Brake control system and vehicle

Abstract

The invention provides a brake control system, which comprises a control mode change-over switch, an operating lever and an electronic brake control system, and is characterized in that the control mode change-over switch is used for receiving a first control instruction of a user and switching an initial control mode to a target control mode based on the first control instruction; the joystick is used for receiving a second control instruction of the user and is adjusted to a target operation position from an initial operation position according to the second control instruction; and the electronic control system is used for acquiring the target control mode sent by the mode switching switch, acquiring position information of the target operation position under the condition that the target control mode is determined to be an operating lever control mode, and determining target braking force of each wheel according to the position information, so that the target braking force of each wheel is obtained. A driver can flexibly adjust the braking force of each wheel according to the braking intention, so that the vehicle can achieve the braking performance expected by the driver.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular to a braking control system and a vehicle. Background Art

[0002] The automobile braking system refers to a series of specialized devices that apply a certain force to certain parts of the car (mainly the wheels) to force braking to a certain extent. The existing braking system is mainly divided into service braking and parking braking. Service braking mainly relies on the driver stepping on the brake pedal to push the brake master cylinder to apply the same braking pressure to the four wheels. At the same time, the service braking system is generally equipped with Electronic Stability Control (ESC), which is an active safety technology that assists the driver in controlling the vehicle. It can realize the function of wheel anti-lock during braking and the function of keeping the vehicle's driving trajectory stable during driving. It can automatically correct the instability of the vehicle body and help prevent accidents. ESC uses wheel speed sensing and acceleration to determine the driver's intention of driving direction. When the vehicle begins to deviate from the road, the system initiates intervention measures to apply braking force to one or more wheels, reduce the intervention of the engine valve, and guide the vehicle back to the correct route.

[0003] In related technologies, the braking force of the four wheels will only be adjusted when the wheels are locked or slipping, and the vehicle's yaw angular velocity deviates significantly from the driver's expectations. The driver cannot adjust the entire process, and the intensity of control has been calibrated during the vehicle development process and cannot be adjusted by the driver. Summary of the invention

[0004] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, the purpose of the present disclosure is to propose a braking control system so that the driver can flexibly adjust the braking force of each wheel according to the braking intention, so that the vehicle can achieve the braking performance expected by the driver. It can not only control the braking force of the wheel on one side to reduce the turning radius, realize turning on narrow roads and parking in small spaces, but also apply driving force to the slipping wheel alone when the driving wheel on one side slips, thereby transmitting torque to the non-slipping side wheel, thereby improving the vehicle's ability to escape from difficulties.

[0006] To achieve the above-mentioned purpose, a braking control system is provided in a first aspect of the present disclosure, and the braking control system includes: a control mode switching switch, a joystick, and an electronic braking control system, wherein:

[0007] A control mode switching switch, configured to receive a first control instruction from a user and switch an initial control mode to a target control mode based on the first control instruction;

[0008] The joystick is used to receive a second control instruction from the user and adjust from an initial operating position to a target operating position according to the second control instruction;

[0009] The electronic control system is used to obtain the target control mode sent by the mode switching switch, and when it is determined that the target control mode is the joystick control mode, obtain the position information of the target operating position, and determine the target braking force of each wheel based on the position information.

[0010] Optionally, in some embodiments, the electronic control system is further used for:

[0011] Obtaining an initial braking force of the vehicle, wherein the initial braking force is determined according to the pressure applied to a brake pedal of the vehicle;

[0012] Wherein, determining the target braking force of each wheel according to the position information includes:

[0013] Based on the initial braking force and position information, the target braking force for each wheel is determined.

[0014] Optionally, in some embodiments, determining the target braking force of each wheel according to the initial braking force and the position information includes:

[0015] Determine, according to the position information, a projection distance of the joystick on the horizontal operating surface when the joystick is projected in a target projection direction, wherein the target projection direction is perpendicular to the horizontal operating surface and downward;

[0016] Determine the tilt direction information of the joystick according to the position information;

[0017] The target braking force of each wheel is determined according to at least one of the tilt direction information and the projection distance, and the initial braking force.

