Vehicle braking control method and device, vehicle and computer readable storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle braking control method and device, a vehicle and a computer readable medium. The method comprises the steps that at least three detection results representing the stress condition of a brake pedal of the vehicle are obtained; the detection types of the at least three detection results are different; comparing the at least three detection results in pairs to obtain a matching degree between the at least three detection results in pairs; and according to whether the matching degree larger than or equal to a preset matching degree threshold value exists or not, the braking performance of the vehicle is correspondingly controlled. The accuracy of vehicle braking performance control can be improved, and the driving safety and braking experience of a user are balanced.

Description

Technical Field

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

[0002] During driving, controlling the vehicle's braking according to the user's braking intention is of great significance to ensuring driving safety. In the related art, there is a wire control braking solution that is decoupled from mechanical braking, that is, the force of the brake pedal is not directly transmitted to the brake caliper, but the brake controller assembly converts the force transmitted from the brake pedal through the input push rod into an electrical signal through its internal stroke sensor and hydraulic sensor, and then controls its motor to perform hydraulic pressurization and pressure relief on the brake system, thereby achieving braking. In the related art, if the signals detected by the sensors in the brake controller assembly are inconsistent, in order to ensure braking safety, the braking performance of the vehicle will be reduced, resulting in a significant increase in the braking distance, thereby affecting the user's braking experience.

[0003] Therefore, how to strike a balance between braking safety and user braking experience is a problem that needs to be solved. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle braking control method, device, vehicle and computer-readable storage medium, which can balance the user's driving safety and braking experience.

[0005] In a first aspect, an embodiment of the present application provides a vehicle braking control method, the vehicle braking control method comprising: Obtaining at least three detection results characterizing the force conditions of the brake pedal of the vehicle; the at least three detection results are of different detection types; Compare the at least three test results in pairs to obtain the matching degree between the at least three test results in pairs; The braking performance of the vehicle is controlled accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages: Compared with the related art that relies on two signals to control the braking performance of the vehicle, and only downgrades the vehicle's performance when the two signals are inconsistent. The present application introduces the detection results of the force conditions of at least three brake pedals to provide more redundant information and reduce the impact of a single abnormal result on the system's judgment, thereby improving the reliability and accuracy of the detection system performance. At the same time, by determining the matching degree between at least three detection results, and controlling the braking performance of the vehicle accordingly based on whether there is a matching degree greater than or equal to a preset matching degree threshold, that is, introducing multiple matching degrees to control the braking performance accordingly, thereby avoiding the impact on the user's braking experience caused by direct braking performance degradation when some signals fail, and achieving a balance between braking safety and the user's braking experience.

[0007] In one embodiment, the detection result includes at least three of a travel sensor signal of the brake pedal, a hydraulic pressure sensor signal of the brake pedal, a brake light switch signal of the vehicle, and a brake pedal position sensor signal of the vehicle.

[0008] In one embodiment, the method further comprises: The braking performance of the vehicle is adjusted according to the matching ratio; wherein the matching ratio is the ratio of the matching degrees greater than or equal to the preset matching degree threshold to the total number of matching degrees; the matching ratio is positively correlated with the level of the braking performance of the vehicle after adjustment.

[0009] In one embodiment, the method further comprises: If the matching ratio is less than a preset ratio threshold, a fault reminder is given to the user corresponding to the vehicle according to the matching ratio; wherein the matching ratio is negatively correlated with the severity of the brake fault reminded by the fault reminder.

[0010] In one embodiment, the method further comprises: For each of the test results, determining the sum of the matching degrees between the test result and each of the other test results; Determine the detection result with the largest sum of the corresponding matching degrees as the target detection result of the force condition; Based on the target detection result, the braking performance of the vehicle is adjusted according to the target detection result.

[0011] In one embodiment, the method further comprises: For each of the detection results, determine the confidence level of the detection result according to the matching degree between the detection result and other detection results and the preset priority level corresponding to the detection result; Filtering the target detection result of the force condition from the at least three detection results according to the confidence level; The braking performance of the vehicle is adjusted according to the target detection result.

[0012] In one embodiment, the detection result includes at least three of the brake pedal travel sensor signal, the brake pedal hydraulic sensor signal, the vehicle's brake light switch signal, and the vehicle's brake pedal position sensor signal; wherein, the priority of the brake light switch signal is lower than the priority of the hydraulic sensor signal; the priority of the hydraulic sensor signal is lower than the priority of the travel sensor signal and lower than the priority of the brake pedal position sensor signal.

[0013] In a second aspect, an embodiment of the present application further provides a vehicle brake control device, the vehicle brake control device comprising: An acquisition module, used to acquire at least three detection results characterizing the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different; A comparison module, used for comparing the at least three detection results in pairs to obtain a matching degree between the at least three detection results in pairs; The control module is used to control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0014] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle executes the vehicle braking control method as described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a processor, the processor executes the vehicle braking control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a vehicle braking system according to the related art.

