Vehicle control method and device and storage medium

Abstract

The invention discloses a vehicle control method and device and a storage medium, and the method comprises the steps: obtaining the initial speed of a target vehicle in the driving process of the target vehicle; if the initial vehicle speed is larger than the preset safety threshold value, whether a hydraulic braking system of the target vehicle fails or not is detected; if the hydraulic braking system fails and the initial vehicle speed is in a first vehicle speed interval, detecting whether a braking deceleration request is received within a first preset time period; if the braking deceleration request is not received within the first preset time period, the parking motor is controlled to rotate in the first rotating direction until the ejector rod pushes the friction plate from the initial position to the preset position in the direction close to the brake disc; and after a braking deceleration request is received, the friction plate is controlled to generate dynamic braking force from the preset position. By moving the friction plate to the preset position in time, the gap between the friction plate and the brake disc is reduced, so that the brake distance is reduced when a brake deceleration request is received, and the safety of the vehicle is improved.

Description

Technical Field

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

[0002] In a wire control brake system, if the hydraulic brake system fails to function while the vehicle is in dynamic driving, this situation poses a great safety hazard. At this time, due to the failure of the hydraulic brake system, braking deceleration cannot be achieved by stepping on the brake pedal. In this case, the vehicle driver often tries to use the dynamic braking function of the electronic parking brake system to brake and decelerate.

[0003] After detecting the brake deceleration request triggered by the driver, the electronic parking brake system should intervene quickly and respond to the brake deceleration request, thereby shortening the braking distance as much as possible. However, in order to prevent the electronic parking brake switch from being accidentally touched, it is often detected whether the electronic parking brake switch is pressed for a long time to pull it up for confirmation. This process generally takes 200ms to 300ms. In addition, it often takes about 1 second for the parking motor to drive the friction plate from a fully released state to start generating braking force. Due to the above time delays, it will take at least 1 second or longer from the time the driver actually requests deceleration braking to the time the dynamic braking function of the electronic parking brake system begins to exert a braking effect. This delay invisibly increases the braking distance and poses a greater safety risk.

[0004] Therefore, how to effectively reduce the braking distance and improve the safety of the vehicle is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a vehicle control method, device and storage medium, which can effectively reduce the braking distance and improve the safety of the vehicle.

[0006] On the one hand, an embodiment of the present application provides a vehicle control method, the method comprising:

[0007] During the driving process of the target vehicle, obtaining the initial speed of the target vehicle;

[0008] If the initial vehicle speed is greater than a preset safety threshold, detecting whether the hydraulic brake system of the target vehicle fails;

[0009] If the hydraulic brake system fails and the initial vehicle speed is in a first vehicle speed interval, detecting whether a braking deceleration request is received within a first preset time period; the starting point of the first vehicle speed interval is the preset safety threshold;

[0010] If the braking deceleration request is not received within the first preset time period, the parking motor is controlled to rotate in a first rotation direction until the push rod pushes the friction plate from an initial position to a preset position in a direction close to the brake disc; the push rod is connected to the parking motor through a screw rod;

[0011] When the braking deceleration request is received, the friction plate is controlled to generate dynamic braking force from the preset position.

[0012] In an exemplary embodiment, if the initial vehicle speed is in the second vehicle speed interval, the method further includes:

[0013] detecting whether the braking deceleration request is received within a second preset time period; the starting point of the second vehicle speed interval is the end point of the first vehicle speed interval; the second preset time period is shorter than the first preset time period;

[0014] If the braking deceleration request is not received within the second preset time period, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force;

[0015] The parking motor is controlled to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position.

[0016] In an exemplary embodiment, if the initial vehicle speed is in a third vehicle speed interval, the method further includes:

[0017] detecting whether the braking deceleration request is received within a third preset time period; the starting point of the third vehicle speed interval is the end point of the second vehicle speed interval; the third preset time period is shorter than the second preset time period;

[0018] If the braking deceleration request is not received within the third preset time period, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force;

[0019] Controlling the parking motor to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position;

[0020] In an exemplary embodiment, after the friction plate is retracted to the preset position, the method further includes:

[0021] detecting whether the braking deceleration request is received within a fourth preset time period;

[0022] If the braking deceleration request is not received within the fourth preset time period, obtaining the current speed of the target vehicle;

[0023] If the current vehicle speed is still in the third vehicle speed interval, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a second braking force;

[0024] The parking motor is controlled to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position.

