Vehicle braking control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle brake control method, device and equipment and a storage medium, and relates to the technical field of automobiles, and the method comprises the steps that when a brake signal is received, a travel value sent by a brake pedal travel sensor and the real-time motion state, sent by an acceleration sensor, of each wheel are obtained; calculating the total braking force demand of the vehicle according to the travel value; on the basis of the total braking force requirement and the motion state, corresponding braking force is distributed to wheels; based on the braking force, the vehicle is controlled to be braked, and different braking forces are distributed to the four wheels, so that the longitudinal acceleration change rate of the whole vehicle tends to be gentle, pause during vehicle braking is remarkably reduced, and the smoothness of the braking process and the comfort of passengers are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and in particular to a vehicle braking control method, device, equipment and storage medium. Background Art

[0002] Currently, the comfort of a vehicle during braking is mainly related to factors such as the magnitude of the braking force and the softness and hardness characteristics of the suspension. Therefore, on the premise that the softness and hardness characteristics of the suspension cannot be adjusted in real time, the magnitude of the braking force during vehicle braking determines the braking comfort of the vehicle.

[0003] When the braking force is greater, the braking jerks of the vehicle are more obvious; when the braking force is smaller, the braking comfort of the vehicle is better. However, the magnitude of the braking force depends on the braking distance requirement of the vehicle. If the braking comfort of the vehicle is improved by reducing the braking force, the braking distance will also become larger accordingly, resulting in an increased risk of vehicle collision. Therefore, how to improve the braking comfort of the vehicle by controlling the vehicle braking force has become a difficult problem.

[0004] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a vehicle braking control method, device, equipment and storage medium, aiming to solve the technical problem of how to control the vehicle braking force to enable the vehicle to brake stably.

[0006] To achieve the above object, the present invention provides a vehicle braking control method, and the vehicle braking control method includes the following steps:

[0007] When a braking signal is received, obtain the travel value sent by the braking pedal travel sensor and the real-time motion states of each wheel sent by the acceleration sensor;

[0008] Calculate the total braking force requirement of the vehicle according to the travel value;

[0009] Based on the total braking force requirement and the motion states, allocate corresponding braking forces to the wheels;

[0010] Based on the braking forces, control the vehicle to brake.

[0011] In one embodiment, the step of allocating corresponding braking forces to the wheels based on the total braking force requirement and the motion states includes:

[0012] Determine the vertical acceleration values and longitudinal acceleration values of each tire based on the motion states;

[0013] Dynamically allocate and process the total braking force demand, the vertical acceleration value, and the longitudinal acceleration through a preset logical algorithm to determine the braking force of each wheel.

[0014] In one embodiment, the step of dynamically allocating and processing the total braking force demand, the vertical acceleration value, and the longitudinal acceleration through a preset logical algorithm to determine the braking force of each wheel includes:

[0015] Based on the vertical acceleration value and the longitudinal acceleration value, determine the estimated adhesion coefficient of each wheel;

[0016] Based on the estimated adhesion coefficient and the vehicle center of gravity position, calculate the braking force distribution ratio of each wheel in real time to determine the braking force of each wheel.

[0017] In one embodiment, the method further includes:

[0018] Obtain the yaw rate and lateral acceleration of the vehicle;

[0019] Determine the stability weight factor based on the yaw rate and the lateral acceleration;

[0020] Adjust the braking force distribution ratio based on the stability weight factor to obtain the updated braking force distribution ratio of each wheel.

[0021] In one embodiment, the step of calculating the total braking force demand of the vehicle according to the travel value includes:

[0022] Obtain the vehicle load, the real-time vehicle speed, and the slope information of the road ahead of the vehicle;

[0023] Determine the preliminary braking force demand according to the travel value, the vehicle load, and the real-time vehicle speed;

[0024] Adjust the preliminary total braking force demand based on the slope information to obtain the total braking force demand.

[0025] In one embodiment, the step of controlling the vehicle to brake based on the braking force further includes:

[0026] Monitor the actual braking data of the vehicle;

[0027] Compare the actual braking data with the total braking force demand to determine the error value;

[0028] Adjust the braking force of each wheel according to the error value, and control the vehicle to brake according to the adjusted braking force.