[0017] Figure 2 The present invention is a flowchart of the steps of a vehicle braking control method provided according to an embodiment of the present application.

[0018] Figure 3 The present invention is a flowchart of the steps of a vehicle braking control method provided according to another embodiment of the present application.

[0019] Figure 4The present invention is a flowchart of the steps of a vehicle braking control method provided according to another embodiment of the present application.

[0020] Figure 5 The present invention is a flowchart of the steps of a vehicle braking control method provided according to another embodiment of the present application.

[0021] Figure 6 The present invention is a flowchart of the steps of a vehicle braking control method provided according to another embodiment of the present application.

[0022] Figure 7 It is a schematic diagram of the structure of a vehicle braking control device provided according to an embodiment of the present application.

[0023] Figure 8 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application.

[0024] In the above drawings: Brake pedal: 001, input push rod: 002, brake controller assembly: 003. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0028] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0029] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0030] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0031] Traditional brake control is a mechanical control method, that is, the force applied by the brake pedal 001 is directly transmitted to the brake caliper and converted into brake pressure acting on the tires of the vehicle.

[0032] In the related art, a wire control brake system that is decoupled from the mechanical system has emerged. The structure of the wire control brake system can be referred to Figure 1 ,like Figure 1 As shown in FIG. 1 , the wire control brake system mainly includes a brake pedal 001 and a brake controller assembly 003. The brake pedal 001 is used to transmit the force of the user's foot to the brake controller through the principle of a lever. Figure 1 The brake controller assembly 003 is used to convert the force transmitted from the brake pedal 001 through the input push rod 002 into an electrical signal through its internal stroke sensor and hydraulic sensor, and then control its motor to perform hydraulic pressure application and pressure relief actions on the brake system.

[0033] It can be seen that in the wire control braking system, the force applied by the brake pedal 001 is not directly transmitted to the brake caliper, but is transmitted to the motor on the brake controller through the push rod stroke signal (collected by the stroke sensor) and the master cylinder pressure signal (collected by the hydraulic sensor) of the brake controller, thereby realizing braking control of the vehicle.

[0034] In the related art, before performing braking control based on the signals collected by the stroke sensor and the hydraulic sensor, the signals collected by the stroke sensor and the hydraulic sensor will be cross-checked to ensure the accuracy of the braking intention. If it is found that there is an inconsistency between the signal collected by the stroke sensor and the signal collected by the hydraulic sensor, the braking performance of the vehicle will be directly reduced. Among them, the way to reduce the braking performance of the vehicle includes controlling the vehicle to enter the mechanical backup mode. In the mechanical backup mode, the vehicle only uses mechanical control, and its braking performance is greatly reduced. The braking distance under the same brake pedal 001 stroke is greatly increased, affecting the user's braking experience.

[0035] In the related art, only the two-way sensor signal in the brake controller is verified. On the one hand, the reliability of the verification result is not high, which is easy to misjudge the user's braking intention. On the other hand, the number of the two-way signal verification results is limited, and the granularity of the braking performance control based on the signal verification results is too coarse, making it difficult to achieve a balance between braking safety and user experience. In addition, when the two-way signals are inconsistent, the related art can only know that there is at least one signal abnormality, but cannot quickly locate the fault signal source. Therefore, the repair efficiency of the vehicle braking function is also low.

[0036] It can be seen from the above that the existing vehicle braking control has a low accuracy rate and cannot achieve a balance between braking safety and driving experience.

[0037] In view of this, the embodiments of the present application provide a vehicle braking control method, device, vehicle and computer-readable storage medium, which can improve the accuracy of vehicle braking control and achieve a balance between braking safety and driving experience.

[0038] See also Figure 2 , is a flowchart of the steps of a vehicle braking control method provided by an embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. This method embodiment is executed based on a preset electronic device, which has certain data processing capabilities, data storage capabilities, and communication capabilities. The electronic device may include a microprocessor, a mobile phone, a computer, etc., which is not limited by the embodiment of the present invention.

[0039] See also Figure 2 As shown, the vehicle braking control method may include the following steps: Step 101: Obtain at least three detection results that characterize the force conditions of a brake pedal of a vehicle; the detection types of the at least three detection results are different.

[0040] Among them, the user of the vehicle expresses the intention to brake the vehicle by stepping on or releasing the brake pedal. Therefore, the force applied to the brake pedal can represent the user's braking intention. It should be noted that the user can also express the braking intention by controlling the handbrake of the vehicle. The functional difference between the handbrake and the brake pedal is that the brake pedal is used to represent the dynamic parking intention, while the handbrake is used to represent the static parking intention. The embodiment of the present invention performs braking control for dynamic parking scenarios.

