Vehicle braking control method and system, vehicle and equipment

Abstract

The invention discloses a brake control method and system of a vehicle, the vehicle and equipment. The braking control method of the vehicle comprises the steps that when the vehicle is braked, braking parameters and the vehicle speed are obtained, and the braking parameters comprise braking deceleration and / or braking pressure; according to the braking parameters and the vehicle speed, target damping of a shock absorber and a target braking control curve of a braking system are obtained, and the target damping and the target braking control curve change along with changes of the braking parameters and the vehicle speed; and controlling a shock absorber to provide the target damping, adjusting braking force provided by the braking system according to a target braking control curve, and controlling whether the braking system executes active pressure relief or not according to the braking parameters and the vehicle speed when the braking system is provided with the active pressure relief function. According to the technical scheme, comfortable braking of the vehicle in various scenes can be achieved, vibration and pitching of the vehicle during braking are effectively reduced, and therefore the braking comfort is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a braking control method, system, vehicle, and device for a vehicle. Background Art

[0002] With the popularization of automobiles and the development of technology, users have higher and higher requirements for the ride comfort of vehicles. During the braking process of a vehicle, due to the existence of longitudinal deceleration, the load on the axle will shift. The shift of the load on the axle will cause the vehicle to pitch. When braking to a stop, there will be a pitch rebound and also front-back oscillations, which will cause discomfort to the driver and passengers, and even motion sickness.

[0003] In related technologies, although there are control means to reduce the pitch of the whole vehicle during braking. For example, when the vehicle speed is less than a preset vehicle speed threshold, the vehicle is controlled to enter a comfort braking mode. By obtaining the deceleration of the vehicle, the upper limit value of the wheel braking force is determined, and the braking forces of the front wheels and the rear wheels are respectively set and distributed according to this upper limit value, so that the braking force is distributed to the front wheels or the rear wheels as much as possible, thereby reducing the pitch of the vehicle caused by braking, achieving comfortable braking without reducing the braking force of the vehicle. However, it cannot solve the problem of the whole vehicle oscillation caused by the compression and rebound of the front axle at the moment of braking to a stop. In addition, when the front and rear braking forces both reach the maximum and the front and rear braking forces cannot be distributed, the braking comfort cannot be improved. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a braking control method, system, vehicle, and device for a vehicle, which can achieve comfortable braking of the vehicle in multiple scenarios, effectively reduce the oscillation and pitch of the vehicle during braking, and thus improve the braking comfort.

[0005] In a first aspect, a braking control method for a vehicle is provided, including:

[0006] When the vehicle brakes, obtain braking parameters and vehicle speed, where the braking parameters include braking deceleration and / or braking pressure;

[0007] According to the braking parameters and vehicle speed, obtain the target damping of the shock absorber and the target braking control curve of the braking system, where the target damping and the target braking control curve change with the change of the braking parameters and vehicle speed;

[0008] Control the shock absorber to provide the target damping, and adjust the braking force provided by the braking system according to the target braking control curve,

[0009] Wherein, when the braking system is configured with an active pressure relief function, control whether the braking system performs active pressure relief according to the braking parameters and vehicle speed.

[0010] In some examples, the target damping is one of a first damping parameter, a second damping parameter, and a third damping parameter, and the target braking control curve is one of a first braking control curve and a second braking control curve, where the first damping parameter is less than the second damping parameter, the second damping parameter is less than the third damping parameter, and the braking force corresponding to the same brake pedal opening on the second braking control curve is less than the braking force corresponding to the same brake pedal opening on the first braking control curve.

[0011] In some examples, obtaining the target damping of the shock absorber and the target braking control curve of the braking system according to the braking parameter and the vehicle speed includes:

[0012] When the vehicle speed is greater than a predetermined vehicle speed, or the braking deceleration is less than a first predetermined deceleration, or the braking pressure is less than a first predetermined pressure, the first damping parameter is used as the target damping, and the first braking control curve is used as the target braking control curve;

[0013] When the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to a second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to the second predetermined pressure, the second damping parameter is used as the target damping, and the second braking control curve is used as the target braking control curve;

[0014] When the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than the second braking deceleration, or the braking pressure is greater than the second predetermined pressure, the third damping parameter is used as the target damping, and the second braking control curve is used as the target braking control curve.

[0015] In some examples, when the braking system is configured with an active pressure relief function, controlling whether the braking system performs active pressure relief according to the braking parameter and the vehicle speed includes:

[0016] If the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to the second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to the second predetermined pressure, the active pressure relief function of the braking system is performed;

[0017] If the braking deceleration is greater than the second braking deceleration, or the braking pressure is greater than the second predetermined pressure, the active pressure relief function of the braking system is not performed;

[0018] If the braking deceleration is less than the first braking deceleration, or the braking pressure is less than the first predetermined pressure, the active pressure relief function of the braking system is not executed.

