer rear wheel in the deviation direction can be appropriately increased to offset the vehicle's sideslip angle, thereby maintaining the stability of the vehicle and enhancing the vehicle's braking efficiency.

[0102] Specifically, the processing device obtains the vehicle speed U x , the slip rate of the left rear wheel s L2 , right rear wheel slip rate s R2 The processing device is based on the vehicle's side deviation information, U x 、s L2 and R2 , the offset amplitude and slip degree of the relevant vehicle are extracted through fuzzy calculation, and the target steering angle of the left rear wheel and the target steering angle of the right rear wheel are determined through fuzzy calculation according to the offset amplitude and slip degree of the vehicle. For example, the larger the offset amplitude, the larger the deflection angle of the outer rear wheel in the offset direction. Exemplarily, the vehicle generates a clockwise side slip angle. At this time, the clockwise deflection angle of the left rear wheel is increased to offset the side slip angle of the vehicle, thereby maintaining the stability of the vehicle and enhancing the braking performance of the vehicle. Another exemplary example is that the vehicle generates a counterclockwise side slip angle. At this time, the counterclockwise deflection angle of the right rear wheel is increased to offset the side slip angle of the vehicle, thereby maintaining the stability of the vehicle and enhancing the braking performance of the vehicle.

[0103] In implementation mode 3, when the braking assist mode is steering braking assist, that is, the steering wheel angle of the vehicle changes significantly and lasts for a certain period of time, it is determined that the driver is steering the vehicle during braking. The processing device needs to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel in combination with the driver's steering requirements during braking, which can increase the braking deceleration of the vehicle, enhance the braking efficiency of the vehicle, and control the vehicle to achieve the target steering angle, thereby improving the user experience.

[0104] Specifically, the side slip information of the vehicle includes the side slip angle of the vehicle. When the braking assistance mode of the vehicle is steering brake assistance, the processing device determines the target turning angle of the vehicle according to the steering wheel angle of the vehicle and the steering ratio of the vehicle, and determines the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the side slip angle of the vehicle, the motion state information of the vehicle and the target turning angle of the vehicle. Optionally, when the braking assistance mode of the vehicle is steering brake assistance, the processing device determines the turning angles of the left rear wheel and the right rear wheel again, and resets the turning angles of the left rear wheel and the right rear wheel to 0°. The steering ratio of the vehicle is related to information such as the model of the vehicle.

[0105] For example, if the target turning angle of the vehicle deviates slightly from the sideslip angle of the vehicle, the rear wheel can be turned in an "inward-facing" position for braking, that is, the left rear wheel turns clockwise and the right rear wheel turns counterclockwise. From the analysis process of the aforementioned second embodiment, it can be seen that the lateral and longitudinal components of the lateral force of the rear wheels will provide the vehicle with a deflection angular velocity, and the left rear wheel and the right rear wheel deflect in opposite directions. The deflection angle of one side can be appropriately increased so that the vehicle obtains a deflection angular velocity, thereby causing the vehicle's roll angle to deflect and achieve the vehicle's target turning angle.

[0106] For example, if the target turning angle of the vehicle deviates greatly from the sideslip angle of the vehicle, even at this time, the speed direction of the vehicle and the target turning angle direction are on both sides of the vehicle body axis. Figure 7 , Figure 7 is a schematic diagram of a steering brake assist method provided in an embodiment of the present application, such as Figure 7 As shown in the figure, X is the vehicle head direction, x is the vehicle speed direction, x' is the vehicle target turning angle calculated based on the steering wheel angle and steering ratio, and x and x' are on both sides of X. In other words, the vehicle's current head direction is X, and the vehicle's speed direction is x. After that, the vehicle will deviate to the x direction, and the driver wants to turn the vehicle to x'. Figure 7 As shown, the processing device adjusts the rear wheel posture so that the steering directions of the two wheels are consistent, the left rear wheel turns clockwise, the right rear wheel turns clockwise, and the deflection angle (β5) of the left rear wheel is greater than the deflection angle (β6) of the right rear wheel. The original lateral component force reduction state of the two rear wheels is changed to an amplification state, that is, the resultant force of the lateral component force of the two rear wheels (F R1 ) is the lateral component of the lateral force of the left rear wheel (i.e. F Ly3 ) and the lateral component of the lateral force of the left rear wheel (i.e. F Ry3 ) increases the vehicle's deflection angular velocity (i.e., ω3), and the left rear wheel is subjected to the lateral force of the road (i.e., F L3 ) in the longitudinal direction (i.e. F Lx3 ) is also greater than the lateral force on the right rear wheel from the road (i.e. F R3 ) in the longitudinal direction (i.e. F Rx3), it can be regarded as the road surface applying a braking force on the left half of the vehicle in the opposite direction of the vehicle's travel, which acts on the vehicle body as a counterclockwise angular velocity, and can also increase the vehicle's deflection angular velocity (i.e. ω3), so that the vehicle reaches the target turning angle.