[0041] Specifically, the force condition of the brake pedal can be expressed as the travel of the brake pedal. It is understandable that the force condition of the brake pedal can be detected based on different detection principles and different detection tools (such as sensors). Considering that the detection tool may have errors, faults or failures, in order to more accurately determine the user's braking intention, the detection results of the force condition of the brake pedal under a variety of different detection types can be obtained. Among them, different detection types can represent different detection tools and / or detection principles. Further, with respect to the selection of the number of types of detection results, considering that when obtaining the detection results of two different detection types, if the two detection results are inconsistent, the actual force condition of the brake pedal cannot be determined, and the accuracy of the determination of the braking intention is affected. Therefore, in order to ensure driving safety, the trust in the wire control brake system can only be cancelled and directly fall back to the mechanical backup, and the braking performance in the mechanical braking mode is greatly reduced, which will reduce the user's braking experience. Therefore, in an embodiment of the present invention, detection results of at least three different detection types are introduced as the basis for braking control in subsequent steps. The increase in the types of detection results can improve the accuracy of determining the braking intention. At the same time, even when large errors, faults or failures occur in some detection types, the embodiment of the present invention can also accurately determine the braking intention based on the remaining detection results that are within the normal threshold range, without the need to directly enter the mechanical backup mode to ensure driving safety, thereby achieving a balance between driving safety and braking experience.

[0042] Preferably, considering that the greater the number of detection results, the greater the resources and time occupied by the subsequent detection result processing, excessive redundancy of detection results may result in low braking control efficiency, and the increase in the processing cost of the detection results and the improvement in the accuracy of braking control may not be linearly positively correlated, therefore, in an embodiment of the present invention, three detection results are preferred to improve the accuracy of braking control while avoiding reducing the efficiency of braking control.

[0043] With respect to the selection of the detection type, in order to avoid excessively increasing the cost of braking control, it is considered that there are some signals in the vehicle that are related to the force conditions of the brake pedal, thereby being able to characterize the force conditions. However, in the related art, these signals are not used for braking control. Therefore, in some embodiments, the detection results include at least three of the brake pedal travel sensor signal, the brake pedal hydraulic sensor signal, the vehicle's brake light switch signal, and the vehicle's brake pedal position sensor signal.

[0044] Among them, the stroke sensor and hydraulic sensor signals are arranged in the brake controller. The stroke sensor detects the stroke of the brake pedal through the Hall sensor, and the hydraulic sensor detects the force condition of the brake pedal by converting it into the pressure of the enclosed liquid. The brake light switch in the vehicle is driven by the brake pedal. When the brake light switch is on, it indicates that the pedal is pressed. The brake light switch signal only has two states: on or off. When the whole vehicle is powered off, the brake light switch can be used as a wake-up signal source and as a backup signal for lighting the brake light. It should be specially noted that in the related technology, the brake light switch is only used as a signal to show the outside world whether the brake pedal is pressed. It is not used for the braking control of the vehicle, which results in a certain waste of resources.

[0045] Correspondingly, the brake pedal position sensor is used to detect the position of the brake pedal. Different from the brake light switch signal, which only has two states, on or off, the granularity of its representation of the force applied to the brake pedal is coarser. The brake pedal position sensor can detect the position of the brake pedal within the full range of travel, and its precision is higher than that of the brake light switch signal. In the related art, the detection signal of the brake pedal position sensor can be used to control the brake light, but is not directly used for the braking control of the vehicle.

[0046] The embodiment of the present invention introduces at least one of the vehicle's brake light switch signal and brake pedal position sensor signal, which can improve the accuracy of the vehicle's braking control without requiring major software and hardware modifications to the vehicle, thereby improving the vehicle's braking control performance at a lower cost.

[0047] Step 102: Compare the at least three detection results in pairs to obtain the matching degree between the at least three detection results in pairs.

[0048] Among them, the matching degree is used to characterize the similarity of two detection results. For example, the three detection results of the brake light switch signal, the stroke sensor signal and the hydraulic sensor signal can be taken, wherein the signal values ​​of the brake light switch signal, the stroke sensor signal and the hydraulic sensor signal can be 6, 8 and 9 respectively. Then the matching degree between the brake light switch signal and the stroke sensor signal is 0.75, the matching degree between the brake light switch signal and the hydraulic sensor signal is 0.67, and the matching degree between the hydraulic sensor signal and the stroke sensor signal is 0.89. It should be noted that, considering that the signal values ​​of different types of signals may not be directly compared, the signal values ​​of the brake light switch signal, the stroke sensor signal and the hydraulic sensor signal can be standardized, and the units of the signal values ​​of the three types of signals can be unified before comparison. The standardized processing method of the signal values ​​of different types of signals can adopt the relevant technology in the field, and the embodiment of the present invention is not limited to this.