[0019] In some examples, the vehicle includes a braking mode switch and an active pressure relief function switch, where:

[0020] When switching to the comfort braking mode through the braking mode switch and the active pressure relief function switch is turned on, the target damping of the shock absorber and the target braking control curve of the braking system are obtained according to the braking parameters and the vehicle speed;

[0021] When switching to the comfort braking mode through the braking mode switch and the active pressure relief function switch is turned off, the first braking control curve is used as the target braking control curve, and the target damping of the shock absorber is obtained according to the braking parameters and the vehicle speed;

[0022] When switching to the sport braking mode through the braking mode switch and the active pressure relief function switch is turned on or off, the first braking control curve is used as the target braking control curve, and when the vehicle speed is less than or equal to the predetermined vehicle speed, the first damping parameter is used as the target damping, and when the vehicle speed is greater than the predetermined vehicle speed, the third damping parameter is used as the target damping.

[0023] In some examples, it further includes:

[0024] When the braking mode, the active pressure relief function, and the working state of the electronic stability program of the vehicle body are normal, or when the braking mode is degraded, the active pressure relief function, and the working state of the electronic stability program of the vehicle body are normal, the target damping of the shock absorber and the target braking control curve of the braking system are obtained according to the braking parameters and the vehicle speed;

[0025] When one or two of the active pressure relief function, the braking mode, and the electronic stability program of the vehicle body are degraded, the first braking control curve is used as the target braking control curve, and the target damping of the shock absorber is obtained according to the braking parameters and the vehicle speed.

[0026] In some examples, it further includes:

[0027] If the braking system is not equipped with the active pressure relief function and / or the vehicle is not equipped with a braking mode switch, and if the working state of the electronic stability program of the vehicle body is normal, the target damping of the shock absorber and the target braking control curve of the braking system are obtained according to the braking parameters and the vehicle speed.

[0028] In some examples, it further includes:

[0029] If the braking system is not configured with the active pressure relief function and / or the vehicle is not configured with a braking mode switch, and if the electronic stability program (ESP) is degraded, then the first braking control curve is used as the target braking control curve, and the target damping of the shock absorber is obtained based on the braking parameters and the vehicle speed.

[0030] In some examples, it further includes:

[0031] If the pressure build-up rate during vehicle braking is greater than a predetermined pressure build-up rate, then the target braking control curve of the braking system is obtained based on the braking parameters and the vehicle speed, and the third damping parameter is used as the target damping and the active pressure relief function is not executed.

[0032] In a second aspect, a braking control system for a vehicle is provided, including:

[0033] An acquisition module, configured to obtain braking parameters and a vehicle speed when the vehicle brakes, where the braking parameters include a braking deceleration and / or a braking pressure;

[0034] A determination module, configured to obtain the target damping of the shock absorber and the target braking control curve of the braking system based on the braking parameters and the vehicle speed, where the target damping and the target braking control curve change with the change of the braking parameters and the vehicle speed;

[0035] A control module, configured to control the shock absorber to provide the target damping, adjust the braking force provided by the braking system according to the target braking control curve, and control whether the braking system executes active pressure relief based on the braking parameters and the vehicle speed when the braking system is configured with the active pressure relief function.

[0036] In a third aspect, a vehicle is provided, including: the braking control system for a vehicle according to the second aspect above.

[0037] In a fourth aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the vehicle braking control method according to the first aspect above.

[0038] By adopting the embodiments of the present application, it is possible to flexibly select the active pressure relief function of the braking system, flexibly adjust the braking force, and flexibly adjust the damping of the shock absorber under different braking conditions such as different braking decelerations and braking pressures, and in various working conditions such as forward, reverse, and steering braking. Furthermore, it is possible to achieve comfortable braking of the vehicle in multiple scenarios, effectively reduce the oscillation and pitching of the vehicle during braking, and thus improve the comfort of braking. Description of the Drawings

[0039] Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0040] Figure 1 Flowchart of the braking control method for a vehicle provided by an embodiment of the present application;

[0041] Figure 2 Block diagram of the structure of the braking control system for a vehicle provided by an embodiment of the present application;

[0042] Figure 3 Block diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0043] The present application will be further described in detail below with reference to embodiments and the drawings. It can be understood that the specific embodiments described herein are only used to explain the related application, rather than limiting the application. Additionally, it should be noted that only parts related to the application are shown in the drawings for ease of description.