[0025] In an exemplary embodiment, during the movement of the friction plate, the method further includes:

[0026] Real-time detection of the accelerator pedal opening of the target vehicle;

[0027] If the accelerator pedal opening is greater than a preset opening threshold and is maintained for a preset time, the parking motor is controlled to rotate in a second direction until the push rod retracts the friction plate to the initial position.

[0028] In an exemplary embodiment, the method further comprises:

[0029] Detecting the current speed of the target vehicle in real time;

[0030] If the current vehicle speed is less than or equal to the preset safety threshold, the parking motor is controlled to rotate in the second direction until the push rod retracts the friction plate to the initial position.

[0031] In an exemplary embodiment, if the hydraulic brake system fails, the method further includes:

[0032] Sending instruction information to the vehicle system to instruct the vehicle system to issue a hydraulic fault warning message;

[0033] A request signal is sent to a seat belt control system of the target vehicle; the request signal is used to instruct the seat belt control system to actively retract the seat belt immediately.

[0034] On the other hand, the present application also provides a vehicle control device, the device comprising:

[0035] An initial speed acquisition module is used to acquire the initial speed of the target vehicle during the driving process of the target vehicle;

[0036] A hydraulic failure detection module, used to detect whether the hydraulic brake system of the target vehicle fails if the initial vehicle speed is greater than a preset safety threshold;

[0037] a first braking request receiving module, configured to detect whether a braking deceleration request is received within a first preset time period if the hydraulic braking system fails and the initial vehicle speed is in a first vehicle speed interval; the starting point of the first vehicle speed interval being the preset safety threshold;

[0038] a position control module, configured to control the parking motor to rotate in a first rotation direction until the push rod pushes the friction plate from an initial position to a preset position in a direction close to the brake disc if the braking deceleration request is not received within the first preset time period; the push rod is connected to the parking motor through a screw rod;

[0039] The braking force control module is used to control the friction plate to generate dynamic braking force from the preset position after receiving the braking deceleration request.

[0040] On the other hand, the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle control method as described above.

[0041] On the other hand, the present application also provides a computer storage medium, which stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle control method as described above.

[0042] On the other hand, the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the vehicle control method as described above.

[0043] The vehicle control method provided by this application has the following technical effects:

[0044] In the embodiment of the present application, during the driving process of the target vehicle, the initial vehicle speed of the target vehicle is obtained; if the initial vehicle speed is greater than the preset safety threshold, whether the hydraulic brake system of the target vehicle fails is detected; if the hydraulic brake system fails and the initial vehicle speed is in the first vehicle speed interval, whether a braking deceleration request is received within the first preset time period is detected; if the braking deceleration request is not received within the first preset time period, the parking motor is controlled to rotate in the first rotation direction until the push rod pushes the friction plate from the initial position to the preset position in the direction close to the brake disc; when the braking deceleration request is received, the friction plate is controlled to generate dynamic braking force from the preset position. By actively detecting whether the hydraulic system fails when the initial vehicle speed is greater than the preset safety threshold, the friction plate is moved to the preset position in time when the hydraulic system fails, thereby reducing the gap between the friction plate and the brake disc, so that when the braking deceleration request is received, the braking distance can be reduced, thereby improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 is an application environment diagram of the vehicle control method provided in an embodiment of the present application;

[0047] Figure 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0048] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application when the initial vehicle speed is in the second vehicle speed range;

[0049] Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present application when the initial vehicle speed is in the third vehicle speed interval;

[0050] Figure 5 It is a schematic diagram of the overall process of the vehicle control method provided by the embodiment of the present application;

[0051] Figure 6 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0052] Figure 7 This is a hardware structure block diagram of a server of a vehicle control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0055] Figure 1 It is an application environment diagram of the vehicle control method provided in an embodiment of the present application.

[0056] like Figure 1 As shown, there are friction plates on both sides of the brake disc, which are used to support the brake disc to generate braking force. The parking motor is connected to the push rod through a screw. When the parking motor rotates, it drives the screw to rotate, so that the push rod can drive the friction plate to move left and right. For example, assuming that in the initial state, the friction plate is in position A, when the parking motor rotates clockwise, the friction plate is pushed by the push rod to move toward the brake disc, and contacts the brake disc to generate braking force; in addition, when the parking motor rotates counterclockwise, the friction plate is driven by the push rod to move away from the brake disc, for example, from position B to the initial state, that is, position A. The method provided in the embodiment of the present application is applied to an electronic parking brake system (Electrical Park Brake, EPB), which controls the position of the friction plate by controlling the motor, thereby reducing the braking distance and improving the safety of the vehicle.