[0107] It can be seen that when the driver has the intention to turn, the deflection angles of the left and right rear wheels can be appropriately adjusted to increase the vehicle's deflection angular velocity and make the vehicle reach the target turning angle, thereby enhancing the vehicle's braking efficiency and controlling the vehicle to achieve the target turning angle.

[0108] Specifically, when the vehicle's brake assist mode is steering brake assist, the processing device determines the target turning angle of the vehicle according to the vehicle's steering wheel angle and the vehicle's steering ratio, and determines the target turning angle of the vehicle according to the vehicle's sideslip angle, the target turning angle of the vehicle, and the vehicle speed U x , the slip rate of the left rear wheel s L2 , right rear wheel slip rate s R2 , the driving condition of the vehicle at this time is determined by fuzzy calculation, that is, whether a relatively large or relatively small deflection angular velocity is required to achieve the final target turning angle. Exemplarily, if a relatively large deflection angular velocity is required, the rear wheel posture needs to be adjusted so that the steering directions of the two wheels are consistent, that is, the left rear wheel and the right rear wheel are deflected clockwise at the same time or the left rear wheel and the right rear wheel are deflected counterclockwise at the same time, so as to obtain a larger deflection angular velocity. Exemplarily again, if a relatively small deflection angular velocity is required, the rear wheel posture needs to be adjusted so that the steering directions of the two wheels are opposite, that is, one of the left rear wheel and the right rear wheel is deflected clockwise and the other is deflected counterclockwise, so as to obtain a smaller deflection angular velocity.

[0109] Further, based on the above-mentioned requirement for a relatively large or relatively small deflection angular velocity, and according to the side slip angle of the vehicle, the target turning angle of the vehicle, and the vehicle speed U x , the slip rate of the left rear wheel s L2 , right rear wheel slip rate s R2 , the target steering angle of the left rear wheel and the target steering angle of the right rear wheel are further determined through fuzzy calculation.

[0110] It should be noted that the above-mentioned Embodiment 1, Embodiment 2 and Embodiment 3 are all applicable to the range of the rear wheel inner turning angle value from 0 to the maximum allowable turning angle value. Alternatively, the above-mentioned Embodiment 1, Embodiment 2 and Embodiment 3 are all applicable to the range of the rear wheel outer turning angle value from 0 to the maximum allowable turning angle value.

[0111] Optionally, in the above-mentioned embodiment, determining the braking assistance mode is an intermediate process in the solution of the present application. In actual use, the processing device can directly select the corresponding braking strategy according to the steering information of the vehicle, and determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the side deviation information of the vehicle and the motion state information of the vehicle. For example, the steering information of the vehicle includes the steering wheel angle of the vehicle. When the steering wheel angle of the vehicle meets certain conditions, the processing device determines the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the side deviation information of the vehicle and the motion state information of the vehicle.

[0112] As a possible implementation manner, before step S201, the processing device obtains a vehicle braking signal, and when the vehicle is in a braking condition, sets the steering angles of the left and right rear wheels of the vehicle to 0°, thereby ensuring stable control of the posture of the left and right rear wheels when controlling the steering of the left and right rear wheels in the subsequent step S202, thereby improving the accuracy of controlling the steering of the left and right rear wheels.

[0113] Step S202: The processing device controls the steering of the left rear wheel based on the target steering angle of the left rear wheel, and / or controls the steering of the right rear wheel based on the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle.

[0114] As a possible implementation manner, the processing device controls the steering of the left rear wheel based on the target steering angle of the left rear wheel, thereby changing the steering angle of the left rear wheel so that the left rear wheel achieves the target steering angle of the left rear wheel, and / or the processing device controls the steering of the right rear wheel based on the target steering angle of the right rear wheel, thereby changing the steering angle of the right rear wheel so that the right rear wheel achieves the target steering angle of the right rear wheel.