[0044] It should be noted that, without conflict, the embodiments and the features of the embodiments in the present application can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0045] The braking control method, system, vehicle, and device for a vehicle according to an embodiment of the present application will be described in detail below with reference to the drawings.

[0046] In the embodiments of the present application, according to different braking modes (such as comfort mode and sport mode) and different braking conditions (such as braking deceleration, braking pressure, etc.), when braking under various working conditions (such as forward, reverse, steering, etc.), the active pressure relief function (i.e., CST function) of the braking system can be flexibly executed or not executed, the braking force can be adjusted (such as different DBR curves corresponding to different braking forces), and the damping of the shock absorber (such as the damping of the CDC shock absorber) can be adjusted, thereby achieving comfortable braking of the vehicle in all scenarios. Not only conventional driving conditions are considered, but also braking optimization is specifically carried out for special situations such as low speed, high speed, and emergency braking to achieve the purpose of comfortable braking.

[0047] Figure 1 is a flowchart of the braking control method for a vehicle according to an embodiment of the present application. As Figure 1 shown, according to the braking control method for a vehicle in an embodiment of the present application, the following steps are included:

[0048] S101: When the vehicle brakes, obtain braking parameters and vehicle speed, where the braking parameters include braking deceleration and / or braking pressure.

[0049] Among them, the braking deceleration and / or braking pressure refer to: at least one of the braking deceleration and the braking pressure.

[0050] The braking of the vehicle can be the braking taken during forward movement, the braking taken during reverse movement, and the braking taken during turning.

[0051] S102: Obtain the target damping of the shock absorber and the target braking control curve of the braking system according to the braking parameters and the vehicle speed, wherein the target damping and the target braking control curve change with the change of the braking parameters and the vehicle speed.

[0052] In an embodiment of the present application, the target damping can be selected from three damping parameters, and the target braking control curve can be selected from two braking control curves. It can be understood that more damping parameters can also be set. In this way, the target damping can be selected from these more damping parameters. Of course, there can also be more braking control curves. In this way, the target braking control curve can be selected from more braking control curves.

[0053] Taking three damping parameters and two braking control curves as an example, in a specific example, the target damping is one of the first damping parameter C1, the second damping parameter C2, and the third damping parameter C3, and the target braking control curve is one of the first braking control curve DBR1 and the second braking control curve DBR2. Among them, the first damping parameter C1 is less than the second damping parameter C2, and the second damping parameter C2 is less than the third damping parameter C3. The braking force corresponding to the same brake pedal opening on the second braking control curve DBR2 is less than the braking force corresponding to it on the first braking control curve DBR1. For example: DBR2 = DBR1 * 80%, that is: in the case of the same brake pedal opening, the braking force corresponding to DBR2 is 80% of the braking force corresponding to DBR1. For example: when the brake pedal opening is a certain value, the braking force corresponding to DBR1 is 10, then the braking force corresponding to DBR2 is 8.

[0054] S103: Control the shock absorber to provide the target damping, and adjust the braking force provided by the braking system according to the target braking control curve. When the braking system is configured with an active pressure relief function, control whether the braking system performs active pressure relief according to the braking parameters and the vehicle speed.

[0055] Specifically, when the vehicle speed is greater than a predetermined vehicle speed, or the braking deceleration is less than a first predetermined deceleration, or the braking pressure is less than a first predetermined pressure, the first damping parameter is used as the target damping, and the first braking control curve is used as the target braking control curve; when the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to a second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to the second predetermined pressure, the second damping parameter is used as the target damping, and the second braking control curve is used as the target braking control curve; when the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than the second braking deceleration, or the braking pressure is greater than the second predetermined pressure, the third damping parameter is used as the target damping, and the second braking control curve is used as the target braking control curve.

[0056] In the above example, when the braking system is configured with an active pressure relief function, according to the braking parameters and the vehicle speed, controlling whether the braking system performs active pressure relief includes: if the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to the second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to the second predetermined pressure, performing the active pressure relief function of the braking system; if the braking deceleration is greater than the second braking deceleration, or the braking pressure is greater than the second predetermined pressure, not performing the active pressure relief function of the braking system; if the braking deceleration is less than the first braking deceleration, or the braking pressure is less than the first predetermined pressure, not performing the active pressure relief function of the braking system.