[0057] Figure 2 It is a flow chart of the vehicle control method provided in an embodiment of the present application.

[0058] S201: Acquiring an initial speed of the target vehicle during its travel;

[0059] The initial vehicle speed is the real-time vehicle speed of the target vehicle during driving. In one implementation, the wheel speed detected by the wheel speed sensor can be obtained, and the vehicle speed is determined according to the wheel speed, wheel diameter and transmission ratio.

[0060] S203: If the initial vehicle speed is greater than a preset safety threshold, detecting whether the hydraulic brake system of the target vehicle fails;

[0061] For example, the preset safety threshold may be Akm / h. The preset safety threshold may be set according to actual needs, and the specific value of the preset safety threshold in this application is not limited.

[0062] The hydraulic brake system usually includes a brake pedal, a master brake cylinder (brake master cylinder), brake fluid (brake oil), brake oil pipes, brake wheel cylinders (brake wheel cylinders) and wheel brakes. When the driver steps on the brake pedal, the piston in the master cylinder moves forward to increase the pressure of the brake fluid, and transmits the pressure to the wheel cylinders of each wheel through the brake oil pipes, thereby pushing the piston of the wheel cylinder to expand outward, achieving the transmission of braking force and the braking of the wheel. When the driver releases the brake pedal, the piston of the master cylinder returns to its original position under the action of oil pressure and return springs, and the piston of the wheel cylinder and the wheel brake also return to their original positions, releasing the brakes on the wheel.

[0063] When the vehicle speed is greater than the preset safety threshold, it means that there is a safety risk at the current speed, and it is necessary to further detect whether the vehicle's hydraulic braking system is working normally to ensure that the deceleration braking force can be provided immediately when the target vehicle needs to brake at a faster speed.

[0064] S205: If the hydraulic brake system fails and the initial vehicle speed is in the first vehicle speed interval, detecting whether a braking deceleration request is received within a first preset time period;

[0065] The starting point of the first vehicle speed interval is the preset safety threshold;

[0066] For example, the first vehicle speed interval may be A km / h to B km / h. The present application does not limit the specific value of the first vehicle speed interval.

[0067] Usually in a wire-controlled brake system, if the hydraulic brake system fails to function and the vehicle is in dynamic driving, there is a great safety hazard. At this time, due to the failure of the hydraulic brake system, braking deceleration cannot be achieved by stepping on the brake pedal. At this time, the electronic parking brake system is needed to achieve braking. When the driver activates the electronic parking brake switch, a braking deceleration request is generated, thereby triggering the dynamic mechanical braking function of the electronic parking brake. The electronic parking brake system controls the position of the friction plate by continuously controlling the forward and reverse rotation of the parking motor to achieve braking deceleration of the vehicle.

[0068] Therefore, in the embodiment of the present application, after the failure of the hydraulic system is detected, the timing is started to determine whether a braking deceleration request is received within the first preset time period. Exemplarily, the first preset time period may be t0. The present application does not limit the specific duration of the first preset time period.

[0069] S207: If the braking deceleration request is not received within the first preset time period, controlling the parking motor to rotate in a first rotation direction until the push rod pushes the friction plate from an initial position to a preset position in a direction close to the brake disc; the push rod is connected to the parking motor through a screw rod;

[0070] The first rotation direction is forward rotation, for example, clockwise rotation. The initial position is the position of the friction plate when no control is performed, that is, the position of the fully released state. Figure 1 Taking the scenario shown as an example, the initial position may be position A. The preset position is the position where the gap between the brake disc and the brake disc is a preset value, for example Figure 1 Position B in the scene shown. In the present application, if the driver does not brake to slow down within the first preset time period, the parking motor is actively controlled to rotate forward to drive the screw to rotate, so that the push rod pushes the friction plate to move to the preset position in the direction close to the brake disc.

[0071] S209: After receiving the braking deceleration request, controlling the friction plate to generate dynamic braking force from the preset position.