[0029] In one embodiment, after the step of controlling the vehicle to brake, it further includes:

[0030] When it is detected that the vehicle speed drops to a preset vehicle speed threshold, reduce the braking force of the front wheels of the vehicle and simultaneously increase the braking force of the rear wheels of the vehicle to suppress vehicle pitching.

[0031] In addition, to achieve the above object, the present invention also provides a vehicle braking control device, which includes:

[0032] An acquisition module, configured to acquire the travel value sent by the brake pedal travel sensor and the real-time motion states of each wheel sent by the acceleration sensor when receiving a braking signal;

[0033] A calculation module, configured to calculate the total braking force demand of the vehicle according to the travel value;

[0034] A distribution module, configured to distribute corresponding braking forces to the wheels based on the total braking force demand and the motion states;

[0035] A braking module, configured to control the vehicle to brake based on the braking force.

[0036] In addition, to achieve the above object, the present invention also provides a vehicle braking control device, which includes: a memory, a processor, and a vehicle braking control program stored on the memory and executable on the processor, where the vehicle braking control program is configured to implement the steps of the vehicle braking control method as described above.

[0037] In addition, to achieve the above object, the present invention also provides a storage medium, on which a vehicle braking control program is stored, and when the vehicle braking control program is executed by a processor, it implements the steps of the vehicle braking control method as described above.

[0038] In addition, to achieve the above object, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle braking control method as described above.

[0039] One or more technical solutions provided by the present application have at least the following technical effects:

[0040] When receiving a braking signal, acquire the travel value sent by the brake pedal travel sensor and the real-time motion states of each wheel sent by the acceleration sensor; calculate the total braking force demand of the vehicle according to the travel value; distribute corresponding braking forces to the wheels based on the total braking force demand and the motion states; control the vehicle to brake based on the braking force, and distribute different braking forces to the four wheels, making the longitudinal acceleration change rate of the whole vehicle tend to be gentle, thereby significantly reducing the jerks during vehicle braking and improving the smoothness of the braking process and the comfort of passengers. Description of the Drawings

[0041] The accompanying drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with this application, and are used together with the description to explain the principles of this application.

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a schematic flowchart provided for the first embodiment of the vehicle braking control method of this application;

[0044] Figure 2 It is a braking control structure diagram provided for the first embodiment of the vehicle braking control method of this application;

[0045] Figure 3 It is a structure block diagram provided for the first embodiment of the vehicle braking control method of this application;

[0046] Figure 4 It is a schematic flowchart provided for the second embodiment of the vehicle braking control method of this application;

[0047] Figure 5 It is a schematic flowchart provided for the third embodiment of the vehicle braking control method of this application;

[0048] Figure 6 It is a schematic module structure diagram of the vehicle braking control device for the embodiments of this application;

[0049] Figure 7 It is a schematic device structure diagram of the hardware operating environment involved in the vehicle braking control method for the embodiments of this application.

[0050] The realization of the purpose, functional features and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0051] It should be understood that the specific embodiments described here are only used to explain the technical solutions of this application and are not used to limit this application.

[0052] To better understand the technical solutions of this application, the following will be described in detail in combination with the description drawings of the specification and the specific embodiments.

[0053] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle braking control device, a vehicle networking platform, etc. that can implement the above functions. Hereinafter, taking the vehicle braking control device as an example, this embodiment and the following embodiments will be described.

[0054] Based on this, an embodiment of the present application provides a vehicle braking control method, referring to Figure 1 , Figure 1 which is a schematic flowchart of the first embodiment of the vehicle braking control method of the present application.

[0055] In this embodiment, the vehicle braking control method includes steps S10 to S40:

[0056] Step S10, when a braking signal is received, obtain the travel value sent by the brake pedal travel sensor and the real-time motion states of each wheel sent by the acceleration sensor;

[0057] It should be noted that the braking signal is an electronic signal triggered when the driver steps on the brake pedal, indicating that the braking system needs to be started.

[0058] The brake pedal travel sensor is a sensor that measures the depth of the pedal depression, and the output value is the travel value (unit: percentage or millimeter).

[0059] The acceleration sensor is a sensor installed on the wheel suspension, and is used to measure the vertical (up and down direction) and longitudinal (front and back direction) accelerations of the wheel (unit: m / s 2 ).

