Vehicle auxiliary braking method and device and storage medium

Abstract

The embodiment of the invention provides a vehicle auxiliary braking method and device and a storage medium, and the method comprises the steps that in an auxiliary braking mode, a driving motor is controlled to conduct regenerative braking; and controlling the EPB of the vehicle to enter a working mode according to the first vehicle information. According to the method, the EPB is adopted to participate in the braking process of the driving motor, so that the deceleration is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and particularly to a method, device and storage medium for vehicle assisted braking. Background Art

[0002] In the existing non-redundant electro-hydraulic braking method of the brake pedal, when the power assist fails, the electro-hydraulic braking system will switch to the mechanical circuit. At this time, the brake pedal stepped on by the driver is directly connected to the master cylinder, and the braking fluid in the master cylinder is pushed by the force stepped on by the driver for hydraulic braking, so as to provide the corresponding deceleration according to the driving intention. The pedal feel of this processing method will change significantly compared with that before the power assist fails (that is, the pedal feel of the brake pedal becomes harder). Once its power assist fails, the vehicle can only be decelerated by the force of the driver stepping on the brake pedal and the force of the motor regenerative braking. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a method, device and storage medium for vehicle assisted braking. This method uses the EPB to participate in the braking process to increase the deceleration.

[0004] To achieve the above purpose, the embodiments of the present invention provide a method for vehicle assisted braking, which includes: controlling the driving motor regenerative braking in the assisted braking mode;

[0005] Controlling the vehicle to enter the working mode of the EPB according to the first vehicle information, where the first vehicle information includes the first deceleration target value and the deceleration value of the driving motor regenerative braking.

[0006] Optionally, the controlling the vehicle's EPB to enter the working mode according to the first vehicle information includes:

[0007] When the deceleration value of the driving motor regenerative braking is less than the first deceleration target value, controlling the vehicle's EPB to enter the working mode;

[0008] When the deceleration value of the driving motor regenerative braking is greater than or equal to the first deceleration target value, controlling the vehicle's EPB to exit the working mode.

[0009] Optionally, the working mode includes a clamping mode, a release mode and a holding mode;

[0010] When the real-time deceleration value of the vehicle is less than the first deceleration target value, controlling the EPB to enter the clamping mode;

[0011] When the real-time deceleration value of the vehicle is greater than the first deceleration target value, controlling the EPB to enter the release mode;

[0012] When the real-time deceleration value of the vehicle is equal to the first deceleration target value, controlling the EPB to enter the holding mode.

[0013] Optionally, the clamping mode includes a multiple clamping mode; the method further includes:

[0014] Determine the clamping times of the EPB according to the difference between the first deceleration target value and the real-time deceleration value.

[0015] Optionally, the clamping mode further includes an anti-lock mode;

[0016] The method further includes: when the real-time slip ratio exceeds the slip ratio threshold, control the working mode of the vehicle's EPB to be the anti-lock mode.

[0017] Optionally, the auxiliary braking mode includes a decoupled auxiliary braking mode. In the decoupled auxiliary braking mode, the brake pedal is decoupled from the hydraulic master cylinder. The method includes:

[0018] Determine the first deceleration target value according to the brake pedal depth.

[0019] Optionally, the auxiliary braking mode includes a non-decoupled auxiliary braking mode. In the non-decoupled auxiliary braking mode, the brake pedal is connected to the hydraulic master cylinder. The method includes:

[0020] Determine the second deceleration target value according to the foot pedal depth;

[0021] Determine the hydraulic deceleration value according to the hydraulic master cylinder;

[0022] The first deceleration target value is the difference between the second deceleration target value and the hydraulic deceleration value.

[0023] Optionally, the method further includes: confirm that the vehicle enters the auxiliary braking mode according to the second vehicle information.