[0049] Step 103: Controlling the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0050] Among them, considering that the driver steps on the brake pedal for the same stroke, the braking force generated by the vehicle under different braking performances is also different, which leads to different braking experiences for users. For example, too small a braking force will result in too long a braking distance, thereby reducing the braking experience of the user. In the related art, only two detection results are used for mutual verification. When the verification results are inconsistent, the braking performance of the vehicle is degraded, which will greatly affect the braking experience of the user, and the guarantee of the braking safety of the vehicle is not smart enough. In the embodiment of the present invention, at least three different types of detection results of the force conditions of the brake pedal are introduced to provide more redundant information, reduce the influence of a single abnormal result on the system judgment, and thus improve the reliability and accuracy of the detection performance. At the same time, by determining the matching degree between at least three detection results, and according to whether there is a matching degree greater than or equal to a preset matching degree threshold, the braking performance of the vehicle is controlled accordingly, that is, multiple matching degrees are introduced to control the braking performance accordingly.

[0051] Wherein, step 103 also includes: if there is a matching degree between at least two of the detection results that is greater than or equal to a preset matching degree threshold, the braking performance of the vehicle is not downgraded. Not downgrading the braking performance of the vehicle may be not controlling the vehicle to enter a mechanical backup braking control mode. Optionally, the braking performance of the vehicle may also be not reduced, that is, the braking force of the vehicle will not decrease under the same brake pedal force. This is different from the related art, in order to avoid misjudgment of braking intention during sensor failure, the mechanical braking mode and other modes with greatly reduced braking performance will directly take over the wire control brake mode, the braking performance in the mechanical braking mode is greatly reduced, and the braking distance under the same travel is greatly increased, which will affect the user's braking experience. The embodiments of the present invention can ensure the user's braking experience while ensuring driving safety.

[0052] Wherein, step 103 also includes: if there is no such matching degree between any two of the detection results that is greater than or equal to the preset matching degree, the braking performance of the vehicle is downgraded. If there is no such matching degree between any two detection results that is greater than or equal to the preset degree, it indicates that many of the current detection results may have large errors or even have failed. At this time, the accuracy of the detection results in representing the braking intention is difficult to guarantee. At this time, in order to ensure driving safety and avoid driving hazards such as collision accidents due to excessive braking force and short braking distance, it is necessary to downgrade or lower the braking performance of the vehicle to reduce the braking force of the vehicle so that the vehicle can brake more smoothly. Degrading the braking performance of the vehicle can be controlling the vehicle to enter a mechanical backup braking control mode. The method of reducing the braking performance of the vehicle includes controlling the vehicle to enter a mechanical backup mode. In the mechanical backup mode, the vehicle is only mechanically controlled, and its braking performance is greatly reduced.

[0053] In some embodiments, considering that when there is a sensor error, fault or failure, the reliability of the detection result obtained by the sensor will be reduced, thereby affecting the accuracy of the vehicle's braking intention determined according to the detection result, therefore, Figure 3 As shown, the vehicle braking control process includes: Step 201: Obtain at least three detection results that characterize the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different. Among them, step 201 is substantially the same as the aforementioned step 101 and will not be described again here.

[0054] Step 202: Control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0055] Among them, step 202 is substantially the same as the aforementioned step 102 and will not be described again here.

[0056] Step 203: Controlling the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0057] Among them, step 203 is substantially the same as the aforementioned step 103 and will not be described again here.

[0058] Step 204: Adjust the braking performance of the vehicle according to the matching ratio; wherein the matching ratio is the ratio of the matching degrees greater than or equal to the preset matching degree threshold to the total number of matching degrees; the matching ratio is positively correlated with the level of the braking performance of the vehicle after adjustment.

[0059] Among them, considering that the proportion of all test results that meet the matching standards can represent the accuracy of the judgment of the braking intention, in order to avoid traffic accidents caused by misjudgment of braking intention, and at the same time, to avoid the degradation of braking experience caused by a few signal errors, the matching degrees between all test results can be counted to obtain the proportion of all test results that meet the matching standards, that is, the matching ratio. The larger the matching ratio, the lower the proportion of failed test results. Specifically, considering that the more test results with matching degree among all the test results, the more accurate the current test results are in representing the user's braking intention, and thus the accuracy of braking control based on the test results is also higher, so even if the vehicle's complete braking performance is used, the probability of driving danger is relatively small. Among them, the matching degree can be greater than or equal to the preset matching degree threshold. Correspondingly, if the number of test results with matching degree among all the test results is small, it means that more of the current test results may have large errors or even fail. At this time, the accuracy of the test results in representing the braking intention is difficult to guarantee. At this time, in order to ensure driving safety and avoid driving dangers such as collision accidents due to excessive braking force and short braking distance, it is necessary to lower the braking performance of the vehicle, reduce the braking force of the vehicle, and make the vehicle brake more smoothly. Furthermore, when no matching degree is achieved among all the test results, it means that the sensors related to the brake pedal force condition in the vehicle's wire control brake system may have failed or ineffective. Therefore, it is no longer reliable to judge the mapping intent based on the test results at this time, and you can directly switch to the mechanical backup mode, that is, determine the braking performance according to the vehicle's mechanical brake control mode.