[0072] It should be noted that if the hydraulic brake system fails, the short braking distance cannot be achieved through pre-built compression. When the vehicle is in motion, the driver can trigger the dynamic mechanical braking function of the EPB by pulling the EPB switch for a long time. When the vehicle is in dynamic driving, after detecting the braking deceleration request triggered by the driver, the electronic parking brake system should intervene quickly and respond to the braking deceleration request, thereby shortening the braking distance as much as possible. However, in order to prevent the electronic parking brake switch from being accidentally touched, it is often detected whether the electronic parking brake switch is pressed for a long time to confirm the pull-up. This process generally takes 200ms to 300ms. In addition, it often takes about 1 second for the parking motor to drive the friction plate from the fully released state to the beginning of the braking force. Due to the above-mentioned time delays, it will take at least 1 second or more from the time the driver has an actual deceleration braking request to the time when the dynamic braking function of the electronic parking brake system begins to exert a braking effect. This delay increases the braking distance invisibly and poses a great safety risk.

[0073] In the embodiment of the present application, since the friction plate has been moved to the preset position in advance, it enters the standby state. When a braking deceleration request is received, the friction plate is controlled to start braking from the preset position to quickly generate dynamic braking force. Compared with the initial position, the preset position is closer to the brake disc, thereby reducing the braking clearance. Compared with the parking motor driving the friction plate to generate braking force from the fully released state, the delay time for generating braking force from the standby state is shorter, and the braking distance is correspondingly reduced, thereby improving the safety of the vehicle.

[0074] In the embodiment of the present application, during the driving process of the target vehicle, the initial vehicle speed of the target vehicle is obtained; if the initial vehicle speed is greater than a preset safety threshold, whether the hydraulic brake system of the target vehicle fails is detected; if the hydraulic brake system fails and the initial vehicle speed is in a first vehicle speed interval, whether a braking deceleration request is received within a first preset time period is detected; if a braking deceleration request is not received within the first preset time period, the parking motor is controlled to rotate in a first rotation direction until the push rod pushes the friction plate from the initial position to the direction close to the brake disc to a preset position; when a braking deceleration request is received, the friction plate is controlled to generate dynamic braking force from the preset position. By actively detecting whether the hydraulic system fails when the initial vehicle speed is greater than the preset safety threshold, the friction plate is moved to the preset position in time when the hydraulic system fails, thereby reducing the gap between the friction plate and the brake disc, so that when a braking deceleration request is received, the braking distance can be reduced, thereby improving the safety of the vehicle.

[0075] Figure 3 : is a flow chart of a vehicle control method provided by an embodiment of the present application when the initial vehicle speed is in the second vehicle speed interval. If the initial vehicle speed is in the second vehicle speed interval, the method provided by the present application further includes:

[0076] S301: Detecting whether the braking deceleration request is received within a second preset time period;

[0077] Wherein, the starting point of the second vehicle speed interval is the end point of the first vehicle speed interval; the second preset time period is shorter than the first preset time period;

[0078] Still taking the above-mentioned first vehicle speed interval as Akm / h to Bkm / h as an example, the second vehicle speed interval may be Bkm / h to Ckm / h. Compared with the initial vehicle speed being in the first vehicle speed, the safety risk when the initial vehicle speed is in the second vehicle speed interval is greater. Therefore, the second preset time period is shorter than the first preset time period, so that the friction plate moves to the preset position faster, that is, enters the standby state faster.

[0079] S303: If the braking deceleration request is not received within the second preset time period, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force;

[0080] Since the vehicle speed is in the second speed range at this time, if no timely intervention is made, a greater safety risk may occur. Therefore, in the embodiment of the present application, the friction plate is first controlled to contact the brake disc to generate the first braking force to alert the driver to the hydraulic system function failure and to pay attention to driving safety. It should be noted that the first braking force can be set according to actual needs, and the present application does not limit the specific value of the first braking force.

[0081] S305: Control the parking motor to rotate in the second rotation direction until the push rod withdraws the friction plate away from the brake disc to the preset position.

[0082] After the first braking force is generated, the friction plate is immediately controlled to move to a preset position, thereby entering a standby state, so as to be ready to respond to a braking deceleration request to quickly achieve dynamic braking deceleration.

[0083] In the embodiment of the present application, when the initial vehicle speed is in the second vehicle speed range, the friction plate is first controlled to generate a short first braking force and then withdraw to a preset position to enter a standby state, thereby effectively improving the safety of the vehicle.

[0084] Figure 4 : is a flow chart of a vehicle control method provided by an embodiment of the present application when the initial vehicle speed is in the third vehicle speed interval. If the initial vehicle speed is in the third vehicle speed interval, the method provided by the present application further includes:

[0085] S401: Detecting whether the braking deceleration request is received within a third preset time period;

[0086] The starting point of the third vehicle speed interval is the end point of the second vehicle speed interval; the third preset time period is shorter than the second preset time period;

[0087] Still taking the first speed interval as Akm / h to Bkm / h and the second speed interval as Bkm / h to Ckm / h as an example, the third speed interval may be greater than Ckm / h. Compared with the initial speed at the second speed, the safety risk is greater when the initial speed is in the third speed interval. Therefore, the third preset time period is shorter than the second preset time period, so that the friction plate moves to the preset position faster, that is, enters the standby state faster.