[0060] In a specific implementation, when the driver steps on the brake pedal and triggers the braking signal, the travel sensor detects the pedal displacement in real time (for example: stepping on 50% of the travel), and sends the data to the controller. The four acceleration sensors respectively collect the vertical and longitudinal accelerations of each wheel (for example: the vertical acceleration of the front wheel is -1.2 m / s 2 , indicating that the vehicle body sinks).

[0061] As Figure 2As shown in the figure, a brake control structure diagram is provided. The brake system controller receives the vertical and longitudinal acceleration values provided by the acceleration sensors installed on the suspensions of the four wheels of the vehicle, identifies the current motion states of the four tires of the vehicle, and applies different braking forces to the four wheels respectively (the total braking force remains unchanged) when the vehicle brakes, reducing the change in the longitudinal acceleration of the whole vehicle and improving the braking comfort. When the driver steps on the brake pedal, the brake system controller assembly 1 calculates the corresponding braking force magnitude based on the stroke value collected by the brake pedal stroke sensor 2. At the same time, the four acceleration sensors 3 installed on the suspensions provide the vertical and longitudinal acceleration values of the current four tires of the vehicle to the brake system controller 1 in real time. The brake system controller 1 separately allocates different magnitudes of braking forces to the four vehicle brakes 4, 5, 6, and 7 for execution according to the collected acceleration values and the calculated vehicle required braking force value. On the premise that the total braking force magnitude remains unchanged, the braking forces of the four wheels are adjusted in real time to make the change rate of the longitudinal acceleration of the whole vehicle tend to be gentle until the vehicle stops.

[0062] Step S20: Calculate the total braking force requirement of the vehicle according to the stroke value;

[0063] It should be noted that the total braking force requirement is the total braking force that the vehicle needs to apply (unit: Newton, N), which is used to meet the driver's braking intention and the vehicle safety requirements.

[0064] Step S30: Allocate corresponding braking forces to the wheels based on the total braking force requirement and the motion state;

[0065] It should be noted that the braking force distribution process is to distribute the total braking force to the four wheels in different proportions to optimize the braking effect.

[0066] Step S40: Control the vehicle to brake based on the braking force.

[0067] In a specific implementation, the controller sends the allocated braking force instructions to the four electric brakes, and each brake outputs the corresponding force value according to the instructions.

[0068] In a feasible implementation manner, step S40 includes steps A11 to A13:

[0069] Step A11: Monitor the actual braking data of the vehicle;

[0070] It should be noted that during the vehicle braking process, the actual braking data of the vehicle is monitored in real time. These data include information such as the actual deceleration of the vehicle, braking distance, rotational speed of each wheel, and the working state of the braking system, etc., which are used to evaluate whether the current braking effect meets the expectations. For example, the actual deceleration can be measured by the acceleration sensor of the vehicle, the braking distance can be calculated through the speed change and time integration of the vehicle, the rotational speed of each wheel is provided by the wheel speed sensor, and the working state of the braking system includes parameters such as the pressure and temperature of the brake. These data can reflect the operation of the braking system and the braking performance of the vehicle.

[0071] Step A12: Compare the actual braking data with the total braking force requirement to determine the error value;

[0072] In a specific implementation, the monitored actual braking data is compared with the expected braking effect corresponding to the previously calculated total braking force requirement to determine the error value between the two. For example, if the actual deceleration is less than the expected deceleration calculated based on the total braking force requirement, there is an error, indicating that the current braking force distribution may not fully meet the braking requirements of the vehicle; conversely, if the actual deceleration is greater than the expected deceleration, there may also be an error, meaning that the braking force may be too large, which may lead to adverse situations such as wheel lock-up or vehicle out of control.

[0073] It should be noted that the calculation of the error value can be carried out for multiple braking performance indicators, not only the deceleration, but also the braking distance, wheel speed change rate, etc. By comprehensively evaluating the errors of these indicators, the deviation situation of the braking process can be comprehensively understood.

[0074] Step A13: Adjust the braking force of each wheel according to the error value, and control the vehicle to brake according to the adjusted braking force.