[0060] In the embodiment of the present invention, by matching different types of detection results, the failure condition of the vehicle's sensor can be determined based on the matching degree between at least three detection results, and the braking performance of the vehicle is adjusted based on the failure condition. Since a larger number of detection results are used as the basis for judging the braking intention, a larger distribution of matching degrees can be obtained. Therefore, the current braking condition can be divided into a finer granularity according to the distribution of matching degrees, and different braking performances can be adopted under different braking conditions, thereby avoiding the cliff-like reduction in braking performance caused by the "one-size-fits-all" braking performance control method in the related technology.

[0061] Specifically, taking into account that there may be occasional noise in the process of collecting the test results, resulting in a certain floating error in the test results, a certain matching threshold can be set. If the matching degree between two test results is greater than or equal to the matching threshold, the two test results represent the same force condition of the brake pedal.

[0062] For example, the three detection results of the brake light switch signal, the travel sensor signal and the hydraulic sensor signal can be taken, and the following braking conditions can be divided according to the distribution of the matching degree: Condition 1: The signal values ​​of the brake light switch signal, the travel sensor signal and the hydraulic sensor signal are 8, 8 and 9 respectively. Then the matching degree between the brake light switch signal and the travel sensor signal is 1, the matching degree between the brake light switch signal and the hydraulic sensor signal is 0.89, and the matching degree between the hydraulic sensor signal and the travel sensor signal is 0.89. The matching degree threshold can be set to 0.7, so the matching degree between the three detection results is greater than the preset matching degree threshold, that is, the matching ratio is 1, so that the vehicle can be controlled to exert its full braking performance, thereby showing the maximum braking force that the vehicle can generate under this force condition.

[0063] Working condition 2: The signal values ​​of the brake light switch signal, the travel sensor signal, and the hydraulic sensor signal are 6, 8, and 9, respectively. The matching degree between the brake light switch signal and the travel sensor signal is 0.75, the matching degree between the brake light switch signal and the hydraulic sensor signal is 0.67, and the matching degree between the hydraulic sensor signal and the travel sensor signal is 0.89. The matching degree threshold can be set to 0.7. Therefore, there are two matching degrees among the three matching degrees that are greater than the preset matching degree threshold, that is, the matching ratio is 0.67. In order to avoid a significant decrease in the braking experience when only a few detection results fail, the maximum braking capacity of the vehicle can be reduced by a certain proportion, but the reduction ratio can be set to a smaller ratio, such as only reducing by 5%-10%. For example, according to the braking force under this working condition, it is a part of the maximum braking force that the vehicle can generate under this force condition, such as 90% to 95% of the maximum braking force.

[0064] Condition 3: The signal values ​​of the brake light switch signal, the travel sensor signal, and the hydraulic sensor signal are 3, 6, and 9, respectively. The matching degree between the brake light switch signal and the travel sensor signal is 0.50, the matching degree between the brake light switch signal and the hydraulic sensor signal is 0.33, and the matching degree between the hydraulic sensor signal and the travel sensor signal is 0.67. The matching degree threshold can be set to 0.7. Therefore, the matching degree between the three test results is less than the matching degree threshold, that is, the matching ratio is 0, which indicates that the sensors related to the force of the brake pedal in the vehicle's brake-by-wire system may have failed or failed. Therefore, it is no longer reliable to rely on the test results to judge the mapping intent at this time, and it can be directly switched to the mechanical backup mode.

[0065] In some embodiments, considering that the accuracy of the vehicle's braking intention is not affected when a small number or part of the detection results fail, the braking performance of the vehicle may not be adjusted. However, in order to ensure the future stable and safe operation of the vehicle, the user may be prompted for the cross-check results of the detection results, such as Figure 4 As shown, the vehicle braking control process includes: Step 301: Obtain at least three detection results that characterize the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different.

[0066] Among them, step 301 is substantially the same as the aforementioned step 101 and will not be described again here.

[0067] Step 302: Compare the at least three detection results in pairs to obtain the matching degree between the at least three detection results in pairs.

[0068] Among them, step 302 is substantially the same as the aforementioned step 102 and will not be described again here.

[0069] Step 303: Control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0070] Among them, step 303 is substantially the same as the aforementioned step 103 and will not be described again here.

[0071] Step 304: Adjust the braking performance of the vehicle according to the matching ratio; wherein the matching ratio is the ratio of the matching degrees greater than or equal to the preset matching degree threshold to the total number of matching degrees; the matching ratio is positively correlated with the level of the braking performance of the vehicle after adjustment.

[0072] Among them, step 304 is substantially the same as the aforementioned step 204 and will not be described again here.

[0073] Step 305: If the matching ratio is less than a preset ratio threshold, a fault reminder is given to the user corresponding to the vehicle according to the matching ratio; wherein the matching ratio is negatively correlated with the severity of the brake fault reminded by the fault reminder.