[0088] S403: If the braking deceleration request is not received within the third preset time period, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force;

[0089] The execution process of this step is similar to step S303 and will not be repeated here.

[0090] S405: controlling the parking motor to rotate in a second rotation direction until the push rod withdraws the friction plate away from the brake disc to the preset position;

[0091] The execution process of this step is similar to that of step S305 and will not be repeated here.

[0092] In the embodiment of the present application, when the initial vehicle speed is in the third vehicle speed range, the friction plate is first controlled to generate a short first braking force and then withdraw to a preset position to enter a standby state, thereby effectively improving the safety of the vehicle.

[0093] Furthermore, after the friction plate is withdrawn to the preset position, the method further includes:

[0094] S407: Detecting whether the braking deceleration request is received within a fourth preset time period;

[0095] The fourth preset time period may be shorter than the third preset time period, and the fourth preset time period may be set according to actual needs.

[0096] S409: If the braking deceleration request is not received within the fourth preset time period, obtaining the current speed of the target vehicle;

[0097] S411: If the current vehicle speed is still in the third vehicle speed interval, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a second braking force;

[0098] When the initial vehicle speed is in the third speed interval, the first braking force is generated to warn the driver. If it is detected again that the current vehicle speed is still in the third speed interval, active intervention is performed again. Therefore, in the embodiment of the present application, after step S405, the friction plate is then controlled to contact the brake disc to generate a second braking force to warn the driver again. It should be noted that the second braking force can be greater than the first braking force to enhance the warning effect. The second braking force can be set according to actual needs, and the present application does not limit the specific value of the second braking force.

[0099] S413: Control the parking motor to rotate in the second rotation direction until the push rod withdraws the friction plate away from the brake disc to the preset position.

[0100] The execution process of this step is similar to that of step S405 and will not be repeated here.

[0101] In the embodiment of the present application, when the initial vehicle speed is in the third interval, the first braking force is first generated. If the vehicle speed is still in the third vehicle speed interval in the fourth preset time period, the second braking force is further generated. After two consecutive short braking forces, the vehicle retreats to the preset position and enters the standby state, thereby effectively improving the safety of the vehicle.

[0102] It should be noted that, during the above-mentioned friction plate movement process, the method provided in the present application also includes: real-time detection of the accelerator pedal opening of the target vehicle; if the accelerator pedal opening is greater than a preset opening threshold and is maintained for a preset time, controlling the parking motor to rotate in a second direction until the push rod retracts the friction plate to the initial position.

[0103] The accelerator pedal opening can be the degree to which the accelerator pedal is depressed. In one example, the preset opening threshold can be recorded as p%, and the preset duration can be T. The preset opening threshold and the preset duration can be determined according to actual needs. The present application does not limit the specific values ​​of the preset opening threshold and the preset duration. If it is detected that the accelerator pedal opening is greater than the preset opening threshold and is maintained for the preset duration, it can be determined that the driver does not intend to decelerate at this time, and the friction plate is controlled to return to the initial position.

[0104] In the embodiment of the present application, the accelerator pedal opening is detected to determine whether the friction plate needs to be controlled to return to the initial position, thereby releasing the friction plate to ensure driving safety.

[0105] At the same time, the embodiment of the present application also detects the current speed of the target vehicle in real time; if the current speed is less than or equal to the preset safety threshold, the parking motor is controlled to rotate in the second direction until the push rod retracts the friction plate to the initial position.

[0106] In the embodiment of the present application, if the current vehicle speed is less than or equal to the preset safety threshold, it means that the safety risk is low at this time. When the vehicle speed is low, the braking distance is also short, so the friction plate can be released to extend the service life of the brake component.

[0107] In one embodiment, if the hydraulic braking system fails, the method provided in the present application also includes: sending an indication message to the vehicle system to instruct the vehicle system to issue a hydraulic fault warning message; sending a request signal to the seat belt control system of the target vehicle; the request signal is used to instruct the seat belt control system to immediately and actively retract the seat belt.