[0075] In a specific implementation, according to the determined error value, the braking force of each wheel is adjusted accordingly. If the error indicates insufficient braking force, the braking force of the corresponding wheel is appropriately increased; conversely, if the braking force is too large and causes the wheel to have a tendency of lock-up or skidding, the braking force is appropriately reduced. The adjusted braking force will be used for subsequent vehicle braking control to more accurately meet the braking requirements of the vehicle and ensure the stability and safety of the braking process.

[0076] Furthermore, after step S40, it further includes:

[0077] When it is detected that the vehicle speed drops to the preset vehicle speed threshold, reduce the braking force of the front-wheel brakes of the vehicle and simultaneously increase the braking force of the rear-wheel brakes of the vehicle to suppress vehicle pitching.

[0078] In a specific implementation, when it is detected that the vehicle speed drops to a preset vehicle speed threshold, it means that the braking process of the vehicle has progressed to a certain extent and the vehicle speed has decreased significantly. At this time, in order to suppress the pitching phenomenon of the vehicle, the braking force of the front and rear wheels of the vehicle is redistributed. Specifically, the braking force of the front-wheel brake of the vehicle is reduced, and at the same time, the braking force of the rear-wheel brake of the vehicle is synchronously increased. When the vehicle brakes, due to the inertial effect, the body weight will shift forward, which is likely to cause the vehicle to pitch, affecting the stability of the vehicle and the comfort of passengers. By adjusting the braking force distribution of the front and rear wheels, the forces on the front and rear parts of the vehicle can be balanced, the pitching degree of the body can be reduced, and the vehicle can maintain a more stable posture during the braking process.

[0079] As Figure 3 shown, by using the collected acceleration values and adopting corresponding logical algorithms, the brake of each wheel is controlled to output different magnitudes of braking force, and on the premise that the total braking force magnitude remains unchanged, the braking force of each wheel is adjusted in real time to reduce the acceleration change amount during vehicle braking and reduce the "nodding feeling" during braking.

[0080] This embodiment provides a vehicle braking control method. When a braking signal is received, the travel value sent by the brake pedal travel sensor and the real-time motion states of each wheel sent by the acceleration sensor are obtained; the total braking force requirement of the vehicle is calculated according to the travel value; based on the total braking force requirement and the motion states, corresponding braking forces are allocated to the wheels; based on the braking forces, the vehicle is controlled to brake, and different braking forces are allocated to the four wheels, so that the longitudinal acceleration change rate of the whole vehicle tends to be gentle, thereby significantly reducing the jerks during vehicle braking and improving the smoothness of the braking process and the comfort of passengers.

[0081] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 4 , step S30 includes steps S301 to S302:

[0082] Step S301, determining the vertical acceleration value and longitudinal acceleration value of each tire based on the motion state;

[0083] It should be noted that the vertical acceleration is the acceleration of the tire in the vertical direction (up and down), reflecting the pitching or bumping state of the vehicle body. For example, when braking suddenly, the vertical acceleration of the front wheel is negative (the vehicle body leans forward and sinks).

[0084] The longitudinal acceleration is the acceleration of the tire in the vehicle traveling direction (front and back), reflecting the degree of vehicle deceleration. For example, a longitudinal acceleration of -5m / s 2 indicates that the vehicle is braking suddenly.

[0085] In a specific implementation, high-precision acceleration sensors are installed on the suspension of each wheel to collect vertical and longitudinal acceleration data in real time, and the sensor data is transmitted to the brake system controller through a vehicle bus (such as CAN).

[0086] Step S302: Dynamically allocate and process the total braking force demand, vertical acceleration value, and longitudinal acceleration through a preset logical algorithm to determine the braking force of each wheel.

[0087] It should be noted that on the premise of keeping the total braking force unchanged, combined with the tire motion state and vehicle dynamics, optimize the braking force distribution of each wheel to balance comfort and stability.

[0088] In a feasible implementation manner, step S302 includes steps A21 to A22:

[0089] Step A21: Based on the vertical acceleration value and longitudinal acceleration value, determine the estimated adhesion coefficient of each wheel.

[0090] It should be noted that the adhesion coefficient refers to the frictional ability between the tire and the road surface (for example, the adhesion coefficient is high on a dry road surface and low on a wet and slippery road surface).

