Vehicle braking method and controller thereof

Abstract

The invention provides a vehicle braking method and a controller thereof, the vehicle braking method is applied to a braking system for parking braking, and the method comprises the steps that braking force information is determined according to vehicle state information and target position information, and the braking force information indicates adjustable braking force. And according to the braking force information, a brake is driven to act, so that adjustable braking force is provided, and the vehicle is parked at the target position indicated by the target position information. According to the vehicle braking method, the vehicle can be stopped at the target position, so that the vehicle can be braked at the target position, and adverse effects caused by random braking positions of the vehicle are avoided.

Description

Technical Field

[0001] The embodiments of the present invention relate to the fields of vehicle technology and vehicle braking technology, and particularly to a vehicle braking method and a controller thereof. Background Art

[0002] Vehicle braking is the process of slowing down or stopping a vehicle by applying braking force.

[0003] Generally speaking, in addition to the main braking system for driving brakes, the vehicle is also provided with a secondary braking system for parking brakes. The secondary braking system provides the vehicle with a redundant braking strategy to ensure that in the event of failure of the main braking system, the vehicle emergency braking can continue to be controlled, thereby making the vehicle safe and controllable. In some implementations, after the main braking system fails, the secondary braking system uses a constant value of braking force to stop the vehicle. Although this can avoid the loss of control of the vehicle due to failure of the main braking system, this method makes the vehicle's braking position random, which may cause, for example, traffic jams. With the popularization of vehicles, the number of vehicles has increased significantly. Due to factors such as small parking spaces and complex road conditions, the random braking position of vehicles in emergency situations will have an adverse effect. Therefore, there is still room for optimization of vehicle braking according to actual scenarios. Summary of the Invention

[0004] The present application provides a vehicle braking method, a vehicle system controller, a braking system and a vehicle thereof.

[0005] In a first aspect, the present application relates to a vehicle braking method, applicable to a parking brake system, comprising: determining braking force information based on vehicle state information and target position information; and actuating a brake based on the braking force information to provide an adjustable braking force to stop the vehicle at a target position indicated by the target position information.

[0006] The brake force information indicates the adjustable brake force.

[0007] According to the vehicle braking method of the present application, the vehicle status information indicates the status of the vehicle, for example, the vehicle status information indicates the vehicle's position and vehicle speed, etc. Based on the vehicle status information and the target position information indicating the target position, the braking force required to stop the vehicle at the target position can be determined. Since the target position is fixed and the vehicle status information in the time dimension is changeable, the braking force required to stop the vehicle at the target position is changeable. The braking force information of the vehicle braking method of the present application indicates an adjustable braking force. Driving the brake according to the braking force information can make the vehicle stop at the target position, thereby achieving the goal of stopping the vehicle at the target position and avoiding the adverse effects caused by the randomness of the vehicle's braking position.

[0008] For example, the target location information may be predetermined, for example, the target location information may be determined by a vehicle sensing device sensing the surrounding environment of the vehicle, or the vehicle may receive the target location information indicated by a vehicle data center.

[0009] According to the vehicle braking method of the present application, the braking system is an electronic parking brake system.

[0010] The Electronic Park Brake (EPB) system implements parking braking through electronic control.

[0011] For example, the following application can be used to implement a specific example of driving a brake based on braking force information: determining a motor drive signal based on the braking force information; driving a motor based on the motor drive signal to cause the motor to output a motor torque signal; and driving a brake connected to the motor based on the motor torque signal.

[0012] Since the brake is connected to the motor, the motor torque signal output by the motor is related to the braking force of the brake (i.e., the braking force), and the input of the motor, i.e., the motor drive signal, is related to the output of the motor, i.e., the motor torque signal. Therefore, the braking force information indicating the braking force is related to the motor drive signal, and the motor drive signal is related to the motor torque signal. Therefore, the vehicle braking method of the present application can determine the motor drive signal based on the braking force information, and can also drive the motor to operate based on the motor drive signal, so that the motor outputs a motor torque signal. The motor torque signal can drive the brake connected to the motor to operate, and the brake action can generate an adjustable braking force indicated by the braking force information.

[0013] For example, the motor drive signal may include an adjustable pulse width modulation (PWM) signal. For example, the adjustable PWM signal may include a PWM signal with an adjustable duty cycle. When the motor drive signal is an adjustable PWM signal, the motor torque signal output by the motor is also adjustable. Due to the correlation between the motor torque signal and the braking force, the braking force is also adjustable.

[0014] According to the vehicle braking method of this application, vehicle state information includes environmental perception information and braking state information. For example, the following application can be used to implement a specific example of determining braking force information based on vehicle state information and target position information: determining braking force information at a next moment based on environmental perception information, target position information, and braking state information at a current moment.