[0057] For example, assume the predetermined vehicle speed is 8 kilometers per hour (i.e., 8 kph), the first predetermined deceleration is 0.05 g, the first predetermined pressure is 5 bar, the second predetermined deceleration is 0.5 g, the second predetermined pressure is 50 bar, and the braking system takes the by-wire hydraulic braking system as an example. This by-wire hydraulic braking system has a CST function (i.e., an active pressure relief function), then there is:

[0058] The CST function of the by-wire hydraulic braking system can simulate the braking operation of an experienced driver by relieving pressure during braking, that is, by actively relieving pressure, simulating the purpose of smoothly stopping the vehicle when the driver raises the brake pedal slightly when stopping the vehicle. At the same time, it has two sets of DBR curves (i.e., DBR1 and DBR2), which reduce the braking force and the pitch of the whole vehicle at a lower vehicle speed.

[0059] The CDC shock absorber can reduce the oscillation during pitch recovery by adjusting the damping of the shock absorber, achieving a smooth stop of the vehicle. At the same time, combined with CST active pressure relief control, DBR braking force control, and CDC shock absorber damping control, it realizes comfortable braking in all scenarios.

[0060] The by-wire hydraulic braking system has two sets of DBR curves for retrieval:

[0061] 1) When driving at normal high speed (such as vehicle speed > 8 km / h), the DBR curve adopts DBR1.

[0062] 2) When driving at a low speed with speed adjustment (i.e., vehicle speed ≤ 8 km / h), the DBR curve adopts DBR2.

[0063] The CDC shock absorber has three sets of damping parameters (i.e., C1, C2, and C3) integrated in the braking system or can also be integrated in the central domain controller for retrieval:

[0064] When driving at normal high speed, or during braking, but vehicle speed > 8 kph, or braking deceleration < 0.05g or braking pressure < 5 bar, the damping of the CDC shock absorber is C1;

[0065] During braking, when 0.05g ≤ deceleration ≤ 0.5g and 5 bar ≤ braking pressure ≤ 50 bar, and when the vehicle speed reaches ≤ 8 kph, the damping of the CDC shock absorber is C2;

[0066] During braking, when braking deceleration > 0.5g, or braking pressure > 50 bar, and when the vehicle speed reaches ≤ 8 kph, the damping of the CDC shock absorber is C3.

[0067] In a specific example, for a vehicle model without a CDC shock absorber configuration, only the combined control strategy of speed-dependent DBR and CST is executed.

[0068] When the brake pedal is depressed during forward, reverse, or steering, or a braking request is sent, the deceleration threshold reaches 0.05g - 0.5g, the braking pressure threshold reaches 5 bar - 50 bar, and the initial vehicle speed during braking ≤ 8 kph:

[0069] Execute the DBR speed-dependent control strategy;

[0070] The damping of the CDC shock absorber executes C2;

[0071] The CST comfortable braking function is turned on (i.e., the active pressure relief function is executed).

[0072] When the brake pedal is depressed during forward, reverse, or steering, or a braking request is sent, the deceleration threshold reaches 0.05g - 0.5g, the braking pressure threshold reaches 5 bar - 50 bar, and the initial vehicle speed during braking > 8 kph:

[0073] The DBR curve is executed according to DBR1;

[0074] When the vehicle speed > 8 kph, the CDC shock absorber damping executes C1, and when decelerating to ≤ 8 kph, it executes C2;

[0075] The CST comfort braking function is turned on.

[0076] When the brake pedal is depressed during forward, reverse or steering, or when a brake request is sent, when the deceleration threshold reaches > 0.5g or the brake pressure > 50 bar, and the initial vehicle speed during braking ≤ 8 kph:

[0077] The DBR curve is executed according to DBR2;

[0078] The CDC shock absorber damping executes C3;

[0079] The CST comfort braking function is turned off (i.e., the active pressure relief function is not executed), thereby reducing the increase in braking distance caused by pressure relief and the groan noise problem during pressure relief.

[0080] When the brake pedal is depressed during forward, reverse or steering, or when a brake request is sent, when the deceleration threshold reaches > 0.5g or the brake pressure > 50 bar, and the initial vehicle speed during braking > 8 kph:

[0081] The DBR curve is executed according to DBR1;

[0082] When the vehicle speed > 8 kph, the CDC shock absorber damping executes C1, and when decelerating to ≤ 8 kph, the CDC shock absorber damping executes C3;

[0083] The CST comfort braking function is turned off, reducing the increase in braking distance caused by pressure relief and the groan noise problem during pressure relief.

[0084] When the brake pedal is depressed during forward, reverse or steering, or when a brake request is sent, when the braking deceleration < 0.05g, or < 5 bar:

[0085] The DBR curve executes a speed-dependent control strategy, that is: according to the braking parameters and vehicle speed, the target braking control curve of the braking system is obtained;

[0086] The CDC shock absorber damping executes C1;

[0087] The CST comfort braking function is turned off.

