Vehicle braking method, braking controller, storage medium and vehicle

Abstract

The invention relates to a vehicle braking method, a braking controller, a storage medium and a vehicle, and relates to the technical field of vehicle control, the method comprises the steps that braking data of the vehicle are obtained, the braking data comprise braking strength data and braking torque parameters, the braking strength data comprise actual deceleration and target deceleration, and the braking torque parameters comprise running resistance; the method comprises the following steps: acquiring braking strength data of a vehicle, determining pre-control dynamic torque according to running resistance and target deceleration, acquiring target braking torque according to actual deceleration, the target deceleration and the pre-control dynamic torque under the condition that the braking strength data meets a torque correction condition, and finally performing braking control on the vehicle according to the target braking torque. According to the method, the pre-control kinetic torque can be corrected under the condition that the braking strength is large, so that the braking effect is improved.

Description

Technical Field

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

[0002] In the related art, the braking torque is obtained by the brake pedal depth. The friction coefficient of the friction disc changes due to continuous operation, and the total mass of the vehicle will also change significantly depending on the passenger or cargo load. The braking performance of the vehicle will change accordingly. Obtaining the braking torque only through the brake pedal depth will result in poor braking effect. Summary of the invention

[0003] The purpose of the present disclosure is to provide a vehicle braking method, a braking controller, a storage medium and a vehicle. When the braking intensity data meets the torque correction condition, the pre-control torque is corrected by the actual deceleration and the target deceleration to obtain the target braking torque, thereby improving the braking effect.

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

[0005] Acquiring braking data of the vehicle, the braking data including braking intensity data and braking torque parameters, the braking intensity data including actual deceleration and target deceleration, and the braking torque parameters including running resistance;

[0006] determining a pre-control torque according to the driving resistance and the target deceleration;

[0007] When the braking intensity data satisfies the torque correction condition, a target braking torque is obtained according to the actual deceleration, the target deceleration and the pre-control torque;

[0008] The vehicle is braked and controlled according to the target braking torque.

[0009] Optionally, when the braking intensity data satisfies a torque correction condition, obtaining a target braking torque according to the actual deceleration, the target deceleration and the pre-control torque includes:

[0010] When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration;

[0011] The target braking torque is obtained according to the correction torque and the pre-control torque.

[0012] Optionally, the braking intensity data also includes actual braking torque;

[0013] When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration includes:

[0014] When the actual deceleration is greater than the first preset deceleration threshold and / or the actual braking torque is greater than the first preset braking torque threshold, a correction torque is determined according to the actual deceleration and the target deceleration.

[0015] Optionally, the braking intensity data further includes a historical braking torque, where the historical braking torque is a target braking torque obtained in a previous braking stage;

[0016] When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration includes:

[0017] When the target deceleration is greater than a second preset deceleration threshold and / or the historical braking torque is greater than a second preset braking torque threshold, a correction torque is determined according to the actual deceleration and the target deceleration.

[0018] Optionally, the braking intensity data further includes actual braking torque, historical braking torque and vehicle speed, wherein the historical braking torque is a target braking torque obtained in the previous braking stage;

[0019] When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration includes:

[0020] When the actual deceleration is greater than the first preset deceleration threshold, and / or the actual braking torque is greater than the first preset braking torque threshold, and / or the target deceleration is greater than the second preset deceleration threshold, and / or the historical braking torque is greater than the second preset braking torque threshold, and / or the vehicle speed is greater than the preset vehicle speed threshold, a correction torque is determined based on the actual deceleration and the target deceleration.

[0021] Optionally, before obtaining the braking data of the vehicle, the method further includes:

[0022] Acquiring driving parameters of the vehicle, wherein the driving parameters include brake pedal depth, vehicle gross mass, driving slope, and inherent parameters of the vehicle;

[0023] determining the target deceleration according to the brake pedal depth;

[0024] The driving resistance is determined based on the total mass of the vehicle, the driving slope, the vehicle speed and inherent parameters of the vehicle.