[0015] The braking status information indicates the working status of the brakes, and the environmental perception information indicates the surrounding environment of the vehicle.

[0016] According to the vehicle braking method of the present application, the environmental perception information indicates the surrounding environment of the vehicle, such as obstacles in the surrounding environment of the vehicle. The target position information indicates the target position to be reached by the vehicle. The driving route to the target position can be determined based on the environmental perception information and the target position information (because the current position of the vehicle does not coincide with the target position, the vehicle needs to brake from the current position and travel at a lower speed to approach the target position, so a driving route can be formed between the current position and the target position). On this basis, the braking force at the next moment can be determined based on the braking state information at the current moment. The braking force at the next moment causes the vehicle to approach the target position from the current position, for example, via the driving route.

[0017] According to the vehicle braking method of the present application, for example, the following application can be used to implement a specific example of determining braking force information at a next moment based on environmental perception information, target position information, and braking state information at a current moment: determining vehicle operation information at a next moment based on environmental perception information and target position information. Determining braking force information at a next moment based on the vehicle operation information at a next moment.

[0018] Vehicle operation information indicates vehicle speed and direction.

[0019] According to the vehicle braking method of the present application, environmental perception information indicates the surrounding environment of the vehicle, such as obstacles in the surrounding environment of the vehicle. Target position information indicates the target position to be reached by the vehicle. Based on the environmental perception information and the target position information, a driving route to the target position can be determined. This driving route is completed by vehicle operation at a future moment, so vehicle operation information at the next moment can be determined. The vehicle operation information at the next moment indicates the vehicle speed and direction that will cause the vehicle to approach the target position.

[0020] According to the vehicle braking method of the present application, the braking status information includes: pressure information and / or wheel speed information, the pressure information indicates the pressure applied by the brake on the wheel, and the wheel speed information indicates the wheel speed of the vehicle.

[0021] The pressure applied to the wheels by the brakes directly indicates the braking force. Therefore, pressure information can be used as a brake status indicator to characterize the braking status of the vehicle's auxiliary brake system. The purpose of vehicle braking is to reduce speed and bring the vehicle to a stop, so the vehicle's wheel speed represents the braking effectiveness of the auxiliary brake system.

[0022] The pressure information and / or wheel speed information included in the braking status information can also be understood as feedback information of vehicle braking.

[0023] According to the vehicle braking method of the present application, before determining the braking force information according to the vehicle state information, the method may further include: receiving a failure instruction.

[0024] The failure instruction indicates at least one of the following: a communication failure instruction and a power supply failure instruction. The communication failure instruction indicates a communication failure of the braking system, and the power supply failure instruction indicates a power supply failure of the motor of the braking system.

[0025] According to the vehicle braking method of the present application, emergency braking can be performed in scenarios where communication with the auxiliary braking system fails and / or power supply to the motor of the auxiliary braking system fails, so that the vehicle can be stopped at the target position by emergency braking.

[0026] In a second aspect, the present application relates to a controller for a vehicle system, comprising: a braking force information determination module for determining braking force information based on vehicle state information and target position information, the braking force information indicating an adjustable braking force; and a brake actuation module for actuating a brake based on the braking force information to provide an adjustable braking force to stop the vehicle at a target position indicated by the target position information.

[0027] According to the controller of the present application, the braking system is an electronic parking brake system, and the brake drive module includes: a motor drive signal determination submodule, which is used to determine the motor drive signal based on the braking force information; a motor drive submodule, which is used to drive the motor to operate according to the motor drive signal so that the motor outputs a motor torque signal; and a brake first drive submodule, which is used to drive the brake connected to the motor to operate according to the motor torque signal.

[0028] Exemplarily, the motor driving signal includes an adjustable pulse width modulation signal.

[0029] According to the controller of the present application, the vehicle status information includes: environmental perception information and braking status information. The braking force information determination module includes: a first braking force information determination submodule, which is used to determine the braking force information at the next moment based on the environmental perception information, the target position information and the braking status information at the current moment, so as to make the vehicle move toward the target position. The braking status information indicates the working status of the brake, and the environmental perception information indicates the surrounding environment of the vehicle.

[0030] According to the controller of the present application, the first braking force information determination submodule includes: a vehicle operation information determination unit, which is used to determine the vehicle operation information at the next moment based on the environmental perception information and the target position information, and the vehicle operation information indicates the vehicle speed and direction; the first braking force information determination unit is used to determine the braking force information at the next moment based on the vehicle operation information at the next moment.

[0031] According to the controller of the present application, the braking status information includes: pressure information and / or wheel speed information, the pressure information indicates the pressure applied by the brake on the wheel, and the wheel speed information indicates the wheel speed of the vehicle.