[0088] In an embodiment of the present application, a braking control method for a vehicle, the vehicle includes a braking mode switch (i.e., with a VBF switch) and an active pressure relief function switch (i.e., with a switch for whether the CST function is turned on), wherein:

[0089] When switching to the comfort braking mode through the braking mode switch and the active pressure relief function switch is turned on, according to the braking parameters and vehicle speed, the target damping of the shock absorber and the target braking control curve of the braking system are obtained; when switching to the comfort braking mode through the braking mode switch and the active pressure relief function switch is turned off, the first braking control curve is used as the target braking control curve, and according to the braking parameters and vehicle speed, the target damping of the shock absorber is obtained; when switching to the sport braking mode through the braking mode switch and the active pressure relief function switch is turned on or off, the first braking control curve is used as the target braking control curve, and when the vehicle speed is less than or equal to the predetermined vehicle speed, the first damping parameter is used as the target damping, and when the vehicle speed is greater than the predetermined vehicle speed, the third damping parameter is used as the target damping.

[0090] In a specific application, for example: when the brake pedal is depressed or a braking request is sent, with the VBF and CST switch states, where:

[0091] When VBF is in the comfort mode and CST is turned on, the DBR speed-dependent control strategy is executed, and the CDC shock absorber damping control strategy based on vehicle speed and deceleration is executed;

[0092] When VBF is in the comfort mode and CST is turned off, the DBR curve is executed according to DBR1, and only the CDC shock absorber damping control strategy based on vehicle speed and deceleration is executed;

[0093] When VBF is in the sport mode and CST is turned on, it is executed according to DBR1. When the vehicle speed ≤ 8 kph, the CDC shock absorber damping executes C1, and when the vehicle speed > 8 kph, the CDC shock absorber damping executes C3 to improve the vehicle deceleration callback and oscillation when the braking response is fast;

[0094] When VBF is in the sport mode and CST is turned off, it is executed according to DBR1. When the vehicle speed ≤ 8 kph, the CDC shock absorber damping executes C1, and when the vehicle speed > 8 kph, the CDC shock absorber damping executes C3 to improve the vehicle deceleration callback and oscillation when the braking response is fast.

[0095] In an embodiment of the present application, the braking control method of the vehicle further includes: when the braking mode, the active pressure relief function, and the working state of the electronic stability program of the vehicle body are normal, or when the braking mode is degraded, the active pressure relief function, and the working state of the electronic stability program of the vehicle body are normal, according to the braking parameters and vehicle speed, the target damping of the shock absorber and the target braking control curve of the braking system are obtained; when one or two of the active pressure relief function, the braking mode, and the electronic stability program of the vehicle body are degraded, the first braking control curve is used as the target braking control curve, and according to the braking parameters and vehicle speed, the target damping of the shock absorber is obtained.

[0096] Among them, the braking mode degradation means that the braking mode degrades from adjustable to non-adjustable, that is: the adjustable braking mode can be switched to the sports braking mode or the comfort braking mode, while the non-adjustable mode cannot be switched between the sports braking mode and the comfort braking mode. For example, when the braking mode degrades, if the current mode is the sports braking mode, it cannot be adjusted to the comfort braking mode; if the current mode is the comfort braking mode, it cannot be adjusted to the sports braking mode.

[0097] In specific applications, when the brake pedal is depressed or a braking request is sent, braking control is performed according to the working states of VBF, CST, and ESC, where:

[0098] When the working states of VBF, CST, and ESC are normal, the DBR speed-dependent control strategy is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0099] When VBF degrades and the working states of CST and ESC are normal, the DBR speed-dependent control strategy is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0100] When CST degrades (i.e., the CST pressure relief function is turned off) and the working states of VBF and ESC are normal, the DBR curve is executed according to DBR1, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0101] When ESC degrades (i.e., the electronic body stability system is turned off) and the working states of VBF and CST are normal, the DBR curve is executed according to DBR1, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0102] When VBF and CST degrade and the working state of ESC is normal, the DBR curve is executed according to DBR1, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0103] When VBF and ESC degrade and the working state of CST is normal, the DBR curve is executed according to DBR1, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0104] When CST and ESC degrade and the working state of VBF is normal, the DBR curve is executed according to DBR1, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed.

[0105] In an embodiment of the present application, the braking control method of a vehicle further includes: when the braking system is not equipped with the active pressure relief function and / or the vehicle is not equipped with a braking mode switch, if the working state of the electronic stability control system of the vehicle body is normal, the target damping of the shock absorber and the target braking control curve of the braking system are obtained according to the braking parameters and the vehicle speed.