[0018] Optionally, in some embodiments, determining the target braking force of each wheel according to at least one of the tilt direction information and the projection distance, and the initial braking force, includes:

[0019] When the tilt direction information indicates that the joystick is not tilted, the target braking force of each wheel is determined to be N / 4, where N is the initial braking force;

[0020] When the tilt direction information indicates that the tilt direction of the joystick coincides with a first connection line between any wheel and the tail of the joystick, determining a target braking force for each wheel according to the projection distance, the maximum projection distance of the joystick and the initial braking force;

[0021] When the tilt direction information indicates that the tilt direction of the joystick coincides with the second connection line between two wheels on either side, the target braking force of each wheel is determined according to the projection distance, the maximum projection distance of the joystick and the initial braking force.

[0022] Optionally, in some embodiments, when the tilt direction information indicates that the tilt direction of the joystick coincides with a first connection line between any wheel and the tail of the joystick, determining the target braking force of each wheel according to the projection distance, the maximum projection distance of the joystick and the initial braking force includes:

[0023] determining a first ratio between the projection distance and the maximum projection distance;

[0024] Determine the target braking force of the wheel corresponding to the first connecting line as N*q, where q is the first ratio;

[0025] Determine the target braking force for each of the three wheels except the wheel corresponding to the first connecting line as

[0026] Optionally, in some embodiments, when the tilt direction information indicates that the tilt direction of the joystick coincides with the second connection line between two wheels on either side, determining the target braking force of each wheel according to the projection distance, the maximum projection distance of the joystick and the initial braking force includes:

[0027] determining a second ratio between the projection distance and the maximum projection distance;

[0028] When the second ratio is 1, the target braking force of each wheel of the two wheels corresponding to the second connecting line is determined as The target braking force of each of the two wheels other than the two wheels corresponding to the second connecting line is 0;

[0029] When the second ratio is not 1, the target braking force of each wheel of the two wheels corresponding to the second connecting line is determined as The target braking force of each wheel of the two wheels other than the two wheels corresponding to the second connecting line is Wherein, p is the second ratio.

[0030] Optionally, in some embodiments, the electronic control system is further used to:

[0031] In the case where it is determined that the target control mode is not the joystick control mode, the target braking force of each wheel is determined to be N / 4, where N is the initial braking force.

[0032] In order to achieve the above-mentioned purpose, a vehicle is proposed in a second aspect embodiment of the present disclosure, and the vehicle includes: a vehicle braking control system as described in the first aspect embodiment above.

[0033] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0035] Figure 1 Schematic diagram of a braking control system according to an embodiment of the present disclosure.

[0036] Figure 2A is a schematic diagram of the position of a joystick according to an embodiment of the present disclosure;

[0037] Figure 2B is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure;

[0038] Figure 2C is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure;

[0039] Figure 2D is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure;

[0040] Figure 2E is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure;

[0041] Figure 2F is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure;

[0042] Figure 3 is a schematic diagram of a braking control process proposed in an embodiment of the present disclosure;

[0043] Figure 4 It is a schematic diagram of the structure of a vehicle proposed in one embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and should not be construed as limitations on the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0045] Figure 1 It is a structural schematic diagram of a braking control system proposed in an embodiment of the present disclosure.

[0046] like Figure 1As shown, the brake control system 10 includes: a control mode switching switch 101, a joystick 102 and an electronic brake control system 103, wherein:

[0047] The control mode switching switch 101 is used to receive a first control instruction from a user and switch an initial control mode to a target control mode based on the first control instruction.

[0048] The first control instruction refers to a control instruction issued by a user for switching a control mode.

[0049] The control mode refers to a mode of braking control of the vehicle, and the control mode may include: an electronic stability control mode and a joystick control mode, etc., and there is no limitation on this.