[0074] The user corresponding to the vehicle may be the owner, driver, or other person who has control authority over the vehicle. The fault reminder may be to display preset fault information to the user, and the fault information is used to remind the user of the severity of the fault of the detection element of the brake pedal force condition of the current vehicle. The fault information may be displayed in the form of sound, light, or the like, which is not limited in the embodiment of the present invention.

[0075] Among them, considering that the failure of the detection result can generally represent the failure of the corresponding detection element, therefore, the lower the matching ratio, the greater the number of detection element failures in the total number of detection elements, the more elements need to be replaced and repaired, and therefore the greater the severity of the corresponding braking failure. By reminding the user of the fault and reminding the user of the severity of the fault according to the matching ratio, the user's attention and attention are aroused, and the driving safety of the vehicle is guaranteed while the braking performance of the vehicle is not reduced and the user's braking experience is guaranteed. Optionally, if the current vehicle has the problem of unreliable detection results under some detection types, the user can also be reminded through fault reminder information to repair or replace the detection elements corresponding to these detection types.

[0076] It is understandable that in some embodiments, in working condition 2, in order to avoid affecting the braking experience when only a few detection results fail, the braking performance of the vehicle may not be downgraded, and only the aforementioned fault information may be displayed to the user. Preferably, the braking performance may be downgraded while the fault information is displayed, so as to cause a certain degree of discomfort to the user, prompting the user to repair and replace the faulty parts to ensure driving safety.

[0077] In some embodiments, in order to control the vehicle according to the user's braking intention and thus ensure the user's driving experience, the braking force of the vehicle needs to be based on the force condition of the brake pedal, and the accuracy of the detection result will lead to a large error in the force condition, thereby affecting the accuracy and effectiveness of the braking control. Therefore, Figure 5 As shown, the vehicle braking control method includes: Step 401: Obtain at least three detection results that characterize the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different.

[0078] Among them, step 401 is substantially the same as the aforementioned step 101 and will not be described again here.

[0079] Step 402: Compare the at least three detection results in pairs to obtain the matching degree between the at least three detection results in pairs.

[0080] Among them, step 402 is substantially the same as the aforementioned step 102 and will not be described again here.

[0081] Step 403: Control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0082] Among them, step 403 is substantially the same as the aforementioned step 103 and will not be described again here.

[0083] Step 404: for each of the detection results, determine the sum of the matching degrees between the detection result and each of the other detection results.

[0084] Among them, by calculating the matching degree, cross-validation is performed between at least three different types of test results. For each test result, the matching degree between the test result and other test results can reflect the reliability of the test result. Therefore, the reliability of the current test result can be measured based on the sum of the matching degrees between the current test result and each of the other test results.

[0085] Step 405: Determine the detection result with the largest sum of the corresponding matching degrees as the target detection result of the force condition.

[0086] The target detection result is the detection result that is closest to the actual force condition of the vehicle among the at least three detection results. In order to select the detection result that is closest to the actual force condition of the vehicle from the at least three detection results, the detection result with the highest sum of matching degrees with other detection results is determined as the most accurate detection result, and the most accurate detection result is recorded as the target detection result of the force condition of the brake pedal of the vehicle. It is understandable that the detection result with the highest average of matching degrees with other detection results can also be determined as the target detection result.

[0087] For example, assuming that the number of test results is m, where m is an integer greater than or equal to 3, then one test result corresponds to m-1 matching degrees. For the test results of each test type, the sum of the matching degrees between the test result and the other test results can be determined based on all matching degrees corresponding to the test result, and the test result with the largest sum of matching degrees with the other test results is determined as the target test result, which is the most accurate representation of the force condition of the brake pedal.

[0088] Optionally, considering that there is a certain valid signal value range for the test results, if the test result is outside the valid signal value range, it indicates that the test result is invalid. Therefore, for each test result, the effectiveness of the test effect can also be judged according to the valid signal value range corresponding to the detection type of the test result, and invalid test results are screened out from at least three test results, and then the matching degree between the test results obtained after the screening is calculated, thereby improving the effectiveness of determining the target detection result.

[0089] Step 406: Adjust the braking performance of the vehicle according to the target detection result.

[0090] Among them, the target braking force of the vehicle is determined according to the target detection result and the braking performance of the vehicle, and the vehicle is braked and controlled according to the target braking force. Specifically, the target braking force is applied to the power system of the vehicle (such as tires) to stop the vehicle within the braking distance corresponding to the target braking force, thereby ensuring the driving safety of the vehicle. The braking performance can be pre-calibrated to characterize the mapping relationship between the force of the vehicle's brake pedal and the vehicle's braking force.

[0091] In some embodiments, considering that the reliability and accuracy of different detection types may be different, in order to more accurately control the braking of the vehicle, such as Figure 6 As shown, the vehicle braking control method includes: Step 501: Obtain at least three detection results that characterize the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different.

[0092] Among them, step 501 is substantially the same as the aforementioned step 101 and will not be described again here.