[0024] Optionally, the second vehicle information includes the electro-hydraulic braking module state and the brake pedal state;

[0025] The confirmation that the vehicle enters the auxiliary braking mode according to the second vehicle information includes:

[0026] When the electro-hydraulic braking module state is a power failure state and the brake pedal state is in the depressed state, confirm that the vehicle enters the auxiliary braking mode.

[0027] Optionally, the EPB is used for rear-wheel braking.

[0028] On the other hand, the present invention also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the above method is implemented.

[0029] Another invention, the present invention also provides a vehicle, including the above-mentioned electronic device.

[0030] On the other hand, the present invention also provides a computer-readable storage medium, characterized in that it stores machine instructions, and when the machine instructions are run on a machine, the machine is caused to execute the method for vehicle assisted braking described in any one of claims 1 to 10.

[0031] A method for vehicle assisted braking according to the present invention, the method includes: controlling the driving motor to perform regenerative braking in the assisted braking mode; controlling the EPB of the vehicle to enter the working mode according to the first vehicle information. In the present invention, after the power assist fails, the motor first performs deceleration by regenerative braking in the front section, and then the EPB intervenes with hydraulic pressure for transition, ensuring that the feel of the brake pedal remains unchanged to the greatest extent, and ensuring that the feel of the brake pedal does not experience a sudden jump before and after degradation. At the same time, the addition of the EPB greatly enhances the driver's braking confidence.

[0032] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation section. Description of the Drawings

[0033] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0034] Figure 1 is a schematic flowchart of a method for vehicle assisted braking according to the present invention;

[0035] Figure 2 is a schematic diagram of assisted braking deceleration according to the present invention;

[0036] Figure 3 is a schematic diagram of an embodiment of vehicle assisted braking according to the present invention. Specific Implementation

[0037] The following will describe in detail the specific implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present invention, and is not used to limit the embodiments of the present invention.

[0038] Figure 1 is a schematic flowchart of a method for vehicle assisted braking according to the present invention, as Figure 1As shown, a method for vehicle auxiliary braking according to the present invention includes: Step S101 is to control the drive motor to perform regenerative braking in the auxiliary braking mode. The auxiliary braking mode is a mechanical part that stops or decelerates moving parts in a machine through a brake (i.e., a brake). When the vehicle is decelerated by stepping on the brake pedal, the electro-hydraulic braking module of the vehicle is activated to perform the braking action. The electro-hydraulic braking module is a module that brakes through electro-hydraulics.

[0039] According to a specific embodiment, when the electro-hydraulic braking module fails to assist and the brake pedal is in a depressed state, the drive motor is activated to perform regenerative braking. For a front-wheel drive vehicle, the drive motor is located on the front axle of the vehicle, and the EPB (Electrical Park Brake) is arranged on the rear axle of the vehicle. By activating the drive motor to perform regenerative braking, deceleration is provided.

[0040] Step S102 is to control the vehicle's EPB to enter the working mode according to the first vehicle information. Specifically, the first vehicle information includes the first deceleration target value and the deceleration value of the drive motor's regenerative braking; the control of the vehicle's EPB working mode according to the first vehicle information includes: when the deceleration value of the drive motor's regenerative braking is less than the first deceleration target value, the vehicle's EPB is controlled to enter the working mode; when the deceleration value of the drive motor's regenerative braking is greater than or equal to the first deceleration target value, the vehicle's EPB is controlled to exit the working mode.

[0041] In the embodiment of the present invention, the intervention of the EPB is determined according to the first deceleration target value and the deceleration value of the drive motor's regenerative braking, so that both the foot feeling can be ensured by using the regenerative braking of the drive motor and the EPB can intervene at the appropriate time, rather than blindly intervening or not intervening, thereby achieving braking force and energy saving.