[0050] The initial control mode is the control mode of the brake control system before receiving the first control instruction.

[0051] The target control mode refers to the control mode switched by the control mode switching switch according to the first control instruction after receiving the first control instruction from the user. The initial control mode and the target control mode may be the same or different, and there is no limitation on this.

[0052] That is to say, in the embodiment of the present disclosure, the driver can switch the initial control mode to the target control mode through the control mode switching switch.

[0053] The joystick 102 is used to receive a second control instruction from the user and adjust from an initial operating position to a target operating position according to the second control instruction.

[0054] The rod body of the joystick can be tilted in any wheel direction according to the second control instruction, and the initial operating position of the joystick is usually perpendicular to the operating surface.

[0055] The second control instruction refers to a control instruction issued by the user for adjusting the rod body of the joystick.

[0056] After the rod body of the joystick is adjusted based on the second control instruction, the rod body may tilt, and the position of the rod body at this time is the target operation position.

[0057] That is to say, in the embodiment of the present disclosure, after the driver switches to the joystick control mode via the control mode switching switch, when the driver steps on the brake, the joystick will be adjusted from the initial position to the target position according to the driver's second control instruction.

[0058] The electronic control system is used to obtain the target control mode sent by the mode switching switch, and when it is determined that the target control mode is the joystick control mode, obtain the position information of the target operating position, and determine the target braking force of each wheel based on the position information.

[0059] The position information may be used to describe the target position of the joystick. The position information may be, for example, the horizontal distance between the head of the joystick and the tail of the joystick, the tilt direction of the joystick, etc., without limitation.

[0060] Among them, during the braking process of the vehicle, the braking force allocated to each wheel is the target braking force.

[0061] Optionally, in some embodiments, the electronic control system 103 is further used to: obtain an initial braking force of the vehicle, wherein the initial braking force is determined based on the pressure applied to a brake pedal of the vehicle.

[0062] Among them, the pressure on the vehicle's brake pedal is proportional to the size of the initial braking force, that is, when the user steps on the vehicle's brake pedal, the electronic control system can obtain the pressure on the vehicle's brake pedal and determine the vehicle's initial braking force based on the proportional relationship between the pressure on the brake pedal and the initial braking force.

[0063] That is to say, in the embodiment of the present disclosure, the electronic control system may receive the target control mode sent by the control mode switching switch, and when determining the target control mode, obtain the position information of the target operation position, and determine the target braking force of each wheel based on the position information. Thus, the user can flexibly allocate the braking force of each wheel in accordance with his or her driving intentions.

[0064] Optionally, in some embodiments, the target braking force of each wheel is determined based on the position information, and the target braking force of each wheel can be determined based on the initial braking force and the position information.

[0065] That is to say, in the embodiment of the present disclosure, the initial braking force can be flexibly distributed to each wheel according to the position information of the joystick.

[0066] Optionally, in some embodiments, the target braking force of each wheel is determined based on the initial braking force and position information. The projection distance of the joystick on the horizontal operating plane when the joystick is projected in the target projection direction is determined based on the position information, wherein the target projection direction is perpendicular to the horizontal operating plane and downward. The inclination direction information of the joystick is determined based on the position information, and the target braking force of each wheel is determined based on at least one of the inclination direction information and the projection distance, and the initial braking force.

[0067] The target projection direction is perpendicular to the horizontal operating plane and downward, that is, the target projection direction is perpendicular to the horizontal operating plane and downward pointing to the ground.

[0068] The tilt direction information may be used to describe the tilt of the joystick body. The tilt direction information may be, for example, the tilt direction, tilt position, tilt angle, etc. of the joystick, and there is no limitation to this.

[0069] That is to say, in the embodiment of the present disclosure, the projection distance and tilt direction of the joystick on the horizontal operating plane may be determined, and the initial braking force may be flexibly allocated to each wheel based on at least one of the tilt direction information and the projection distance.