[0025] Optionally, determining the target deceleration according to the brake pedal depth includes:

[0026] Determine a target brake pedal depth interval in which the brake pedal depth in the driving parameter is located;

[0027] The target deceleration corresponding to the target brake pedal depth interval is determined according to the target brake pedal depth interval and a preset corresponding relationship, wherein the corresponding relationship is a corresponding relationship between a plurality of preset brake pedal depth intervals and a plurality of preset decelerations.

[0028] Optionally, the performing braking control on the vehicle according to the target braking torque includes:

[0029] Determine a plurality of control torques corresponding to a plurality of control moments according to a preset torque change rate, an actual braking torque and a target braking torque, wherein the torque change rate between the plurality of control torques is less than or equal to the preset torque change rate, and each of the control torques is within a preset control torque interval;

[0030] At each control moment, the vehicle is braked according to the control torque corresponding to the control moment.

[0031] According to a second aspect of an embodiment of the present disclosure, there is provided a brake controller, comprising:

[0032] a memory having a computer program stored thereon;

[0033] A processor is used to execute the computer program in the memory to implement the steps of the vehicle braking method provided in the first aspect of the present disclosure.

[0034] According to a third aspect of an embodiment of the present disclosure, a non-temporary computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the vehicle braking method provided in the first aspect of the present disclosure are implemented.

[0035] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising the brake controller provided by the second aspect of the present disclosure.

[0036] Through the above technical scheme, the pre-control torque is obtained according to the driving resistance and the target deceleration, and then the braking intensity is judged according to the braking intensity data. If the braking intensity data meets the torque correction condition, it is determined that the braking intensity is large, and it is difficult to achieve the braking target only by the pre-control torque. Then, according to the actual deceleration and the target deceleration, the pre-control torque is corrected to obtain the target braking torque, and feedback braking is realized to improve the braking effect.

[0037] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0039] Figure 1 The figure is a flow chart of a vehicle braking method according to an exemplary embodiment.

[0040] Figure 2 The figure is a flow chart showing a method for determining target deceleration and driving resistance according to an exemplary embodiment.

[0041] Figure 3 The invention is a flowchart showing a method for determining a target deceleration according to an exemplary embodiment.

[0042] Figure 4 The flowchart of another vehicle braking method is shown according to an exemplary embodiment.

[0043] Figure 5 is a block diagram of a brake controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0044] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0045] In the related art, the braking control method is to calculate the brake pedal depth and convert it into a braking torque, and then the brake actuator generates a corresponding friction force, which generates friction with the ground, and then achieves a corresponding braking deceleration. In this process, the braking deceleration generated by the calculated braking torque will change due to the continuous operation of the friction disc, and the total mass of the vehicle will also change significantly with the different passenger or cargo loads, resulting in the braking deceleration failing to reach the target, thereby affecting the braking performance of the vehicle. Therefore, the strategy of determining the braking torque simply by calculating the brake pedal depth cannot meet the increasing requirements for vehicle braking control accuracy.

[0046] In response to the above technical problems, the embodiments of the present disclosure provide a vehicle braking method, a braking controller, a storage medium and a vehicle, which obtain a pre-control torque based on the driving resistance and the target deceleration, and then judge the braking intensity based on the braking intensity data. If the braking intensity data meets the torque correction condition, it is determined that the braking intensity is large, and it is difficult to achieve the braking target only by the pre-control torque. Then, the pre-control torque is corrected according to the actual deceleration and the target deceleration to obtain the target braking torque, thereby realizing feedback braking and improving the braking effect.

[0047] Figure 1 is a flow chart of a vehicle braking method according to an exemplary embodiment. Figure 1 As shown, the method can be applied to a brake controller, and the method may include the following steps:

[0048] In step S101, the braking data of the vehicle is acquired, the braking data including braking intensity data and braking torque parameters, the braking intensity data including actual deceleration and target deceleration, and the braking torque parameters including driving resistance.

[0049] In this embodiment, braking data related to the braking of the vehicle can be obtained, and the braking data may include braking intensity data and braking torque data. Among them, the braking intensity data is used to characterize the difficulty of achieving the braking target. The greater the braking intensity, the greater the influence of factors such as the change in the friction coefficient of the brake disc and the change in the total mass of the vehicle on whether the actual braking can achieve the braking target. Among them, the braking intensity data may include actual deceleration and target deceleration, and may also include actual braking torque, historical braking torque and vehicle speed, wherein the actual deceleration, target deceleration, actual braking torque, historical braking torque and vehicle speed are all positively correlated with the braking intensity. That is, the greater the value of the braking intensity data, the greater the braking intensity, and the more difficult it is to achieve the braking target. The braking torque parameter may include driving resistance, and may also include target deceleration. The pre-control torque may be determined according to the braking torque data. Among them, the target deceleration and are determined according to the brake pedal depth.