[0042] In the embodiment of the present invention, the working mode includes a clamping mode, a release mode, and a holding mode. The method further includes: when the real-time deceleration value of the vehicle is less than the first deceleration target value, controlling the EPB to continue clamping and enter the clamping mode;

[0043] When the real-time deceleration value of the vehicle is greater than or equal to the first deceleration target value, controlling the EPB to stop clamping and enter the release mode;

[0044] When the real-time deceleration value of the vehicle is equal to the first deceleration target value, controlling the EPB to enter the holding mode.

[0045] The clamping mode includes a multiple clamping mode; according to the real-time deceleration value of the vehicle and the first deceleration target value, the clamping times of the EPB are determined.

[0046] The working mode further includes an anti-lock mode; the method further includes: when the real-time slip ratio exceeds the slip ratio threshold, controlling the working mode of the vehicle's EPB to be the anti-lock mode.

[0047] The auxiliary braking mode includes a decoupled auxiliary braking mode. In the decoupled auxiliary braking mode, the brake pedal is decoupled from the hydraulic master cylinder. The method includes: determining a first deceleration target value according to the brake pedal depth. For example, when the pedal depth is A, the vehicle deceleration should be B. However, due to the failure of the electro-hydraulic braking module assistance of the vehicle and / or the insufficient deceleration provided by the drive motor for regenerative braking, the vehicle deceleration cannot reach B at this time. Here, B is the deceleration target value corresponding to this pedal depth. If the brake pedal is decoupled from the hydraulic master cylinder, after the electro-hydraulic braking module assistance fails, the driver is still allowed to step on the pedal feel simulator, and the deceleration is ensured through regenerative braking of the motor and EPB clamping, rather than the hydraulic pressure generated by the driver directly stepping on the hydraulic master cylinder, so as to ensure that the driver's pedal feel remains consistent before and after the failure of the electro-hydraulic braking module and improve the ride and driving experience.

[0048] In one embodiment, controlling the working mode of the vehicle's EPB according to the deceleration measurement value (the real-time deceleration value of the vehicle) and the deceleration target value includes: when the deceleration measurement value is less than the deceleration target value, controlling the working mode of the vehicle's EPB to be the clamping mode; when the deceleration measurement value is greater than the deceleration target value, controlling the working mode of the vehicle's EPB to be the release mode. In the clamping mode, the slip ratio of the vehicle is detected in real time. When the slip ratio exceeds the slip ratio threshold, controlling the working mode of the vehicle's EPB to be the anti-lock mode.

[0049] The auxiliary braking mode includes a non-decoupled auxiliary braking mode. In the non-decoupled auxiliary braking mode, the brake pedal is connected to the hydraulic master cylinder. The method includes: determining a second deceleration target value according to the pedal depth; determining a hydraulic deceleration value according to the hydraulic master cylinder; the first deceleration target value is the difference between the second deceleration target value and the hydraulic deceleration value.

[0050] The hydraulic deceleration value provided by the hydraulic master cylinder can be a fixed value at the same pedal depth.

[0051] For a front-wheel drive vehicle, the drive motor is located on the front axle of the vehicle, and the EPB is located on the rear axle of the vehicle. In the auxiliary braking mode, the drive motor first performs regenerative braking to provide deceleration to the front axle. When the deceleration provided by the drive motor for regenerative braking cannot meet the deceleration requirement of the whole vehicle, the EPB intervenes and enters the working mode to provide deceleration to the rear axle, and the hydraulic pressure (when the hydraulic pressure is the main braking assistance fails, only relying on the driver stepping on the brake pedal, the hydraulic pressure generated by human power) intervenes to provide deceleration to the front and rear axles. At this time, the auxiliary braking mode is the non-decoupled auxiliary braking mode.

[0052] For a four-wheel drive vehicle, the drive motors are located on the front axle and the rear axle of the vehicle. In the auxiliary braking mode, the drive motors first perform regenerative braking to provide deceleration to the front axle and the rear axle. When the deceleration provided by the regenerative braking of the drive motors cannot meet the deceleration requirement of the whole vehicle, the EPB intervenes to provide deceleration to the rear axle, and the hydraulic pressure (when the hydraulic main braking assist fails, only relying on the driver stepping on the brake pedal to generate hydraulic pressure manually) intervenes to provide deceleration to the front and rear axles. At this time, the auxiliary braking mode is the non-decoupled auxiliary braking mode.