[0106] For example, when the brake pedal is depressed or a braking request is sent, for a vehicle model without VBF and / or without CST, if the ESC is fault-free, then:

[0107] For a vehicle model without VBF, by default, the DBR speed-dependent control strategy is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0108] For a vehicle model without CST, by default, the DBR speed-dependent control strategy is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0109] For a vehicle model without VBF / CST, by default, the DBR speed-dependent control strategy is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed.

[0110] In an embodiment of the present application, the braking control method of a vehicle further includes: when the braking system is not equipped with the active pressure relief function and / or the vehicle is not equipped with a braking mode switch, if the electronic stability control system of the vehicle body is degraded, the first braking control curve is used as the target braking control curve, and the target damping of the shock absorber is obtained according to the braking parameters and the vehicle speed.

[0111] For example: when the brake pedal is depressed or a braking request is sent, for a vehicle model without VBF and / or without CST, if the ESC is degraded, then:

[0112] For a vehicle model without VBF, DBR1 is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0113] For a vehicle model without CST, DBR1 is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed;

[0114] 3) For a vehicle model without VBF and CST, DBR1 is executed, and the strategy of controlling the CDC shock absorber damping according to the vehicle speed and deceleration is executed.

[0115] Thus, when some systems of the vehicle (such as VBF, CST, ESC) fail or are degraded, even when some functions are limited, the braking effect can still be effectively improved and the braking comfort can be enhanced through the speed-dependent DBR and the CDC shock absorber damping settings.

[0116] In an embodiment of the present application, the braking control method of a vehicle further includes: if the pressure build-up rate during vehicle braking is greater than a predetermined pressure build-up rate, then according to the braking parameters and vehicle speed, obtain the target braking control curve of the braking system, and use the third damping parameter as the target damping and do not perform the active pressure relief function.

[0117] Taking the predetermined pressure build-up rate as 120 bar / s as an example, we have:

[0118] When the brake pedal is depressed during forward, reverse or steering, or a braking request is sent, and the pressure build-up rate > 120 bar / s:

[0119] Execute the DBR speed-dependent control strategy;

[0120] The shock absorber damping executes C3, effectively improving the vehicle pitch and oscillation during rapid braking;

[0121] The CST comfort braking function is turned off.

[0122] According to the braking control method of the vehicle in the embodiment of the present application, it is possible to flexibly select the active pressure relief function of the braking system, flexibly adjust the braking force, and flexibly adjust the damping of the shock absorber under different braking conditions such as different braking decelerations and braking pressures, and in various working conditions such as forward, reverse, and steering braking. Furthermore, it is possible to achieve comfortable braking of the vehicle in multiple scenarios, effectively reducing the oscillation and pitch of the vehicle during braking, thereby improving the comfort of braking.

[0123] Figure 2 It is a structural block diagram of a vehicle braking control system according to an embodiment of the present application. As Figure 2 shown, a vehicle braking control system according to an embodiment of the present application includes: an acquisition module 210, a determination module 220, and a control module 230, where:

[0124] The acquisition module 210 is configured to obtain braking parameters and vehicle speed when the vehicle brakes, where the braking parameters include braking deceleration and / or braking pressure;

[0125] The determination module 220 is configured to obtain the target damping of the shock absorber and the target braking control curve of the braking system according to the braking parameters and vehicle speed, where the target damping and the target braking control curve change with the change of the braking parameters and vehicle speed;

[0126] The control module 230 is configured to control the shock absorber to provide the target damping, adjust the braking force provided by the braking system according to the target braking control curve, and control whether the braking system performs active pressure relief according to the braking parameters and vehicle speed when the braking system is configured with an active pressure relief function.

[0127] According to the braking control system of a vehicle in an embodiment of the present application, under different braking conditions such as different braking decelerations and braking pressures, and in various working conditions such as forward, reverse, and steering braking, the active pressure relief function of the braking system can be flexibly selected, the braking force can be flexibly adjusted, and the damping of the shock absorber can be flexibly adjusted. Furthermore, comfortable braking of the vehicle in various scenarios can be achieved, effectively reducing the oscillation and pitching of the vehicle during braking, thereby improving the comfort of braking.