[0070] Optionally, in some embodiments, the target braking force of each wheel is determined based on at least one of the tilt direction information and the projection distance, and the initial braking force. When the tilt direction information indicates that the joystick is not tilted, the target braking force of each wheel is determined to be N / 4, where N is the initial braking force. When the tilt direction information indicates that the tilt direction of the joystick coincides with a first connecting line between any wheel and the tail of the joystick, the target braking force of each wheel is determined based on the projection distance, the maximum projection distance of the joystick and the initial braking force. When the tilt direction information indicates that the tilt direction of the joystick coincides with a second connecting line between two wheels on either side, the target braking force of each wheel is determined based on the projection distance, the maximum projection distance of the joystick and the initial braking force.

[0071] For example, see Figure 2A ,exist Figure 2A In the diagram, FL stands for the left front wheel, FR stands for the right front wheel, RL stands for the left rear wheel, and RR stands for the right rear wheel. Figure 2A is a schematic diagram of the joystick position according to an embodiment of the present disclosure, Figure 2A It can be seen that when the joystick is not tilted, the target braking force of each wheel can be determined to be N / 4.

[0072] Optionally, in some embodiments, when the tilt direction information indicates that the tilt direction of the joystick coincides with a first connection line between any wheel and the tail of the joystick, the target braking force of each wheel is determined according to the projection distance, the maximum projection distance of the joystick and the initial braking force. The target braking force of the wheel corresponding to the first connection line may be determined as N*q, where q is the first ratio, and the target braking force of each of the three wheels other than the wheel corresponding to the first connection line is determined as

[0073] For example, see Figure 2B , Figure 2Bis a schematic diagram of the position of a joystick according to another embodiment of the present disclosure, Figure 2B It can be seen that when the tilt direction of the joystick coincides with the first connecting line between the left front wheel and the tail of the joystick, it can be determined that the first ratio between the projection distance and the maximum projection distance is 1, thereby determining the target braking force position N of the left front wheel on the first connecting line, thereby determining that the target braking forces of the other three wheels except the left front wheel are all 0, and in this state the vehicle will generate a yaw moment around the left front wheel, improving the vehicle's ability to turn left. Taking front-wheel drive as an example, when the left front wheel slips, this state can transmit the driving torque to the right front wheel.

[0074] For example, see Figure 2C , Figure 2C is a schematic diagram of the position of the joystick according to another embodiment of the present disclosure, Figure 2C It can be seen that when the tilt direction of the joystick coincides with the first connecting line between the left front wheel and the tail of the joystick, it can be determined that the first ratio between the projection distance and the maximum projection distance is approximately 2 / 5, thereby determining that the target braking force of the left front wheel on the first connecting line is 2N / 5, thereby determining that the target braking forces of the other three wheels except the left front wheel are all N / 5, and in this state the vehicle will generate a yaw moment around the left front wheel, improving the vehicle's ability to turn left, or preventing excessive yaw to the right when turning right, while ensuring a certain braking strength.

[0075] Optionally, in some embodiments, when the tilt direction information indicates that the tilt direction of the joystick coincides with a second connecting line between two wheels on either side, the target braking force of each wheel is determined according to the projection distance, the maximum projection distance of the joystick and the initial braking force. The second ratio between the projection distance and the maximum projection distance may be determined. When the second ratio is 1, the target braking force of each of the two wheels corresponding to the second connecting line is determined to be The target braking force of each of the two wheels other than the two wheels corresponding to the second connecting line is 0. When the second ratio is not 1, the target braking force of each of the two wheels corresponding to the second connecting line is determined to be The target braking force of each wheel of the two wheels other than the two wheels corresponding to the second connecting line is Wherein, p is the second ratio.