[0053] In one embodiment, according to historical test data, it is estimated that when the EPB is tightened to the contact disc position, the deceleration that can be provided is a, and the deceleration provided by the single minimum action time that can be precisely controlled by the EPB after the contact disc is b. The target required deceleration c of the EPB = a + n.b. The EPB first executes to the contact disc position, and then executes multiple clamping operations. n is the number of times the EPB executes multiple clamping operations, and finally reaches the target deceleration assigned to the EPB, that is, the deceleration requirement of the whole vehicle that the regenerative braking ability of the motor is insufficient. The multiple clamping of the EPB can maintain the braking deceleration in a timely manner to meet the requirements, so as to achieve energy saving while meeting the braking requirements. Since the intervention of the EPB occurs only when the deceleration provided by the regenerative braking of the drive motor cannot meet the requirements, the required braking deceleration is limited, so precise control is required. Multiple clamping can improve the control accuracy of the deceleration.

[0054] As Figure 2 shown, for a front-wheel drive vehicle, the drive motor is located on the front axle of the vehicle, and the EPB is arranged on the rear axle of the vehicle. When the auxiliary braking function operates the drive motor, first, regenerative braking provides deceleration to the front axle. When the deceleration provided by the motor regenerative braking cannot meet the deceleration requirement of the whole vehicle, the EPB provides deceleration to the rear axle. During this period, the hydraulic master cylinder intervenes to provide deceleration to the front and rear axles. At this time, even in the non-decoupled auxiliary braking mode, due to the regenerative braking of the drive motor and the intervention of the EPB, the pedal feel will be significantly improved.

[0055] Specifically, first, it is judged whether the vehicle issues a deceleration request. If so, the electro-hydraulic braking module sends a target deceleration request, and the request is transmitted to both the drive motor and the EPB modules at the same time. When the drive motor and the EPB receive the target deceleration request, they respectively perform regenerative braking and EPB clamping to achieve the target deceleration requirement.

[0056] During the auxiliary braking process, first, the drive motor performs regenerative braking to provide deceleration. If the deceleration provided by the motor regenerative braking fails to reach the target deceleration request, the EPB intervenes to provide a greater deceleration to meet the target deceleration requirement. After the EPB intervenes, it first clamps to the contact disc position, and then clamps multiple times (each clamping for a unit time △t) to make the deceleration reach the target deceleration requirement.

[0057] Figure 3 This is a schematic diagram of an embodiment of the vehicle's auxiliary braking of the present invention. As Figure 3 shown, in the vehicle, the functional status signal, command signal, and deceleration demand command signal are all sent by the electro-hydraulic braking module to the drive motor module and the EPB control module through the CAN bus. At the same time, the electro-hydraulic braking module will send the brake pedal signal to these two modules to verify whether the driver has a deceleration demand. When the drive motor module receives the above signals, it will control the drive motor to perform regenerative braking to provide deceleration for the vehicle. When the EPB control module receives the above signals, it will control the EPB actuator to perform a clamping action to provide the corresponding deceleration. The EPB is used to brake the rear wheels.

[0058] The method further includes: confirming that the vehicle enters the auxiliary braking mode according to the second vehicle information. The second vehicle information includes the status of the electro-hydraulic braking module and the status of the brake pedal; the confirmation that the vehicle enters the auxiliary braking mode according to the second vehicle information includes: when the status of the electro-hydraulic braking module is in the power assist failure state and the brake pedal status is in the depressed state, it is confirmed that the vehicle enters the auxiliary braking mode.