[0128] For the specific limitations of the braking control system of the vehicle, reference can be made to the limitations on the braking control method of the vehicle in the foregoing text, which will not be elaborated here. Each module of the above-mentioned braking control system of the vehicle can be implemented in whole or in part by software, hardware, and their combinations. The above-mentioned each module can be embedded in the processor of the computer device in the form of hardware or be independent of it, or can be stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0129] Furthermore, in an embodiment of the present application, a vehicle is provided, including: the braking control system of the vehicle according to any one of the above embodiments. This vehicle can, under different braking conditions such as different braking decelerations and braking pressures, and in various working conditions such as forward, reverse, and steering braking, flexibly select the active pressure relief function of the braking system, flexibly adjust the braking force, and flexibly adjust the damping of the shock absorber. Furthermore, comfortable braking of the vehicle in various scenarios can be achieved, effectively reducing the oscillation and pitching of the vehicle during braking, thereby improving the comfort of braking.

[0130] In addition, the other constitutions and functions of the vehicle according to the embodiments of the present application are known to those of ordinary skill in the art and will not be elaborated here.

[0131] Next, refer to Figure 3 , Figure 3 which shows a schematic structural diagram of a computer device suitable for implementing the embodiments of the present application.

[0132] As Figure 3 shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage section 1008 into the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation instructions of the system are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other through a bus 1004. The input / output (I / O) interface 1005 is also connected to the bus 1004.

[0133] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read from it can be installed into the storage section 1008 as needed.

[0134] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart Figure 1 can be implemented as a computer-readable storage medium. For example, an embodiment of the present application includes a computer-readable storage medium that includes a computer program, and the computer program includes program code for executing the method shown in the flowchart, for example, executing: when the vehicle brakes, obtaining braking parameters and vehicle speed, where the braking parameters include braking deceleration and / or braking pressure;

[0135] According to the braking parameters and vehicle speed, obtaining the target damping of the shock absorber and the target braking control curve of the braking system, where the target damping and the target braking control curve change with the change of the braking parameters and vehicle speed;

[0136] Controlling the shock absorber to provide the target damping and adjusting the braking force provided by the braking system according to the target braking control curve,

[0137] where, when the braking system is configured with an active pressure relief function, controlling whether the braking system performs active pressure relief according to the braking parameters and vehicle speed.

[0138] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart Figure 1 can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart, for example, executing: when the vehicle brakes, obtaining braking parameters and vehicle speed, where the braking parameters include braking deceleration and / or braking pressure;

[0139] According to the braking parameters and vehicle speed, obtaining the target damping of the shock absorber and the target braking control curve of the braking system, where the target damping and the target braking control curve change with the change of the braking parameters and vehicle speed;

[0140] Control the shock absorber to provide the target damping, and adjust the braking force provided by the braking system according to the target braking control curve.

[0141] Wherein, when the braking system is configured with an active pressure relief function, control whether the braking system performs active pressure relief according to the braking parameters and vehicle speed.

[0142] In such an embodiment, the computer program includes program code for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above functions defined in the system of the present application are executed.

[0143] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, apparatus, or device. And in the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or combined with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operation instructions of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may occur in a different order than that marked in the figures. For example, two consecutive boxes may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as combinations of boxes in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operation instructions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0145] The units or modules involved in the embodiments described in the present application may be implemented in software or in hardware. The described units or modules may also be provided in a processor. Among them, the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0146] The technical features of the above embodiments may be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0147] The above embodiments merely represent several implementation manners of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A vehicle braking control method, characterized in that: include: When the vehicle is braking, obtaining braking parameters and vehicle speed, wherein the braking parameters include braking deceleration and / or braking pressure; According to the braking parameter and the vehicle speed, a target damping of the shock absorber and a target braking control curve of the braking system are obtained, wherein the target damping and the target braking control curve change with changes in the braking parameter and the vehicle speed; controlling the shock absorber to provide the target damping, and adjusting the braking force provided by the braking system according to the target braking control curve, Wherein, when the braking system is equipped with an active pressure relief function, whether the braking system performs active pressure relief is controlled according to the braking parameters and the vehicle speed.

2. The vehicle braking control method according to claim 1, characterized in that: The target damping is one of a first damping parameter, a second damping parameter and a third damping parameter, and the target braking control curve is one of a first braking control curve and a second braking control curve, wherein the first damping parameter is smaller than the second damping parameter, the second damping parameter is smaller than the third damping parameter, and the braking force corresponding to the same brake pedal opening on the second braking control curve is smaller than the braking force corresponding to the first braking control curve.