[0093] Step 502: Compare the at least three detection results in pairs to obtain the matching degree between the at least three detection results in pairs.

[0094] Among them, step 502 is substantially the same as the aforementioned step 102 and will not be described again here.

[0095] Step 503: Control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0096] Among them, step 503 is substantially the same as the aforementioned step 103 and will not be described again here.

[0097] Step 504: For each of the detection results, determine the confidence level of the detection result according to the matching degree between the detection result and other detection results and the preset priority level corresponding to the detection result.

[0098] Among them, for each detection result, the priority can be determined according to the reliability and / or accuracy of the detection result. Reliability is used to characterize the probability of failure or failure of the detection type corresponding to the detection result. The greater the probability of failure or failure, the lower its reliability. Correspondingly, the accuracy is determined according to the precision of the detection type corresponding to the detection result. The greater the precision of the detection type, the greater the accuracy. For example, for the brake light switch signal and the brake pedal position sensor signal, from the reliability aspect, the brake light switch signal is a mechanical switch signal, which may have a signal jump due to the bounce of the switch spring, and the brake pedal position sensor signal detects the rotation angle of the rotating shaft of the brake pedal based on the magnetic induction principle, thereby converting the position of the brake pedal, and its reliability is higher than the brake light switch signal. Therefore, the priority of the brake light switch signal can be set to be lower than the brake pedal position sensor signal.

[0099] Correspondingly, from the perspective of accuracy, the brake light switch signal has a lower precision and only has two states: on or off, while the brake pedal position sensor signal has a higher detection accuracy based on the magnetic induction principle. Therefore, the priority of the brake light switch signal can be set lower than the brake pedal position sensor signal.

[0100] Taking into account the detection principles based on different detection types and the characteristics of the detection tools, in some embodiments, when the detection result includes at least three of the brake pedal travel sensor signal, the brake pedal hydraulic sensor signal, the vehicle's brake light switch signal, and the vehicle's brake pedal position sensor signal, the priority can be set as follows: The priority of the brake light switch signal is lower than the priority of the hydraulic pressure sensor signal; the priority of the hydraulic pressure sensor signal is lower than the priority of the travel sensor signal and lower than the priority of the brake pedal position sensor signal.

[0101] Among them, considering that the accuracy and reliability of the brake light switch signal are lower than the detection results of other detection types, the priority of the brake light switch signal can be set to the minimum. In addition, considering that the hydraulic sensor signal detects the force of the brake pedal based on the deformation of the brake fluid in the brake master cylinder due to pressure, its accuracy is based on the good sealing of the brake master cylinder, and the absolute airtightness of the brake master cylinder is difficult to achieve in actual environment. Correspondingly, the stroke sensor signal and the brake pedal position sensor signal directly detect the movement of the brake pedal through the Hall sensor, and their reliability and accuracy are both high. Therefore, the priority of the hydraulic sensor signal can be set to be lower than the priority of the stroke sensor signal, and the priority of the hydraulic sensor signal can be set to be lower than the priority of the brake pedal position sensor signal.

[0102] Optionally, regarding the priority setting of the brake pedal position sensor signal and the travel sensor signal, considering that the detection principles of the brake pedal position sensor signal and the travel sensor signal are roughly similar, both are based on the Hall sensor to detect the movement of the brake pedal, the only difference is that the brake pedal position sensor signal detects the rotation of the brake pedal's shaft, while the travel sensor signal detects the linear motion of the brake pedal. Therefore, the priority of the brake pedal position sensor signal can be set equal to the travel sensor signal.

[0103] Preferably, considering that when the stroke sensor signal and the hydraulic sensor signal are selected as the detection result at the same time, since the stroke sensor signal and the hydraulic sensor signal are both inside the brake controller assembly, when the power is cut off inside the brake controller, the stroke sensor signal and the hydraulic sensor signal will be unavailable at the same time, affecting the accuracy of the judgment of the braking intention. Since the brake pedal position sensor signal is located outside the brake controller, its available state is decoupled from the stroke sensor signal and the hydraulic sensor signal, so it will not be affected by the power cut inside the brake controller, so the reliability of the brake pedal position sensor signal is higher, therefore, the priority of the brake pedal position sensor signal can be set to be slightly higher than the stroke sensor signal.

[0104] Assume that the number of detection results is m, where m is an integer greater than or equal to 3, and one detection result corresponds to m-1 matching degrees. For the detection results of each detection type, a weighted sum can be performed according to all matching degrees corresponding to the detection result and the priority corresponding to the detection result to determine the confidence corresponding to the detection result, and the detection result with the highest confidence is determined as the target detection result that most accurately represents the force condition of the brake pedal.

[0105] Step 505: Filter out the target detection result of the force condition from the at least three detection results according to the confidence level.