[0059] Before entering the auxiliary braking function, it is first necessary to determine whether the electro-hydraulic braking module has experienced a power assist failure. If the electro-hydraulic braking module has not experienced a power assist failure, the auxiliary braking function will not be triggered. If the electro-hydraulic braking module has a power assist failure, the auxiliary braking function status bit will be triggered, and then the next determination will be made.

[0060] After determining that the auxiliary braking function is triggered, it is then determined whether the brake pedal is depressed. It can be discriminated through the brake pedal signal. Only when it is determined that the brake pedal is depressed will the command signal be triggered, otherwise the auxiliary braking function will not be triggered. This method is mainly to prevent misjudgment of the driver's intention. If a power assist failure of the electro-hydraulic braking module occurs but the driver has no braking intention, the system cannot automatically enter the auxiliary braking function; only when the driver depresses the brake pedal, the system will consider that the driver has an active braking request, and only then will the command signal be triggered.

[0061] Subsequently, the electro-hydraulic braking module normally issues a target deceleration demand (the CAN communication of the vehicle works normally), otherwise the auxiliary braking function cannot be realized. The drive motor and the EPB need to receive the target deceleration request sent by the electro-hydraulic braking module through the vehicle CAN network. After the drive motor and the EPB receive the target deceleration request, the drive motor first controls the drive motor to perform regenerative braking. If the regenerative braking deceleration is greater than the target deceleration, it means that the regenerative braking deceleration generated only by the drive motor can meet the target deceleration demand, and the EPB does not need to perform subsequent clamping. If the regenerative braking deceleration is greater than the target deceleration, the EPB will perform clamping.

[0062] Specifically, after the EPB intervenes, it first clamps to the touch plate position, and then clamps multiple times to meet the target deceleration requirement. The clamping time for each time is the unit time Δt. During the clamping process of the EPB, the system monitors the slip ratio. When the slip ratio reaches the upper limit of the slip ratio, the EPB directly enters the anti-lock mode and exits the auxiliary braking function; if it does not exceed the upper limit of the slip ratio control, the auxiliary braking function is realized.

[0063] In the existing brake pedal, after the power assist fails, since the driver directly steps on the hydraulic master cylinder, the feel of the brake pedal will change. However, in the present invention, by using the EPB to participate in the braking process, first, the motor feedback is used for deceleration in the front section after the power assist fails, and then the EPB is used to transition the hydraulic intervention, so that the deceleration can be increased, ensuring that the feel of the brake pedal remains unchanged to the greatest extent, and enabling the electro-hydraulic braking module to still ensure sufficient deceleration of the vehicle after the power assist fails.

[0064] A method for vehicle auxiliary braking according to the present invention includes: in the auxiliary braking mode, controlling the driving motor for regenerative braking; controlling the EPB of the vehicle to enter the working mode according to the first vehicle information, and the working mode includes a clamping mode and a release mode. In this application, first, the driving motor is used for regenerative braking. If the regenerative braking meets the requirement of the target deceleration, the EPB will not perform subsequent clamping; if the deceleration provided by the regenerative braking fails to reach the target deceleration requirement, the EPB will then supplement the insufficient part through clamping, and at the same time, make the hydraulic intervention into the braking mode after failure. By controlling the EPB, the entire braking process can reach a relatively linear process, thus ensuring that the feel of the brake pedal will not experience a sudden jump before and after degradation. To the greatest extent, the feel of the brake pedal remains unchanged, ensuring that the feel of the brake pedal will not experience a sudden jump before and after degradation, and at the same time, due to the addition of the EPB, the driver's braking confidence is greatly enhanced.

[0065] On the other hand, the present invention also provides an electronic device, which includes: at least one processor; a memory connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the at least one processor realizes the above-mentioned method for vehicle auxiliary braking by executing the instructions stored in the memory.

[0066] The processor contains a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and by adjusting the kernel parameters, sufficient deceleration of the vehicle can be ensured.