[0091] In a specific implementation, judge the tire load through the vertical acceleration (the load increases when the vehicle body sinks, and the adhesion coefficient may increase), judge the tire slip rate through the longitudinal acceleration (the slip rate is high during emergency braking, and the adhesion coefficient may decrease), and correct the estimated value by combining historical data (such as the road surface recognition system).

[0092] Step A22: Based on the estimated adhesion coefficient and the vehicle center of gravity position, calculate the braking force distribution ratio of each wheel in real time to determine the braking force of each wheel.

[0093] It should be noted that the vehicle center of gravity position is obtained through preset parameters (such as no-load / full-load center of gravity coordinates) or real-time sensors (such as mass distribution sensors).

[0094] It should be understood that more braking force is allocated to the high-adhesion wheels: for example, the adhesion coefficient of the front wheels is high on a dry road surface, and the proportion of the front-wheel braking force increases. If the vehicle center of gravity moves forward and the front-wheel load increases, the front-wheel braking force can be appropriately increased to improve efficiency.

[0095] Furthermore, step S302 further includes:

[0096] Obtain the yaw angular velocity and lateral acceleration of the vehicle;

[0097] Determine the stability weight factor based on the yaw angular velocity and lateral acceleration;

[0098] Adjust the braking force distribution ratio based on the stability weight factor to obtain the updated braking force distribution ratio of each wheel.

[0099] It should be noted that the yaw rate refers to the speed at which the vehicle rotates around the vertical axis (e.g., the yaw rate is relatively high during turning).

[0100] The lateral acceleration refers to the acceleration of the vehicle's lateral movement (e.g., the lateral acceleration is relatively large during a sharp turn).

[0101] In specific implementation, if the yaw rate or lateral acceleration exceeds the threshold (e.g., the vehicle is on the verge of losing control), it is necessary to reduce the degree of freedom of braking force distribution to give priority to ensuring stability.

[0102] This embodiment provides a vehicle braking control method, which integrates vertical, longitudinal, yaw, and lateral data to comprehensively judge the vehicle state, adjusts the braking force distribution according to the real-time road conditions and driving behavior, prevents the risk of losing control under extreme working conditions through the stability weight factor, and specifically suppresses braking pitch to improve the driving and riding experience.

[0103] Based on the first and second embodiments of this application, in the third embodiment of this application, the same or similar content as the above embodiments can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 5 , step S40 includes steps S401 to S403:

[0104] S401, obtain the vehicle load, real-time vehicle speed, and the slope information of the road ahead of the vehicle;

[0105] It should be noted that the vehicle load refers to the load condition of the vehicle, including the total weight of passengers, goods, etc. (unit: kilograms). The real-time vehicle speed is the current driving speed of the vehicle, and the road slope information is the inclination angle of the road ahead of the vehicle.

[0106] In specific implementation, it can be obtained through a suspension sensor, a mass estimation algorithm, or user manual input (such as load mode selection). The real-time vehicle speed is obtained through a wheel speed sensor or a GPS system, and the road slope ahead is determined through a navigation system.

[0107] S402, determine the preliminary braking force demand according to the travel value, vehicle load, and real-time vehicle speed;

[0108] In specific implementation, in combination with the braking pedal travel value), vehicle load, and real-time vehicle speed, calculate the basic braking force that meets the safety and comfort requirements.

[0109] S403, adjust the preliminary total braking force demand based on the slope information to obtain the total braking force demand.

[0110] It should be noted that in the uphill scenario, since the vehicle decelerates due to gravity, the braking force demand can be slightly reduced (to save energy).

[0111] In a downhill scenario, due to gravity accelerating the vehicle, the braking force requirement needs to be significantly increased (to prevent the vehicle from rolling backward).

[0112] This embodiment provides a vehicle braking control method, which comprehensively optimizes the braking force requirement by combining the load, vehicle speed, and slope, and intelligently adjusts according to different slopes, taking into account both safety and energy consumption.

[0113] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the vehicle braking control method of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0114] This application also provides a vehicle braking control device. Please refer to Figure 6 , the vehicle braking control device includes:

[0115] An acquisition module 10, configured to, when receiving a braking signal, acquire the travel value sent by the brake pedal travel sensor and the real-time motion states of each wheel sent by the acceleration sensor;

[0116] A calculation module 20, configured to calculate the total braking force requirement of the vehicle according to the travel value;

[0117] A distribution module 30, configured to allocate corresponding braking forces to the wheels based on the total braking force requirement and the motion states;

[0118] A braking module 40, configured to control the vehicle to brake based on the braking force.