[0108] The vehicle computer system (Human Machine Interface, HMI) is used for human-machine interaction with the driver. After detecting the failure of the hydraulic brake system, it actively sends an indication message to the vehicle technical system. In one implementation, the corresponding hydraulic fault warning message can be displayed on the vehicle computer system display interface; in another implementation, a prompt sound can also be emitted to remind the driver of the hydraulic system failure.

[0109] At the same time, in the embodiment of the present application, after the failure of the hydraulic brake system is detected, a request signal is actively sent to the seat belt control system so as to actively retract the seat belt to remind the driver to pay attention to driving safety.

[0110] In the embodiments of the present application, the driver is proactively reminded of a hydraulic brake system failure in a variety of ways, so that the driver can promptly notice the abnormality of the vehicle and take corresponding countermeasures, thereby improving the safety of the vehicle.

[0111] Figure 5 It is a schematic diagram of the overall flow of the vehicle control method provided in an embodiment of the present application.

[0112] S501: Determine whether the vehicle speed is dynamic and the vehicle speed is greater than Akm / h. If so, execute step S502.

[0113] S502: Determine whether the hydraulic brake system function is faulty. If so, execute step S503.

[0114] S503: Determine whether the vehicle speed is less than or equal to Bkm / h. If yes, execute step S504, otherwise execute step S506.

[0115] S504: Start timing time t0 and check whether there is no braking or deceleration within time t0. If so, execute step S505.

[0116] S505: Control the parking caliper motor to rotate forward with the screw to rotate so that the push rod pushes the friction plate forward to move to the preset position in the direction of the brake disc.

[0117] S506: Determine whether the vehicle speed is less than or equal to C km / h. If yes, execute step S507, otherwise execute step S509.

[0118] S507: Start timing time t1 and check whether there is no braking or deceleration within time t1. If so, execute step S508.

[0119] S508: Control the parking caliper motor to rotate forward to drive the screw to rotate so that the push rod pushes the friction plate forward to move toward the brake disc and contact the brake disc to generate a certain braking force F1; then EPB controls the caliper motor to rotate reversely to drive the screw to rotate and retract the push rod, and the friction plate moves away from the brake disc to the preset position.

[0120] S509: Start timing time t2 and check whether there is no braking or deceleration within time t2. If so, execute step S510.

[0121] S510: Control the parking caliper motor to rotate forward to drive the screw to rotate so that the push rod pushes the friction plate forward to move toward the brake disc and contact the brake disc to generate a certain braking force F1; then EPB controls the caliper motor to rotate reversely to drive the screw to rotate and retract the push rod, and the friction plate moves away from the brake disc to the preset position.

[0122] S511: Start timing time t3 and check whether there is no braking and deceleration within time t3. If so, execute step S512.

[0123] S512: EPB actively sends a command to control the parking caliper motor to rotate forward and drive the screw to rotate, so that the push rod pushes the friction plate forward to move toward the brake disc and contact the brake disc to generate a certain braking force F2. Then EPB controls the caliper motor to reverse and drive the screw to rotate and retract the push rod, and the friction plate moves away from the brake disc to the preset position.

[0124] S513: Start timing Tmin time. Determine whether the timing is over, or whether the accelerator pedal is depressed for more than p% and maintained for T0 time, or whether the vehicle speed is less than A km / h. If any of the above conditions is met, execute step S514.

[0125] S514: EPB controls the caliper motor to reverse and drive the screw to rotate and retract the push rod, and the friction plate moves away from the brake disc to the initial position.

[0126] Figure 6 It is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application.

[0127] like Figure 6 As shown, the device 600 includes:

[0128] The initial speed acquisition module 601 is used to acquire the initial speed of the target vehicle during the driving process of the target vehicle;

[0129] A hydraulic failure detection module 602 is used to detect whether the hydraulic brake system of the target vehicle fails if the initial vehicle speed is greater than a preset safety threshold;

[0130] A first braking request receiving module 603 is used to detect whether a braking deceleration request is received within a first preset time period if the hydraulic braking system fails and the initial vehicle speed is in a first vehicle speed interval; the starting point of the first vehicle speed interval is the preset safety threshold;

[0131] The position control module 604 is configured to control the parking motor to rotate in a first rotation direction until the push rod pushes the friction plate from an initial position to a preset position in a direction close to the brake disc if the braking deceleration request is not received within the first preset time period; the push rod is connected to the parking motor through a screw rod;

[0132] The braking force control module 605 is used to control the friction plate to generate dynamic braking force from the preset position after receiving the braking deceleration request.