[0067] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0068] An embodiment of the present invention provides a storage medium, on which a program is stored, and when the program is executed by a processor, the method for vehicle auxiliary braking is implemented.

[0069] An embodiment of the present invention provides a processor, which is used to run a program, wherein when the program runs, the method for vehicle auxiliary braking is executed.

[0070] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented: (steps of method claims, independent claim + dependent claims). The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0071] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0073] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, causing a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps of the functions specified in one block or a plurality of blocks.

[0075] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0076] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0077] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0078] The present invention also provides a vehicle including the above-mentioned electronic device.

[0079] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, commodity or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, commodity or device including the element.

[0080] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for vehicle auxiliary braking, characterized in that, the method includes: In the auxiliary braking mode, control the driving motor to perform regenerative braking; According to the first vehicle information, control the EPB of the vehicle to enter the working mode, and the first vehicle information includes the first deceleration target value and the deceleration value of the driving motor regenerative braking.

2. The method according to claim 1, characterized in that, the controlling the EPB of the vehicle to enter the working mode according to the first vehicle information includes: When the deceleration value of the driving motor regenerative braking is less than the first deceleration target value, control the EPB of the vehicle to enter the working mode; When the deceleration value of the driving motor regenerative braking is greater than or equal to the first deceleration target value, control the EPB of the vehicle to exit the working mode.

3. The method according to claim 1, characterized in that, the working mode includes a clamping mode, a release mode and a holding mode; the method further includes: When the real-time deceleration value of the vehicle is less than the first deceleration target value, control the EPB to enter the clamping mode; When the real-time deceleration value of the vehicle is greater than the first deceleration target value, control the EPB to enter the release mode; When the real-time deceleration value of the vehicle is equal to the first deceleration target value, control the EPB to enter the holding mode.

4. The method according to claim 2, characterized in that, the clamping mode includes a multiple clamping mode; the method further includes: Determine the clamping times of the EPB according to the difference between the first deceleration target value and the real-time deceleration value.

5. The method according to claim 1, characterized in that, the working mode further includes an anti-lock mode; the method further includes: When the real-time slip ratio exceeds the slip ratio threshold, control the working mode of the EPB of the vehicle to be the anti-lock mode.

6. The method according to any one of claims 1-5, characterized in that, the auxiliary braking mode includes a decoupled auxiliary braking mode, in the decoupled auxiliary braking mode, the brake pedal is decoupled from the hydraulic master cylinder, and the method includes: Determine the first deceleration target value according to the brake pedal depth.

7. The method according to any one of claims 1-5, characterized in that, the auxiliary braking mode includes a non-decoupled auxiliary braking mode, in the non-decoupled auxiliary braking mode, the brake pedal is connected to the hydraulic master cylinder, and the method includes: Determine the second deceleration target value according to the foot pedal depth; Determine the hydraulic deceleration value according to the hydraulic master cylinder; The first deceleration target value is the difference between the second deceleration target value and the hydraulic deceleration value.

8. The method according to any one of claims 1-5, characterized in that, the method further includes: Confirm that the vehicle enters the auxiliary braking mode according to the second vehicle information.

9. The method according to claim 8, characterized in that, the second vehicle information includes the electro-hydraulic braking module state and the brake pedal state; the confirming that the vehicle enters the auxiliary braking mode according to the second vehicle information includes: When the electro-hydraulic braking module state is in a power assist failure state and the brake pedal state is in a depressed state, confirm that the vehicle enters the auxiliary braking mode.

10. The method according to any one of claims 1-5, characterized in that, The EPB is used for braking the rear wheels.

11. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, when the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

12. A vehicle, wherein, it includes the electronic device according to claim 11.

13. A computer-readable storage medium, wherein, machine instructions are stored, and when the machine instructions are run on a machine, the machine is caused to execute the method for vehicle assisted braking according to any one of claims 1 to 10.

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