[0076] For example, see Figure 2D , Figure 2D is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure, Figure 2DIt can be seen that when the tilt direction of the joystick coincides with the second connecting line between the left rear wheel and the right rear wheel, it can be determined that the second ratio between the projection distance and the maximum projection distance is 1. Therefore, it can be further determined that the target braking forces of the left rear wheel and the right rear wheel corresponding to the second connecting line are both N / 2, and the target braking forces of the left front wheel and the right front wheel are both 0. In this state, when the rear axle applies braking force, the rear wheels can be locked and slipped, which is convenient for drifting and vehicle posture control in drift mode.

[0077] For example, see Figure 2E , Figure 2E is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure, Figure 2E It can be seen that when the tilt direction of the joystick coincides with the second connecting line between the left front wheel and the left rear wheel, it can be determined that the second ratio between the projection distance and the maximum projection distance is 1. Therefore, it can be further determined that the target braking forces of the left front wheel and the left rear wheel corresponding to the second connecting line are both N / 2, and the target braking forces of the right front wheel and the right rear wheel are both 0. In this state, the vehicle driving force will be distributed to the right side, and a yaw moment will be generated counterclockwise around the left wheel, which can greatly reduce the turning radius.

[0078] For example, see Figure 2F , Figure 2F is a schematic diagram of the position of a joystick according to another embodiment of the present disclosure, Figure 2F It can be seen that when the tilt direction of the joystick coincides with the second connecting line between the left front wheel and the left rear wheel, it can be determined that the second ratio between the projection distance and the maximum projection distance is approximately 1 / 2. Therefore, it can be further determined that the target braking forces of the left front wheel and the left rear wheel corresponding to the second connecting line are both N / 3, and the target braking forces of the right front wheel and the right rear wheel are both N / 6. In this state, the joystick is located at a position close to half of the front wheels, 100% of the braking force is allocated to the front wheels, and 50% of the braking force is allocated to the rear wheels, which can exert the maximum braking force of the entire vehicle.

[0079] In the disclosed embodiment, the electronic control system is further used to, when it is determined that the target control mode is not the joystick control mode, determine the target braking force of each wheel to be N / 4, where N is the initial braking force.

[0080] That is to say, in the embodiment of the present disclosure, when it is determined that the target control mode is the electronic stability control mode, the target braking force of each wheel can be determined to be N / 4, where N is the initial braking force.

[0081] In the disclosed embodiment, the braking control system includes: a control mode switching switch, a joystick and an electronic braking control system, wherein the control mode switching switch is used to receive a first control instruction from a user and switch an initial control mode to a target control mode based on the first control instruction; the joystick is used to receive a second control instruction from the user and adjust from an initial operating position to a target operating position according to the second control instruction; the electronic control system is used to obtain the target control mode sent by the mode switching switch, and when it is determined that the target control mode is a joystick control mode, obtain position information of the target operating position, and determine the target braking force of each wheel according to the position information, thereby allowing the driver to flexibly adjust the braking force of each wheel according to the braking intention, so that the vehicle can achieve the braking performance expected by the driver.

[0082] In the embodiments of the present disclosure, see Figure 3 , Figure 3 This is a flow chart of the braking control proposed in one embodiment of the present disclosure, that is, when the braking control system receives the first control instruction, the control mode is switched to the joystick control mode, at which time the traction control system (TCS) and the vehicle dynamic control (AYC) functions are turned off. In the joystick control mode, the electronic control system obtains the position information of the joystick, and then distributes the initial braking force generated by the driver's brake pedal to the four wheels, and calculates the target braking force of the four wheels respectively, thereby controlling the vehicle's braking.

[0083] In the disclosed embodiment, when the braking control system is used in the braking control process of the vehicle, the driver can actively control the braking force of a single wheel or several wheels to enable the vehicle to have higher dynamic performance. It can be applied to sports vehicles and racing cars to improve the vehicle's sports performance. It can also reduce the turning radius by controlling the braking force of the wheels on one side, thereby achieving turning on narrow roads and parking in small spaces. When the driving wheel on one side slips, the driver can apply driving force to the slipping wheel alone, thereby transmitting torque to the non-slipping wheel, thereby improving the vehicle's ability to escape from difficulties.