[0115] Optionally, one of the left rear wheel and the right rear wheel can be selected to be deflected. Exemplarily, when the vehicle turns left, the rear wheel opposite to the turning direction, that is, the right rear wheel, is selected to be deflected to increase the braking deceleration of the vehicle and enhance the braking performance of the vehicle. Preferably, the processing device controls both the left rear wheel and the right rear wheel of the vehicle to deflect, so that the left rear wheel achieves the target steering angle of the left rear wheel, and the right rear wheel achieves the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle and enhance the braking performance of the vehicle.

[0116] Optionally, during the process of the processing device controlling the vehicle to perform linear braking assistance, if it is detected that the driver has a steering intention, that is, the steering wheel angle exceeds a first range and the duration of the steering wheel angle exceeding the first range is greater than a first threshold, the processing device controls the linear braking assistance to pause or stop and redetermines the vehicle's braking assistance mode.

[0117] Optionally, if the sideslip angle of the vehicle does not achieve the target turning angle after one deflection, the aforementioned steps are repeated to continuously provide and modify the target steering angle of the left rear wheel and the target steering angle of the right rear wheel for the next deflection process, so that the left rear wheel and the right rear wheel of the vehicle deflect again, ultimately achieving the change of the vehicle trajectory and the realization of the target deflection angle during braking.

[0118] exist Figure 2 In the illustrated embodiment, the processing device can determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel based on the steering information of the vehicle and the motion state information of the vehicle, thereby improving the accuracy of the determined target steering angle. Moreover, since the side deviation state of the vehicle is taken into consideration, the vehicle can be more stable during braking, thereby improving the stability of the user driving the vehicle.

[0119] Furthermore, the processing device controls the steering of the left rear wheel based on the target steering angle of the left rear wheel, and controls the steering of the right rear wheel based on the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle. In this way, when the vehicle is in a braking condition, the steering angles of the left and right rear wheels of the vehicle are distributedly deflected, the balance state of the rear axle is changed, the braking deceleration of the vehicle is increased by the longitudinal component of the deflection force, and the stability of the vehicle is adjusted by the lateral component of the deflection force, thereby enhancing the braking efficiency of the vehicle and ensuring the stability of the vehicle during braking. In some cases, if the braking system of the vehicle fails, increasing the braking deceleration of the vehicle and braking in this way can improve the safety of the user driving the vehicle.

[0120] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0121] See also Figure 8 , Figure 8 80 is a schematic diagram of a processing device provided in an embodiment of the present application. The processing device 80 is included in a vehicle, the vehicle includes a left rear wheel and a right rear wheel, and the processing device 80 may include a processing unit 801 and a control unit 802. The processing device 80 is used to implement the aforementioned auxiliary braking control method, for example Figure 2 The auxiliary braking control method in the illustrated embodiment.

[0122] It should be noted that the division of the above multiple units is only a logical division based on functions, and does not limit the specific structure of the processing device 80. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0123] In one possible implementation, the processing unit 801 is used to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the steering information, the side deviation information and the motion state information of the vehicle when the vehicle is in a braking condition, the motion state information of the vehicle including the vehicle speed, the slip rate of the left rear wheel and the slip rate of the right rear wheel. The control unit 802 is used to control the steering of the left rear wheel based on the target steering angle of the left rear wheel, and / or control the steering of the right rear wheel based on the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle.

[0124] In a possible implementation, the processing unit 801 is also used to determine the braking assistance mode according to the steering information of the vehicle, and to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel at least based on the braking assistance mode, the side deviation information of the vehicle and the motion state information of the vehicle.

[0125] In one possible implementation, the vehicle's steering information includes a steering wheel angle. When the steering wheel angle falls within a first range, the braking assistance mode is linear braking assistance. When the steering wheel angle exceeds the first range and the duration for which the steering wheel angle exceeds the first range is less than a first threshold, the braking assistance mode is linear braking assistance. When the steering wheel angle exceeds the first range and the duration for which the steering wheel angle exceeds the first range is greater than the first threshold, the braking assistance mode is steering braking assistance.

[0126] In one possible implementation, the vehicle's side slip information includes the vehicle's side slip angle, and the processing unit 801 is further used to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the vehicle's motion state information when the vehicle's braking assist mode is linear braking assist and the vehicle's side slip angle falls within the second range, wherein the target steering angle of the left rear wheel and the target steering angle of the right rear wheel have the same deflection angle and opposite deflection directions.