[0119] The vehicle braking control device provided by this application adopts the vehicle braking control method in the above embodiment, and can solve the technical problem of how to stably brake the vehicle by controlling the braking force of the vehicle. Compared with the prior art, the beneficial effects of the vehicle braking control device provided by this application are the same as those of the vehicle braking control method provided by the above embodiment, and other technical features in the vehicle braking control device are the same as those disclosed in the above embodiment method, and will not be elaborated here.

[0120] In one embodiment, the distribution module 30 is further configured to determine the vertical acceleration value and longitudinal acceleration value of each tire based on the motion states;

[0121] Dynamically allocate and process the total braking force requirement, vertical acceleration value, and longitudinal acceleration through a preset logical algorithm to determine the braking force of each wheel.

[0122] In one embodiment, the distribution module 30 is further configured to determine the estimated adhesion coefficient value of each wheel based on the vertical acceleration value and longitudinal acceleration value;

[0123] Based on the estimated adhesion coefficient and the position of the vehicle's center of gravity, calculate the braking force distribution ratio of each wheel in real time to determine the braking force of each wheel.

[0124] In one embodiment, the distribution module 30 is further configured to obtain the yaw rate and lateral acceleration of the vehicle;

[0125] Determine the stability weight factor based on the yaw rate and lateral acceleration;

[0126] Adjust the braking force distribution ratio based on the stability weight factor to obtain the updated braking force distribution ratio of each wheel.

[0127] In one embodiment, the calculation module 20 is further configured to obtain the vehicle load, the real-time vehicle speed, and the slope information of the road ahead of the vehicle;

[0128] Determine the preliminary braking force demand according to the travel value, the vehicle load, and the real-time vehicle speed;

[0129] Adjust the preliminary total braking force demand based on the slope information to obtain the total braking force demand.

[0130] In one embodiment, the braking module 40 is further configured to monitor the actual braking data of the vehicle;

[0131] Compare the actual braking data with the total braking force demand to determine the error value;

[0132] Adjust the braking force of each wheel according to the error value, and control the vehicle to brake according to the adjusted braking force.

[0133] In one embodiment, the braking module 40 is further configured to, when detecting that the vehicle speed drops to a preset vehicle speed threshold, reduce the braking force of the vehicle's front-wheel brakes and synchronously increase the braking force of the vehicle's rear-wheel brakes to suppress vehicle pitching.

[0134] The present application provides a vehicle braking control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle braking control method in the first embodiment above.

[0135] Refer to the following Figure 7, which shows a schematic structural diagram of a vehicle braking control device suitable for implementing the embodiments of the present application. The vehicle braking control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description: tablet computers), PMPs (Portable Media Player: portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The shown vehicle braking control device is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0136] As Figure 7 shown, the vehicle braking control device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the ROM (Read Only Memory) 1002 or the program loaded from the storage device 1003 into the RAM (Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the vehicle braking control device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle braking control device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a vehicle braking control device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0137] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0138] The vehicle braking control device provided by the present application adopts the vehicle braking control method in the above embodiment, and can solve the technical problem of how to stably brake a vehicle by controlling the vehicle braking force. Compared with the prior art, the beneficial effects of the vehicle braking control device provided by the present application are the same as those of the vehicle braking control method provided by the above embodiment, and other technical features in the vehicle braking control device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated herein.

[0139] It should be understood that the various parts disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0140] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0141] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle braking control method in the above embodiment.

[0142] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or flash memory), optical fibers, CD-ROM (CD-Read Only Memory, portable compact disk read-only memory), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0143] The above computer-readable storage medium can be included in a vehicle braking control device; it can also exist separately without being assembled into the vehicle braking control device.

[0144] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by a vehicle braking control device, the vehicle braking control device is caused to: when a braking signal is received, obtain the travel value sent by a brake pedal travel sensor and the real-time motion states of each wheel sent by an acceleration sensor; calculate the total braking force requirement of the vehicle based on the travel value; allocate corresponding braking forces to the wheels based on the total braking force requirement and the motion states; and control the vehicle to brake based on the braking forces.