[0050] In step S102 , a pre-control torque is determined based on the running resistance and the target deceleration.

[0051] In this embodiment, the braking force of the wheel can be calculated according to the driving resistance and the target deceleration, and the pre-control torque can be obtained according to the braking force of the wheel and the rolling radius of the wheel.

[0052] In step S103, when the braking intensity data satisfies the torque correction condition, the target braking torque is obtained according to the actual deceleration, the target deceleration and the pre-control torque.

[0053] In this embodiment, when the braking intensity data meets the torque correction condition, it is determined that the braking intensity of the vehicle is large and it is difficult to achieve the braking target only by the pre-control torque, so feedback braking can be performed. That is, the pre-control torque is feedback-adjusted according to the actual deceleration and the target deceleration to obtain the target braking torque.

[0054] In a possible implementation, a method for obtaining a target braking torque according to the actual deceleration, the target deceleration and the pre-control torque may be: obtaining a correction torque according to the actual deceleration and the target deceleration, and obtaining the target braking torque according to the correction torque and the pre-control torque.

[0055] In this embodiment, feedback calculation can be performed based on the difference between the actual deceleration and the target deceleration to obtain a correction torque, which can be a positive value. The correction torque is used to correct the pre-control torque to obtain the target braking torque. That is, the correction torque and the braking torque can be directly added to obtain the target braking torque.

[0056] In step S104, the vehicle is braked according to the target braking torque.

[0057] In this embodiment, the vehicle can be braked according to the target braking torque based on the current braking torque of the vehicle. Optionally, the current braking torque of the vehicle can be gradually adjusted to the target braking torque in multiple times to improve the comfort of braking. The braking mechanism can be directly controlled by the brake controller to brake, or the brake controller can send a control instruction to the lower controller, and the lower controller can control the braking mechanism to brake.

[0058] In this embodiment, a pre-control torque is obtained based on the driving resistance and the target deceleration, and the braking intensity is judged based on the braking intensity data. If the braking intensity data meets the torque correction condition, it is determined that the braking intensity is large and it is difficult to achieve the braking target only by the pre-control torque. Then, a correction torque is obtained based on the actual deceleration and the target deceleration, and the pre-control torque is corrected to achieve feedback braking to improve the braking effect.

[0059] In a possible implementation, when the braking intensity data does not satisfy the torque correction condition, the pre-control torque is directly determined as the target braking torque, and the vehicle is braked and controlled according to the target braking torque.

[0060] In a possible implementation, the braking intensity data may also include actual braking torque;

[0061] When the braking intensity data meets the torque correction conditions, the correction torque is determined according to the actual deceleration and the target deceleration, including: when the actual deceleration is greater than the first preset deceleration threshold and / or the actual braking torque is greater than the first preset braking torque threshold, the correction torque is determined according to the actual deceleration and the target deceleration.

[0062] In this embodiment, the braking intensity data may further include an actual braking torque, which may be detected by a torque sensor.

[0063] Optionally, when the actual deceleration is greater than the first preset deceleration threshold, it can be determined that the braking intensity data meets the torque correction condition, and the braking intensity of the vehicle is relatively large at this time, and feedback braking can be performed, and the correction torque is determined by the actual deceleration and the target deceleration. Among them, the first preset deceleration threshold can be set according to the actual situation of the vehicle, and is not specifically limited here.

[0064] Optionally, when the actual braking torque is greater than the first preset braking torque threshold, it can be determined that the braking intensity data meets the torque correction condition, and feedback braking can be performed to determine the correction torque according to the actual deceleration and the target deceleration. The first preset braking torque threshold can be set according to the actual situation of the vehicle and is not specifically limited here.