[0127] In a possible implementation, the side slip information of the vehicle includes the side slip angle of the vehicle, and the processing unit 801 is further used to determine the offset amplitude and slip degree of the vehicle according to the side slip information of the vehicle and the motion state information of the vehicle when the braking assistance mode of the vehicle is linear braking assistance and the side slip angle of the vehicle exceeds the second range, and determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the offset amplitude and slip degree of the vehicle. Optionally, the larger the offset amplitude, the larger the deflection angle of the outer rear wheel in the offset direction.

[0128] In a possible implementation, the vehicle's sideslip information includes the vehicle's sideslip angle, and the processing unit 801 is further used to determine the vehicle's target turning angle based on the vehicle's steering wheel angle and the vehicle's steering ratio when the vehicle's braking assistance mode is steering braking assistance, and to determine the target steering angles of the left rear wheel and the right rear wheel based on the vehicle's sideslip angle, the vehicle's motion state information and the vehicle's target turning angle.

[0129] It should be noted that the above modules (processing unit 801 and control unit 802) are used to execute the relevant steps of the above method. For example, the processing unit 801 is used to execute the relevant content of step S201, and the control unit 802 is used to execute the relevant content of step S202.

[0130] Fig. 9 The figure shows a schematic diagram of the structure of another processing device provided in an embodiment of the present application. The processing device is a device with processing capabilities, where the device can be a physical device, such as a server (such as a rack server), a host, etc., or a virtual device, such as a virtual machine, a container, etc.

[0131] like Fig. 9 As shown, the processing device 90 includes: a processor 901 and a memory 902 and one or more programs, and may include a communication interface 903. It should be understood that the present application does not limit the number of processors and memories in the processing device 90.

[0132] The processor 901 is a module for performing calculations, and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of the above program.

[0133] The memory 902 is used to provide a storage space, and the storage space can optionally store application data, user data, operating system, computer programs, etc. The memory 902 may include a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, and may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0134] The memory 902 may exist independently and be connected to the processor 901 via a bus. The memory 902 may also be integrated with the processor 901 .

[0135] The communication interface 903 is used to provide information input or output for the at least one processor. And / or, the communication interface 903 can be used to receive data sent externally and / or send data to the outside. The communication interface 903 can be a wired link interface including an Ethernet cable, etc., or a wireless link (Wi-Fi, Bluetooth, general wireless transmission and other wireless communication technologies, etc.) interface. Optionally, the communication interface 903 can also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) coupled to the interface, or a receiver, etc.

[0136] In the embodiment of the present application, the one or more programs are stored in the memory 902 in the form of program codes and are configured to be executed by the processor 901. The programs include instructions for implementing the steps in the auxiliary braking control method. Figure 2 The auxiliary braking control method shown. That is, the memory 902 stores executable instructions, and the processor 901 executes the executable instructions to implement the aforementioned auxiliary braking control method, for example Figure 2 That is, the memory 902 stores instructions for executing the auxiliary braking control method.

[0137] Alternatively, executable instructions are stored in the memory 902, and the processor 901 executes the executable instructions to respectively implement the functions of one or more units (or devices) in the aforementioned processing unit and control unit, thereby realizing the auxiliary braking control method.

[0138] The embodiment of the present application further provides a vehicle, the vehicle comprising a left rear wheel, a right rear wheel and the aforementioned processing device 80 or the aforementioned processing device 90, the vehicle is used to implement the aforementioned auxiliary braking control method, for example Figure 2 The auxiliary braking control method in the embodiment of the present invention.

[0139] The present application also provides a computer program product including instructions. The computer program product may be a software or program product including instructions that can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the aforementioned auxiliary braking control method, for example Figure 2 The auxiliary braking control method in the embodiment of the present invention.

[0140] The present application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the auxiliary braking control method, such as Figure 2 The auxiliary braking control method in the embodiment of the present invention.

[0141] The computer-readable storage medium may be any available medium that can be stored by the processing device, or a data storage device such as a data center that contains one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0142] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0143] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0144] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first range and the second range are only for the convenience of description, and do not indicate the difference in the deployment order, importance, etc. of the first range and the second range.