[0106] Among them, the detection result with the highest confidence can be determined as the target detection result. Optionally, in order to improve the accuracy of the target detection result, the confidences can also be arranged in descending order to obtain a confidence sequence. The detection results ranked in the top preset positions in the confidence sequence are weighted and summed according to the priorities corresponding to the respective detection results to obtain the target detection result.

[0107] Step 506: Adjust the braking performance of the vehicle according to the target detection result.

[0108] It is substantially the same as the aforementioned step 406 and will not be described again here.

[0109] Please refer to Figure 7, is a schematic diagram of the hardware structure of the vehicle braking control device 60 provided in the embodiment of the present application. Figure 7 As shown, the vehicle brake control device 60 may include: The acquisition module 601 is used to acquire at least three detection results representing the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different; A comparison module 602 is used to compare the at least three detection results in pairs to obtain a matching degree between the at least three detection results in pairs; The control module 603 is used to control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

[0110] Please refer to Figure 8 , is a schematic diagram of the hardware structure of the vehicle 70 provided in the embodiment of the present application. Figure 8 As shown, the vehicle 70 may include a processor 701 and a memory 702. The memory 702 is used to store one or more computer programs 703. The one or more computer programs 703 are configured to be executed by the processor 701. The one or more computer programs 703 include instructions, and the above instructions can be used to implement the above vehicle braking control method in the vehicle 70.

[0111] It is understood that the structure shown in this embodiment does not constitute a specific limitation on the vehicle 70. In other embodiments, the vehicle 70 may include more or fewer components than shown, or combine some components, or separate some components, or arrange the components differently.

[0112] The processor 701 may include one or more processing units, for example, the processor 701 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0113] The processor 701 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 701 is a cache memory. The memory may store instructions or data that the processor 701 has just used or circulated. If the processor 701 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 701, and thus improves the efficiency of the system.

[0114] In some embodiments, the processor 701 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0115] In some embodiments, the processor 701 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0116] In some embodiments, the memory 702 may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0117] This embodiment also provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on a processor, the processor executes the above-mentioned related method steps to implement the vehicle braking control method in the above-mentioned embodiment.

[0118] Among them, the vehicle braking control device and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0119] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0120] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0121] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0124] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A vehicle braking control method, characterized in that: The method comprises: Obtaining at least three detection results characterizing the force conditions of the brake pedal of the vehicle; the at least three detection results are of different detection types; Compare the at least three test results in pairs to obtain the matching degree between the at least three test results in pairs; The braking performance of the vehicle is controlled accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

2. The method according to claim 1, characterized in that: The detection result includes at least three of a travel sensor signal of the brake pedal, a hydraulic pressure sensor signal of the brake pedal, a brake light switch signal of the vehicle, and a brake pedal position sensor signal of the vehicle.

3. The method according to claim 1, characterized in that The method further comprises: The braking performance of the vehicle is adjusted according to the matching ratio; wherein the matching ratio is the ratio of the matching degrees greater than or equal to the preset matching degree threshold to the total number of matching degrees; the matching ratio is positively correlated with the level of the braking performance of the vehicle after adjustment.

4. The method according to claim 3, characterized in that: The method further comprises: If the matching ratio is less than a preset ratio threshold, a fault reminder is given to the user corresponding to the vehicle according to the matching ratio; wherein the matching ratio is negatively correlated with the severity of the brake fault reminded by the fault reminder.

5. The method according to claim 1, characterized in that The method further comprises: For each of the test results, determining the sum of the matching degrees between the test result and each of the other test results; Determine the detection result with the largest sum of the corresponding matching degrees as the target detection result of the force condition; The braking performance of the vehicle is adjusted according to the target detection result.

6. The method according to claim 1, characterized in that The method further comprises: For each of the detection results, determine the confidence level of the detection result according to the matching degree between the detection result and other detection results and the preset priority level corresponding to the detection result; Filtering the target detection result of the force condition from the at least three detection results according to the confidence level; The braking performance of the vehicle is adjusted according to the target detection result.

7. The method according to claim 6, characterized in that The detection result includes at least three of the brake pedal travel sensor signal, the brake pedal hydraulic sensor signal, the vehicle's brake light switch signal and the vehicle's brake pedal position sensor signal; wherein, the priority of the brake light switch signal is lower than the priority of the hydraulic sensor signal; the priority of the hydraulic sensor signal is lower than the priority of the travel sensor signal and lower than the priority of the brake pedal position sensor signal.

8. A vehicle brake control device, characterized in that: The vehicle brake control device comprises: An acquisition module, used to acquire at least three detection results characterizing the force conditions of the brake pedal of the vehicle; the detection types of the at least three detection results are different; A comparison module, used for comparing the at least three detection results in pairs to obtain a matching degree between the at least three detection results in pairs; The control module is used to control the braking performance of the vehicle accordingly according to whether the matching degree is greater than or equal to a preset matching degree threshold.

9. A vehicle, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle executes the vehicle braking control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which, when executed on a processor, cause the processor to perform the method according to any one of claims 1 to 7.

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