[0065] Optionally, when the actual deceleration is greater than the first preset deceleration threshold and the actual braking torque is greater than the first preset braking torque threshold, it can be determined that the braking intensity data meets the torque correction condition, and feedback braking can be performed to determine the correction torque according to the actual deceleration and the target deceleration. The first preset deceleration threshold and the first preset braking torque threshold can be set according to the actual situation of the vehicle and are not specifically limited here.

[0066] In a possible implementation manner, the braking intensity data further includes a historical braking torque, where the historical braking torque is a target braking torque obtained in a previous braking stage;

[0067] When the braking intensity data meets the torque correction conditions, the correction torque is determined based on the actual deceleration and the target deceleration, including: when the target deceleration is greater than a second preset deceleration threshold and / or the historical braking torque is greater than a second preset braking torque threshold, the correction torque is determined based on the actual deceleration and the target deceleration.

[0068] In this embodiment, the braking intensity data may further include a historical braking torque, where the historical braking torque is a target braking torque obtained in a previous braking stage. If the current braking is the first braking stage, the target braking torque obtained in the previous braking stage may be 0.

[0069] Optionally, when the target deceleration is greater than the second preset deceleration threshold, it can be determined that the braking intensity data meets the torque correction condition, and feedback braking can be performed to determine the correction torque according to the actual deceleration and the target deceleration. The second preset deceleration threshold can be set according to the actual situation of the vehicle and is not specifically limited here.

[0070] Optionally, when the historical braking torque is greater than the second preset braking torque threshold, it can be determined that the braking intensity data meets the torque correction condition, and feedback braking can be performed to determine the correction torque according to the actual deceleration and the target deceleration. The second preset braking torque threshold can be set according to the actual situation of the vehicle and is not specifically limited here.

[0071] Optionally, when the target deceleration is greater than the second preset deceleration threshold and the historical braking torque is greater than the second preset braking torque threshold, it can be determined that the braking intensity data meets the torque correction condition, and feedback braking can be performed to determine the correction torque according to the actual deceleration and the target deceleration. The second preset deceleration threshold and the second preset braking torque threshold can be set according to the actual situation of the vehicle and are not specifically limited here.

[0072] In a possible implementation manner, the braking intensity data further includes actual braking torque, historical braking torque and vehicle speed, where the historical braking torque is a target braking torque obtained in the previous braking stage;

[0073] When the braking intensity data meets the torque correction conditions, the correction torque is determined according to the actual deceleration and the target deceleration, including: when the actual deceleration is greater than the first preset deceleration threshold, and / or the actual braking torque is greater than the first preset braking torque threshold, and / or the target deceleration is greater than the second preset deceleration threshold, and / or the historical braking torque is greater than the second preset braking torque threshold, and / or the vehicle speed is greater than the preset vehicle speed threshold, the correction torque is determined according to the actual deceleration and the target deceleration.

[0074] In this embodiment, the braking intensity data also includes actual braking torque, historical braking torque and vehicle speed, and the actual braking torque, historical braking torque and vehicle speed are all positively correlated with the braking intensity.

[0075] Optionally, when the actual deceleration is greater than the first preset deceleration threshold, it can be determined that the braking intensity of the vehicle is large.

[0076] Optionally, when the actual braking torque is greater than the first preset braking torque threshold, it can be determined that the braking intensity of the vehicle is relatively large.

[0077] Optionally, when the target deceleration is greater than a second preset deceleration threshold, it can be determined that the braking intensity of the vehicle is greater.

[0078] Optionally, when the historical braking torque is greater than the second preset braking torque threshold, it can be determined that the braking intensity of the vehicle is relatively large.

[0079] Optionally, when the vehicle speed is greater than a preset vehicle speed threshold, it can be determined that the braking intensity of the vehicle is relatively large.

[0080] Optionally, when any of the above conditions are met, it can be determined that the braking intensity of the vehicle is large, that is, the braking intensity data meets the torque correction condition, and feedback braking can be performed to determine the correction torque through the actual deceleration and the target deceleration.

[0081] In a possible implementation, before determining the correction torque based on the actual deceleration and the target deceleration, it can also be determined whether the brake actuator is faulty and whether the vehicle is in the parking gear. If the brake actuator is not faulty and the vehicle is not in the parking gear, the correction torque is determined based on the actual deceleration and the target deceleration.