[0145] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An auxiliary braking control method, characterized in that: The method is applied to a vehicle, the vehicle comprising a left rear wheel and a right rear wheel, and the method comprises: When the vehicle is in a braking condition, determining a target steering angle of the left rear wheel and a target steering angle of the right rear wheel according to steering information of the vehicle, side slip information of the vehicle and motion state information of the vehicle, wherein the motion state information of the vehicle includes a vehicle speed of the vehicle, a slip rate of the left rear wheel and a slip rate of the right rear wheel; The left rear wheel is steered based on the target steering angle of the left rear wheel, and / or the right rear wheel is steered based on the target steering angle of the right rear wheel, so that the braking deceleration of the vehicle is increased.

2. The method according to claim 1, characterized in that The step of determining the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the steering information of the vehicle, the side deviation information of the vehicle and the motion state information of the vehicle comprises: determining a braking assistance mode according to the steering information of the vehicle; A target steering angle of the left rear wheel and a target steering angle of the right rear wheel are determined based at least on a braking assist mode, side slip information of the vehicle and motion state information of the vehicle.

3. The method according to claim 2, characterized in that The vehicle steering information includes a steering wheel angle, When the steering wheel turns into the first range, the braking assistance mode is linear braking assistance; When the steering wheel angle exceeds the first range and the duration of the steering wheel angle exceeding the first range is less than a first threshold, the braking assistance mode is linear braking assistance; When the steering wheel angle exceeds a first range and the duration for which the steering wheel angle exceeds the first range is greater than a first threshold, the brake assist mode is steering brake assist.

4. The method according to claim 2 or 3, characterized in that: The side slip information of the vehicle includes a side slip angle of the vehicle, and determining a target steering angle of the left rear wheel and a target steering angle of the right rear wheel based at least on a braking assist mode, the side slip information of the vehicle, and the motion state information of the vehicle includes: When the braking assist mode of the vehicle is linear braking assist and the sideslip angle of the vehicle falls into the second range, the target steering angle of the left rear wheel and the target steering angle of the right rear wheel are determined according to the motion state information of the vehicle, and the target steering angle of the left rear wheel and the target steering angle of the right rear wheel have the same deflection angle and opposite deflection directions.

5. The method according to claim 2 or 3, characterized in that: The side slip information of the vehicle includes a side slip angle of the vehicle, and determining a target steering angle of the left rear wheel and a target steering angle of the right rear wheel based at least on a braking assist mode, the side slip information of the vehicle, and the motion state information of the vehicle includes: When the braking assistance mode of the vehicle is linear braking assistance and the sideslip angle of the vehicle exceeds a second range, determining the offset amplitude and slip degree of the vehicle according to the sideslip information of the vehicle and the motion state information of the vehicle; A target steering angle of the left rear wheel and a target steering angle of the right rear wheel are determined according to the offset amplitude and the slip degree of the vehicle.

6. The method according to claim 2 or 3, characterized in that: The side slip information of the vehicle includes a side slip angle of the vehicle, and determining a target steering angle of the left rear wheel and a target steering angle of the right rear wheel based at least on a braking assist mode, the side slip information of the vehicle, and the motion state information of the vehicle includes: When the braking assistance mode of the vehicle is steering braking assistance, determining a target turning angle of the vehicle according to a steering wheel angle of the vehicle and a steering ratio of the vehicle; The target steering angle of the left rear wheel and the target steering angle of the right rear wheel are determined according to the sideslip angle of the vehicle, the motion state information of the vehicle and the target turning angle of the vehicle.

7. A processing device, characterized in that: The processing device is included in a vehicle, the vehicle includes a left rear wheel and a right rear wheel, and the processing device includes a processing unit and a control unit. The processing unit is used to determine the target steering angle of the left rear wheel and the target steering angle of the right rear wheel according to the steering information of the vehicle, the side deviation information of the vehicle and the motion state information of the vehicle when the vehicle is in a braking condition, wherein the motion state information of the vehicle includes the vehicle speed, the slip rate of the left rear wheel and the slip rate of the right rear wheel; The control unit is used for controlling the steering of the left rear wheel based on the target steering angle of the left rear wheel, and / or controlling the steering of the right rear wheel based on the target steering angle of the right rear wheel, so as to increase the braking deceleration of the vehicle.

8. A processing device, characterized in that: The processing device includes a processor and a memory, wherein a program is stored in the memory, and the processor executes the program so that the processing device implements the method according to any one of claims 1 to 6.

9. A vehicle, characterized in that: The vehicle comprises a left rear wheel, a right rear wheel and a processing device as claimed in claim 7 or claim 8, and the vehicle is used to implement the method as claimed in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 6.

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