[0084] Figure 4 It is a schematic diagram of the structure of a vehicle proposed in one embodiment of the present disclosure.

[0085] like Figure 4 As shown, the vehicle 40 includes a brake control system 10 .

[0086] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0087] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0088] It should be noted that, in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0089] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0090] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0091] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0092] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0093] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0095] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A braking control system, characterized in that: The system comprises: a control mode switching switch, a joystick and an electronic brake control system, wherein: The control mode switching switch is used to receive a first control instruction from a user and switch an initial control mode to a target control mode based on the first control instruction; The joystick is used to receive a second control instruction from the user and adjust from an initial operating position to a target operating position according to the second control instruction; The electronic control system is used to obtain the target control mode sent by the mode switching switch, and when it is determined that the target control mode is the joystick control mode, obtain the position information of the target operating position, and determine the target braking force of each wheel based on the position information.

2. The system according to claim 1, characterized in that The electronic control system is also used for: Acquiring an initial braking force of a vehicle, wherein the initial braking force is determined according to the pressure applied to a brake pedal of the vehicle; Wherein, determining the target braking force for each wheel according to the position information includes: The target braking force of each of the wheels is determined according to the initial braking force and the position information.

3. The system of claim 2, wherein determining the target braking force of each wheel according to the initial braking force and the position information comprises: Determine, according to the position information, a projection distance of the joystick on a horizontal operating plane when the joystick is projected in a target projection direction, wherein the target projection direction is perpendicular to the horizontal operating plane and downward; Determining the tilt direction information of the joystick according to the position information; The target braking force of each wheel is determined according to at least one of the tilt direction information and the projection distance, and the initial braking force.

4. The system according to claim 1, characterized in that Determining the target braking force of each wheel according to at least one of the tilt direction information and the projection distance, and the initial braking force, comprises: When the tilt direction information indicates that the joystick is not tilted, determining the target braking force for each wheel to be N / 4, wherein N is the initial braking force; When the tilt direction information indicates that the tilt direction of the joystick coincides with a first connection line between any wheel and the tail of the joystick, determining the target braking force of each wheel according to the projection distance, the maximum projection distance of the joystick and the initial braking force; When the tilt direction information indicates that the tilt direction of the joystick coincides with a second connecting line between two wheels on either side, the target braking force of each wheel is determined according to the projection distance, the maximum projection distance of the joystick and the initial braking force.

5. The method according to claim 4, characterized in that The step of determining the target braking force of each wheel according to the projection distance, the maximum projection distance of the joystick, and the initial braking force when the tilt direction information indicates that the tilt direction of the joystick coincides with a first connection line between any wheel and the tail of the joystick comprises: determining a first ratio between the projection distance and the maximum projection distance; Determine the target braking force of the wheel corresponding to the first connecting line as N*q, where q is the first ratio; Determine the target braking force of each of the three wheels except the wheel corresponding to the first connecting line as 6. The method according to claim 4, characterized in that The step of determining the target braking force of each wheel according to the projection distance, the maximum projection distance of the joystick and the initial braking force when the tilt direction information indicates that the tilt direction of the joystick coincides with a second connection line between two wheels on either side includes: Determine a second ratio between the projection distance and the maximum projection distance; When the second ratio is 1, the target braking force of each wheel of the two wheels corresponding to the second connecting line is determined to be The target braking force of each of the two wheels other than the two wheels corresponding to the second connecting line is 0; When the second ratio is not 1, the target braking force of each wheel of the two wheels corresponding to the second connecting line is determined to be The target braking force of each wheel of the two wheels other than the two wheels corresponding to the second connecting line is Wherein, the p is the second ratio.

7. The system according to claim 2, characterized in that The electronic control system is also used for: When it is determined that the target control mode is not the joystick control mode, the target braking force for each wheel is determined to be N / 4, where N is the initial braking force.

8. A vehicle, characterized in that: include: A vehicle braking control system as claimed in any one of claims 1 to 7.

Images