[0145] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a LAN (Local Area Network) or a WAN (Wide Area Network), or it can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0146] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0147] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0148] The readable storage medium provided by this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned vehicle braking control method, and can solve the technical problem of how to stably brake the vehicle by controlling the vehicle braking force. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the vehicle braking control method provided by the above embodiments, and will not be elaborated here.

[0149] The present application also provides a computer program product, including a computer program, which when executed by a processor implements the steps of the vehicle braking control method as described above.

[0150] The computer program product provided by the present application can solve the technical problem of how to stably brake a vehicle by controlling the vehicle braking force. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the vehicle braking control method provided by the above embodiments, and will not be elaborated here.

[0151] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A vehicle braking control method, characterized in that: The vehicle braking control method comprises the following steps: When a brake signal is received, the travel value sent by the brake pedal travel sensor and the real-time motion status of each wheel sent by the acceleration sensor are obtained; Calculating a total braking force requirement of the vehicle according to the travel value; Allocating corresponding braking force to the wheels based on the total braking force requirement and the motion state; Based on the braking force, the vehicle is controlled to brake.

2. The vehicle braking control method according to claim 1, characterized in that: The step of allocating corresponding braking force to the wheels based on the total braking force requirement and the motion state comprises: Determining a vertical acceleration value and a longitudinal acceleration value of each tire based on the motion state; The total braking force requirement, the vertical acceleration value and the longitudinal acceleration are dynamically allocated and processed through a preset logic algorithm to determine the braking force of each wheel.

3. The vehicle braking control method according to claim 2, characterized in that: The step of dynamically allocating the total braking force requirement, the vertical acceleration value and the longitudinal acceleration through a preset logic algorithm to determine the braking force of each wheel includes: determining an estimated value of a coefficient of adhesion of each wheel based on the vertical acceleration value and the longitudinal acceleration value; Based on the estimated value of the adhesion coefficient and the position of the center of gravity of the vehicle, the braking force distribution ratio of each wheel is calculated in real time to determine the braking force of each wheel.

4. The vehicle braking control method according to claim 3, characterized in that: The method further comprises: Get the vehicle's yaw rate and lateral acceleration; determining a stability weighting factor based on the yaw rate and the lateral acceleration; The braking force distribution ratio is adjusted based on the stability weight factor to obtain an updated braking force distribution ratio of each wheel.

5. The vehicle braking control method according to claim 1, characterized in that: The step of calculating the total braking force requirement of the vehicle according to the travel value comprises: Obtain vehicle load, real-time speed, and slope information of the road ahead of the vehicle; determining a preliminary braking force requirement according to the travel value, the vehicle load and the real-time vehicle speed; The preliminary total braking force requirement is adjusted based on the slope information to obtain a total braking force requirement.

6. The vehicle braking control method according to claim 1, characterized in that: The step of controlling the vehicle to brake based on the braking force further includes: Monitor the actual braking data of the vehicle; comparing the actual braking data with the total braking force requirement to determine an error value; The braking force of each wheel is adjusted according to the error value, and the vehicle is controlled to brake according to the adjusted braking force.

7. The vehicle braking control method according to claim 1, characterized in that: After the step of controlling the vehicle to brake, the method further includes: When it is detected that the vehicle speed drops to a preset vehicle speed threshold, the braking force of the vehicle's front wheel brakes is reduced, and the braking force of the vehicle's rear wheel brakes is increased synchronously to suppress the vehicle's pitch.

8. A vehicle brake control device, characterized in that: The device comprises: An acquisition module, used to acquire the travel value sent by the brake pedal travel sensor and the real-time motion state of each wheel sent by the acceleration sensor when receiving the brake signal; A calculation module, used for calculating the total braking force requirement of the vehicle according to the travel value; an allocating module, configured to allocate corresponding braking force to the wheels based on the total braking force requirement and the motion state; The braking module is used to control the vehicle to brake based on the braking force.

9. A vehicle brake control device, characterized in that: The device comprises: a memory, a processor, and a vehicle braking control program stored in the memory and executable on the processor, wherein the vehicle braking control program is configured to implement the steps of the vehicle braking control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle braking control program, and when the vehicle braking control program is executed by the processor, the steps of the vehicle braking control method according to any one of claims 1 to 7 are implemented.

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