[0082] Figure 2 is a flow chart showing a method for determining target deceleration and driving resistance according to an exemplary embodiment. Figure 2 As shown, in a possible implementation manner, before obtaining the braking data of the vehicle, the method further includes the following steps:

[0083] In step S201, the driving parameters of the vehicle are obtained, and the driving parameters include brake pedal depth, vehicle gross mass, driving slope and inherent parameters of the vehicle.

[0084] In this embodiment, the brake pedal depth is obtained based on the stroke of the user stepping on the brake pedal, the total mass of the vehicle includes the sum of the mass of the vehicle itself and the mass of passengers and other items, the driving slope is the angle between the slope and the horizontal plane, and the inherent parameters of the vehicle are fixed parameters of the vehicle itself. Optionally, the fixed parameters of the vehicle itself may include the wheel rolling radius, rolling resistance coefficient, wind resistance coefficient and vehicle frontal area.

[0085] In step S202, the target deceleration is determined according to the brake pedal depth.

[0086] In this embodiment, there is a preset corresponding relationship between the brake pedal depth and the target deceleration, and the target deceleration can be determined based on the preset corresponding relationship between the brake pedal depth and the target deceleration.

[0087] In step S203, the driving resistance is determined according to the total mass of the vehicle, the driving slope, the vehicle speed and the inherent parameters of the vehicle.

[0088] In this embodiment, the driving resistance of the vehicle can be determined based on the force relationship of the vehicle. Optionally, the driving resistance may include slope resistance, wind resistance and rolling resistance. The rolling resistance can be determined based on the total mass of the vehicle, the rolling resistance coefficient and the driving slope; the wind resistance can be determined based on the wind resistance coefficient, the vehicle's frontal area and the vehicle speed; and the slope resistance can be determined based on the total mass of the vehicle and the driving slope. The specific calculation formula can be:

[0089] F f =m×g×f v ×cosα

[0090]

[0091] G h =m×g×sinα

[0092] Among them, F w is wind resistance, F f is rolling resistance, g is gravity, G h is the gravity component of the inclined plane, i.e. the slope resistance, r is the wheel rolling radius. m is the total mass of the vehicle. α is the driving slope, which is defined as positive when the front of the vehicle is facing upwards, otherwise it is negative. v C is the rolling resistance coefficient, which is related to the road type, vehicle speed, tire material pressure, etc. D is the drag coefficient, for example, for a car it can be 0.2-0.6, A is the frontal area of ​​the vehicle, and v is the vehicle speed.

[0093] The wheel braking force can then be determined based on the driving resistance, the total mass of the vehicle and the target deceleration, and the pre-control torque can then be determined based on the wheel braking force and the wheel rolling radius.

[0094] The calculation formula is:

[0095] F b =m×aF w -F f +G h

[0096] T b =F b ×

[0097] Among them, F b is the wheel braking force, a is the target deceleration, r is the wheel rolling radius, T b is the pre-control torque.

[0098] Figure 3 is a flow chart showing a method for determining a target deceleration according to an exemplary embodiment. Figure 3 As shown, in a possible implementation manner, determining the target deceleration according to the brake pedal depth may include the following steps:

[0099] In step S301 , a target brake pedal depth interval in which the brake pedal depth in the driving parameter is located is determined.

[0100] In step S302, a target deceleration corresponding to the target brake pedal depth interval is determined according to the target brake pedal depth interval and a preset corresponding relationship, where the corresponding relationship is a corresponding relationship between a plurality of preset brake pedal depth intervals and a plurality of preset decelerations.

[0101] In this embodiment, the preset corresponding relationship may be a corresponding relationship between a plurality of preset brake pedal depth intervals and a plurality of preset decelerations. For example, a target deceleration query table may be set, the target deceleration query table including a plurality of preset brake pedal depth intervals and a preset deceleration corresponding to each preset brake pedal depth interval. The target brake pedal depth interval in which the brake pedal depth in the driving parameter is located is determined, and the target deceleration is obtained according to the preset deceleration corresponding to the target brake pedal depth interval.