[0133] In some embodiments, the apparatus 600 may further include:

[0134] A second braking request receiving module is used to detect whether the braking deceleration request is received within a second preset time period; the starting point of the second vehicle speed interval is the end point of the first vehicle speed interval; the second preset time period is less than the first preset time period;

[0135] a second interval braking force control module, configured to control the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force if the braking deceleration request is not received within the second preset time period;

[0136] The second interval retraction control module is used to control the parking motor to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position.

[0137] In some embodiments, the apparatus 600 may further include:

[0138] A third braking request receiving module, used to detect whether the braking deceleration request is received within a third preset time period; the starting point of the third vehicle speed interval is the end point of the second vehicle speed interval; the third preset time period is less than the second preset time period;

[0139] a third interval braking force control module, configured to control the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force if the braking deceleration request is not received within the third preset time period;

[0140] a third interval retraction control module, used for controlling the parking motor to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position;

[0141] In some embodiments, the apparatus 600 may further include:

[0142] a fourth braking request receiving module, configured to detect whether the braking deceleration request is received within a fourth preset time period;

[0143] a current vehicle speed acquisition module, configured to acquire the current vehicle speed of the target vehicle if the braking deceleration request is not received within the fourth preset time period;

[0144] a second braking force control module, configured to control the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a second braking force if the current vehicle speed is still in the third vehicle speed interval;

[0145] In some embodiments, the apparatus 600 may further include:

[0146] An accelerator pedal opening detection module, used for detecting the accelerator pedal opening of the target vehicle in real time;

[0147] The friction plate retraction first control module is used to control the parking motor to rotate in the second direction until the push rod retracts the friction plate to the initial position if the accelerator pedal opening is greater than a preset opening threshold and is maintained for a preset time.

[0148] In some embodiments, the apparatus 600 may further include:

[0149] A real-time vehicle speed detection module, used to detect the current vehicle speed of the target vehicle in real time;

[0150] The friction plate retraction second control module is used to control the parking motor to rotate in the second direction until the push rod retracts the friction plate to the initial position if the current vehicle speed is less than or equal to the preset safety threshold.

[0151] In some embodiments, the apparatus 600 may further include:

[0152] An indication information sending module, used for sending indication information to the vehicle system to instruct the vehicle system to send hydraulic fault warning information;

[0153] The request signal sending module is used to send a request signal to the seat belt control system of the target vehicle; the request signal is used to instruct the seat belt control system to actively retract the seat belt immediately.

[0154] The device and method embodiments in the described device embodiments are based on the same inventive concept.

[0155] An embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the method provided in the above method embodiment.

[0156] An embodiment of the present application also provides a computer storage medium, which can be set in a terminal to store at least one instruction or at least one program related to a method provided in the above method embodiment for implementing a method embodiment, and the at least one instruction or at least one program is loaded and executed by the processor to implement the method provided in the above method embodiment.

[0157] The embodiments of the present application also provide a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the method provided in the above method embodiment.

[0158] Optionally, in the embodiment of the present application, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in the present embodiment, the storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0159] The memory described in the embodiment of the present application can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, application programs required for functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0160] The method provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking running on a server as an example, Figure 7 1 is a hardware structure block diagram of a server of a vehicle control method provided in an embodiment of the present application. Figure 7As shown, the server 700 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 710 (the central processing unit 710 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 730 for storing data, and one or more storage media 720 (such as one or more mass storage devices) for storing application programs 723 or data 722. Among them, the memory 730 and the storage medium 720 can be short-term storage or permanent storage. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the central processing unit 710 can be configured to communicate with the storage medium 720 and execute a series of instruction operations in the storage medium 720 on the server 700. The server 700 may also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input and output interfaces 740, and / or one or more operating systems 721, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0161] The input / output interface 740 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the server 700. In one example, the input / output interface 740 includes a network adapter (Network Interface Controller, NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 740 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0162] It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0163] It can be seen from the embodiments of the vehicle control method, device and storage medium provided by the present application that, in the process of driving the target vehicle, the embodiment of the present application obtains the initial vehicle speed of the target vehicle; if the initial vehicle speed is greater than the preset safety threshold, detects whether the hydraulic brake system of the target vehicle fails; if the hydraulic brake system fails and the initial vehicle speed is in the first vehicle speed interval, detects whether a braking deceleration request is received within the first preset time period; if no braking deceleration request is received within the first preset time period, controls the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate from the initial position to the preset position in the direction close to the brake disc; when the braking deceleration request is received, controls the friction plate to generate dynamic braking force from the preset position. By actively detecting whether the hydraulic system fails when the initial vehicle speed is greater than the preset safety threshold, the friction plate is moved to the preset position in time when the hydraulic system fails, thereby reducing the gap between the friction plate and the brake disc, so that when the braking deceleration request is received, the braking distance can be reduced, thereby improving the safety of the vehicle.