3. The vehicle braking control method according to claim 2, characterized in that: The step of obtaining a target damping of the shock absorber and a target braking control curve of the braking system according to the braking parameter and the vehicle speed comprises: When the vehicle speed is greater than a predetermined vehicle speed, or the braking deceleration is less than a first predetermined deceleration, or the braking pressure is less than a first predetermined pressure, the first damping parameter is used as the target damping, and the first braking control curve is used as the target braking control curve; When the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to the second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to the second predetermined pressure, the second damping parameter is used as the target damping, and the second braking control curve is used as the target braking control curve; When the vehicle speed is less than or equal to the predetermined vehicle speed, if the braking deceleration is greater than the second braking deceleration, or the braking pressure is greater than the second predetermined pressure, the third damping parameter is used as the target damping, and the second braking control curve is used as the target braking control curve.

4. The vehicle braking control method according to claim 3, characterized in that: When the brake system is configured with an active pressure relief function, controlling whether the brake system performs active pressure relief according to the brake parameter and the vehicle speed includes: If the braking deceleration is greater than or equal to the first predetermined deceleration and less than or equal to the second predetermined deceleration, and the braking pressure is greater than or equal to the first predetermined pressure and less than or equal to the second predetermined pressure, the active pressure relief function of the braking system is executed; If the braking deceleration is greater than the second braking deceleration, or the braking pressure is greater than the second predetermined pressure, the active pressure relief function of the braking system is not performed; If the braking deceleration is less than the first braking deceleration, or the braking pressure is less than the first predetermined pressure, the active pressure relief function of the braking system is not performed.

5. The vehicle braking control method according to claim 2, characterized in that: The vehicle includes a brake mode switch and an active pressure relief function switch, wherein: When the brake mode switch is switched to the comfort brake mode and the active pressure relief function switch is turned on, a target damping of the shock absorber and a target brake control curve of the brake system are obtained according to the braking parameters and the vehicle speed; When the brake mode switch is switched to the comfort brake mode and the active pressure relief function switch is turned off, the first brake control curve is used as the target brake control curve, and the target damping of the shock absorber is obtained according to the brake parameter and the vehicle speed; When the brake mode switch is switched to the sports brake mode and the active pressure relief function switch is turned on or off, the first brake control curve is used as the target brake control curve, and when the vehicle speed is less than or equal to the predetermined vehicle speed, the first damping parameter is used as the target damping, and when the vehicle speed is greater than the predetermined vehicle speed, the third damping parameter is used as the target damping.

6. The vehicle braking control method according to claim 5, characterized in that: Also includes: When the braking mode, the active pressure relief function and the vehicle electronic stability system are in normal working state, or when the braking mode is degraded, the active pressure relief function and the vehicle electronic stability system are in normal working state, obtaining a target damping of the shock absorber and a target braking control curve of the braking system according to the braking parameters and the vehicle speed; When one or two of the active pressure relief function, the braking mode and the vehicle electronic stability system are degraded, the first braking control curve is used as the target braking control curve, and the target damping of the shock absorber is obtained according to the braking parameter and the vehicle speed.

7. The vehicle braking control method according to claim 2, characterized in that: Also includes: If the braking system is not equipped with the active pressure relief function and / or the vehicle is not equipped with a braking mode switch, if the working state of the vehicle body electronic stability system is normal, the target damping of the shock absorber and the target braking control curve of the braking system are obtained according to the braking parameters and the vehicle speed.

8. The vehicle braking control method according to claim 2, characterized in that: Also includes: If the braking system is not equipped with the active pressure relief function and / or the vehicle is not equipped with a braking mode switch, if the vehicle electronic stability system is degraded, the first braking control curve is used as the target braking control curve, and the target damping of the shock absorber is obtained according to the braking parameters and the vehicle speed.

9. The vehicle braking control method according to claim 2, characterized in that: Also includes: If the pressure building rate during vehicle braking is greater than a predetermined pressure building rate, a target braking control curve of the braking system is obtained according to the braking parameter and the vehicle speed, and the third damping parameter is used as the target damping and the active pressure relief function is not performed.

10. A vehicle braking control system, characterized in that: include: An acquisition module, used for acquiring braking parameters and vehicle speed when the vehicle is braking, wherein the braking parameters include braking deceleration and / or braking pressure; a determination module, configured to obtain a target damping of a shock absorber and a target braking control curve of a braking system according to the braking parameter and the vehicle speed, wherein the target damping and the target braking control curve change with changes in the braking parameter and the vehicle speed; A control module is used to control the shock absorber to provide the target damping, and adjust the braking force provided by the braking system according to the target braking control curve, and when the braking system is equipped with an active pressure relief function, control whether the braking system performs active pressure relief according to the braking parameters and vehicle speed.

11. A vehicle, characterized in that: include: A vehicle braking control system according to claim 10.

12. A computer device comprising 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 program, the braking control method of the vehicle according to any one of claims 1-9 is implemented.

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