[0102] In one possible implementation, braking control of the vehicle is performed according to a target braking torque, including: determining multiple control torques corresponding to multiple control moments according to a preset torque change rate, an actual braking torque and a target braking torque, the torque change rate between the multiple control torques being less than or equal to the preset torque change rate, and each control torque being within a preset control torque range; at each control moment, braking control of the vehicle is performed according to the control torque corresponding to the control moment.

[0103] In this embodiment, in order to maintain comfort, a preset torque change rate is pre-set, and the preset torque change rate is used to control the change speed of the braking torque. A value less than or equal to the preset torque change rate can be determined, and based on the actual braking force and the target braking force, multiple control torques corresponding to multiple control moments are determined, that is, each control moment corresponds to a control torque. The preset control torque interval is used to limit the size of each control torque, and each control torque is within the preset control torque interval. This is to avoid the control torque being too small, resulting in a long braking time, or the control torque being too large, resulting in a poor user comfort experience. At each control moment, the vehicle is braked and controlled according to the control torque corresponding to the control moment, so that the braking target can be gradually achieved, and the acceleration change can be made more reasonable to improve the user's comfort experience.

[0104] In a possible implementation manner, various indication signals required for braking may also be obtained to determine whether a braking fault occurs, and the target braking torque may be calculated if no braking fault occurs.

[0105] Figure 4 is a flow chart of another vehicle braking method according to an exemplary embodiment. Figure 4As shown, the following steps are included:

[0106] In step S401, the vehicle self-checks whether it is normal, specifically, whether the braking function of the vehicle is normal. If the braking function is normal, step S403 and step S404 are executed, and if the braking function is abnormal, step S402 is executed.

[0107] In step S402, the fault lamp may be controlled to light up.

[0108] In step S403 , the pre-control torque may be determined by the slope resistance, the wind resistance, the rolling resistance and the target deceleration.

[0109] In step S404, it is determined whether the historical braking torque is greater than a threshold, that is, whether it is greater than a second preset braking torque threshold. If not, it is not enabled, that is, feedback braking is not performed, and feedforward braking is performed directly, that is, the pre-control torque is determined as the target braking torque. If so, step S405 is executed.

[0110] In step S405, it is determined whether the target deceleration is greater than a threshold, that is, whether it is greater than a second preset deceleration threshold. If so, step S406 is executed; if not, it is not enabled.

[0111] In step S406, it is determined whether the actual deceleration is greater than a threshold, that is, whether it is greater than a first preset deceleration threshold. If so, step S407 is executed; if not, it is not enabled.

[0112] In step S407, it is determined whether the vehicle speed is greater than the limit value, that is, whether it is greater than the preset vehicle speed threshold. If so, step S408 is executed, if not, it is not enabled.

[0113] In step S408, feedback control is performed according to the actual deceleration and the target deceleration to obtain a correction torque, and step S409 is executed.

[0114] In step S409 , the target braking torque is determined according to the correction torque and the pre-control torque.

[0115] In step S410, torque limitation is performed, that is, multiple control torques corresponding to multiple control moments are determined according to the preset torque change rate, the actual braking torque and the target braking torque, the torque change rate between the multiple control torques is less than or equal to the preset torque change rate, and each control torque is within the preset control torque range.

[0116] In step S411, braking control is performed, that is, at each control moment, braking control is performed on the vehicle according to the control torque corresponding to the control moment, thereby completing the braking control of this braking phase, and returning to step S401 to perform braking control of the next braking phase.

[0117] Figure 5 is a block diagram of a brake controller according to an exemplary embodiment. Figure 5 The brake controller 500 includes a processor 522, which may be one or more, and a memory 532 for storing a computer program executable by the processor 522. The computer program stored in the memory 532 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 522 may be configured to execute the computer program to perform the above-mentioned vehicle braking method.

[0118] In addition, the brake controller 500 may further include a power supply component 526 and a communication component 550, wherein the power supply component 526 may be configured to perform power management of the brake controller 500, and the communication component 550 may be configured to implement communication, for example, wired or wireless communication, of the brake controller 500. In addition, the brake controller 500 may further include an input / output interface 558. The brake controller 500 may operate based on an operating system stored in the memory 532.

[0119] In another exemplary embodiment, a vehicle is provided, comprising the brake controller described in the above embodiment.