[0164] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0165] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0166] A person 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 storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0167] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: During the driving process of the target vehicle, obtaining the initial speed of the target vehicle; If the initial vehicle speed is greater than a preset safety threshold, detecting whether the hydraulic brake system of the target vehicle fails; If the hydraulic brake system fails and the initial vehicle speed is in a first vehicle speed interval, detecting whether a braking deceleration request is received within a first preset time period; the starting point of the first vehicle speed interval is the preset safety threshold; If the braking deceleration request is not received within the first preset time period, the parking motor is controlled to rotate in a first rotation direction until the push rod pushes the friction plate from an initial position to a preset position in a direction close to the brake disc; the push rod is connected to the parking motor through a screw rod; When the braking deceleration request is received, the friction plate is controlled to generate dynamic braking force from the preset position.

2. The method according to claim 1, characterized in that If the initial vehicle speed is in the second vehicle speed interval, the method further includes: detecting whether the braking deceleration request is received within a second preset time period; the starting point of the second vehicle speed interval is the end point of the first vehicle speed interval; the second preset time period is shorter than the first preset time period; If the braking deceleration request is not received within the second preset time period, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force; The parking motor is controlled to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position.

3. The method according to claim 1, characterized in that If the initial vehicle speed is in the third vehicle speed interval, the method further includes: detecting whether the braking deceleration request is received within a third preset time period; the starting point of the third vehicle speed interval is the end point of the second vehicle speed interval; the third preset time period is shorter than the second preset time period; If the braking deceleration request is not received within the third preset time period, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a first braking force; The parking motor is controlled to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position.

4. The method according to claim 3, characterized in that After the friction plate is withdrawn to the preset position, the method further includes: detecting whether the braking deceleration request is received within a fourth preset time period; If the braking deceleration request is not received within the fourth preset time period, obtaining the current speed of the target vehicle; If the current vehicle speed is still in the third vehicle speed interval, controlling the parking motor to rotate in the first rotation direction until the push rod pushes the friction plate to contact the brake disc to generate a second braking force; The parking motor is controlled to rotate in a second rotation direction until the push rod retracts the friction plate away from the brake disc to the preset position.

5. The method according to any one of claims 1 to 4, characterized in that During the movement of the friction plate, the method further comprises: Real-time detection of the accelerator pedal opening of the target vehicle; If the accelerator pedal opening is greater than a preset opening threshold and is maintained for a preset time, the parking motor is controlled to rotate in a second direction until the push rod retracts the friction plate to the initial position.

6. The method according to claim 5, characterized in that The method further comprises: Detecting the current speed of the target vehicle in real time; If the current vehicle speed is less than or equal to the preset safety threshold, the parking motor is controlled to rotate in the second direction until the push rod retracts the friction plate to the initial position.

7. The method according to claim 1, characterized in that If the hydraulic brake system fails, the method further includes: Sending instruction information to the vehicle system to instruct the vehicle system to issue a hydraulic fault warning message; A request signal is sent to a seat belt control system of the target vehicle; the request signal is used to instruct the seat belt control system to actively retract the seat belt immediately.

8. A vehicle control device, characterized in that: The device comprises: An initial speed acquisition module is used to acquire the initial speed of the target vehicle during the driving process of the target vehicle; A hydraulic failure detection module, used to detect whether the hydraulic brake system of the target vehicle fails if the initial vehicle speed is greater than a preset safety threshold; a first braking request receiving module, configured to detect whether a braking deceleration request is received within a first preset time period if the hydraulic braking system fails and the initial vehicle speed is in a first vehicle speed interval; the starting point of the first vehicle speed interval being the preset safety threshold; a position control module, configured to control the parking motor to rotate in a first rotation direction until the push rod pushes the friction plate from an initial position to a preset position in a direction close to the brake disc if the braking deceleration request is not received within the first preset time period; the push rod is connected to the parking motor through a screw rod; The braking force control module is used to control the friction plate to generate dynamic braking force from the preset position after receiving the braking deceleration request.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1-7.

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