[0120] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by the processor, the steps of the above-mentioned vehicle braking method are implemented. For example, the non-transitory computer-readable storage medium can be the above-mentioned memory 532 including program instructions, and the above-mentioned program instructions can be executed by the processor 522 of the brake controller 500 to complete the above-mentioned vehicle braking method.

[0121] In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable device and has code portions for performing the above-mentioned vehicle braking method when executed by the programmable device.

[0122] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0123] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0124] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle braking method, characterized in that: include: Acquiring braking data of the vehicle, the braking data including braking intensity data and braking torque parameters, the braking intensity data including actual deceleration and target deceleration, and the braking torque parameters including running resistance; determining a pre-control torque according to the driving resistance and the target deceleration; When the braking intensity data satisfies the torque correction condition, a target braking torque is obtained according to the actual deceleration, the target deceleration and the pre-control torque; The vehicle is braked and controlled according to the target braking torque.

2. The vehicle braking method according to claim 1, characterized in that: When the braking intensity data satisfies the torque correction condition, obtaining the target braking torque according to the actual deceleration, the target deceleration and the pre-control torque includes: When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration; The target braking torque is obtained according to the correction torque and the pre-control torque.

3. The vehicle braking method according to claim 2, characterized in that: The braking intensity data also includes actual braking torque; When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration includes: When the actual deceleration is greater than the first preset deceleration threshold and / or the actual braking torque is greater than the first preset braking torque threshold, a correction torque is determined according to the actual deceleration and the target deceleration.

4. The vehicle braking method according to claim 2, characterized in that: The braking intensity data also includes a historical braking torque, where the historical braking torque is a target braking torque obtained in the previous braking stage; When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration includes: When the target deceleration is greater than a second preset deceleration threshold and / or the historical braking torque is greater than a second preset braking torque threshold, a correction torque is determined according to the actual deceleration and the target deceleration.

5. The vehicle braking method according to claim 2, characterized in that: The braking intensity data also includes actual braking torque, historical braking torque and vehicle speed, wherein the historical braking torque is the target braking torque obtained in the previous braking stage; When the braking intensity data satisfies the torque correction condition, determining the correction torque according to the actual deceleration and the target deceleration includes: When the actual deceleration is greater than the first preset deceleration threshold, and / or the actual braking torque is greater than the first preset braking torque threshold, and / or the target deceleration is greater than the second preset deceleration threshold, and / or the historical braking torque is greater than the second preset braking torque threshold, and / or the vehicle speed is greater than the preset vehicle speed threshold, a correction torque is determined based on the actual deceleration and the target deceleration.

6. The vehicle braking method according to any one of claims 1 to 5, characterized in that: Before obtaining the braking data of the vehicle, the method further includes: Acquiring driving parameters of the vehicle, wherein the driving parameters include brake pedal depth, vehicle gross mass, driving slope, and inherent parameters of the vehicle; determining the target deceleration according to the brake pedal depth; The driving resistance is determined based on the total mass of the vehicle, the driving slope, the vehicle speed and inherent parameters of the vehicle.

7. The vehicle braking method according to claim 6, characterized in that: The step of determining the target deceleration according to the brake pedal depth includes: Determine a target brake pedal depth interval in which the brake pedal depth in the driving parameter is located; The target deceleration corresponding to the target brake pedal depth interval is determined according to the target brake pedal depth interval and a preset corresponding relationship, wherein the corresponding relationship is a corresponding relationship between a plurality of preset brake pedal depth intervals and a plurality of preset decelerations.

8. The vehicle braking method according to any one of claims 1 to 5, characterized in that: The step of performing braking control on the vehicle according to the target braking torque includes: Determine a plurality of control torques corresponding to a plurality of control moments according to a preset torque change rate, an actual braking torque and a target braking torque, wherein the torque change rate between the plurality of control torques is less than or equal to the preset torque change rate, and each of the control torques is within a preset control torque interval; At each control moment, the vehicle is braked according to the control torque corresponding to the control moment.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle braking method described in any one of claims 1 to 8 are implemented.

10. A brake controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the vehicle braking method according to any one of claims 1 to 8.

11. A vehicle, characterized in that: Includes the brake controller as claimed in claim 10.

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