[0032] The controller of the braking system according to the present application also includes: a transceiver module for receiving a failure instruction, wherein the failure instruction indicates at least one of the following: a communication failure instruction and a power supply failure instruction, the communication failure instruction indicates a communication failure of the braking system, and the power supply failure instruction indicates a motor power supply failure of the braking system.

[0033] In a third aspect, the present application relates to a braking system, comprising: a controller of the braking system as in the third aspect, a vehicle state sensing device connected to the controller of the braking system, and a brake connected to the controller of the braking system.

[0034] The vehicle state sensing device is used to determine vehicle state information, and the brake is used to provide braking force.

[0035] Exemplarily, the vehicle state perception device may include, for example, a vehicle sensor, an image acquisition device, and the like.

[0036] For example, the brake may include brake pads, brake discs, brake calipers, etc. acting on the wheels.

[0037] According to the braking system of the present application, the controller of the braking system is connected to the motor, the motor is connected to the brake, the motor is used to output a motor torque signal, and the motor torque signal is used to drive the brake to operate.

[0038] For example, the braking system of the present application may be an electronic parking brake system.

[0039] The braking system according to the present application further includes: a communication assembly for braking system communication.

[0040] The braking system according to the present application further includes: a power supply system for supplying power to the motor of the braking system.

[0041] In a fourth aspect, the present application relates to a vehicle, comprising: the braking system of the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following is an introduction to the drawings used in the embodiments of this application.

[0043] Figure 1 A schematic diagram illustrating an architecture of a parking brake system according to an embodiment is shown;

[0044] Figure 2 A flow chart schematically illustrates a vehicle braking method according to an embodiment of the present disclosure;

[0045] Figure 3 A schematic diagram schematically illustrates a controller of a braking system according to an embodiment of the present disclosure;

[0046] Figure 4A schematic diagram schematically shows a braking system and a vehicle according to an embodiment of the present disclosure;

[0047] Figure 5A A schematic diagram of a braking system for a parking scenario according to an embodiment of the present disclosure is shown schematically;

[0048] Figure 5B A schematic diagram schematically illustrates a braking system for a parking scenario according to yet another embodiment of the present disclosure;

[0049] Figure 5C The following schematically shows an architecture diagram of an electronic parking brake system according to an embodiment of the present disclosure;

[0050] Figure 5D The control diagram of the electronic parking brake system is schematically shown;

[0051] Figure 5E The diagram schematically shows the positive correlation between the motor torque signal and the braking torque. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0054] In the description and claims of the embodiments of this application, the terms "first" and "second" are used to distinguish different objects, rather than to describe a specific order of objects. For example, the terms "first target object" and "second target object" are used to distinguish different objects, rather than to describe a specific order of objects.

[0055] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0056] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0057] The following will describe in detail the background of the vehicle braking method according to the embodiment of the present disclosure.

[0058] Vehicle braking is the process of slowing down or stopping a vehicle by applying braking force.

[0059] For example, both driving and parking involve vehicle braking. Taking parking as an example, with the development of automation technology, autonomous parking has become a current development trend. Autonomous parking can be understood as the process of a vehicle automatically parking without manual control. For example, a vehicle equipped with an automated parking system (APS) can automatically identify parking spaces and automatically park itself without human intervention through on-board sensors, processors, and control systems. Automated parking includes different levels of parking functions, such as remote parking, memory parking, and valet parking.

[0060] Figure 1 The schematic diagram of the architecture of a parking brake system according to one embodiment is exemplarily shown.

[0061] like Figure 1 As shown, autonomous parking does not require the driver to directly control the brakes and steering. Therefore, in addition to the main brake system for driving brakes, the vehicle is also provided with a secondary brake system for parking brakes. The secondary brake system provides the vehicle with a redundant braking strategy to ensure that in the event of failure of the main brake system (failure of the main brake system includes not only failure of the main brake system itself, but also failure of communication between the main brake system and the parking control. In the case that the vehicle achieves wheel braking through electric control, failure of the main brake system may also include power supply failure), the vehicle emergency brake can continue to be controlled, thereby making the vehicle safe and controllable. In this case, the vehicle emergency brake can also be understood as a brake control degradation strategy. The brakes of the main brake system can act on each wheel of the vehicle, and the secondary brake system can act on the rear wheels of the vehicle.

[0062] For example, in scenarios like autonomous parking, some implementations rely on a constant braking force from the secondary braking system to stop the vehicle if the primary braking system fails. While this can prevent loss of control due to primary braking system failure, it results in random stopping locations, potentially causing traffic jams. With the widespread adoption of vehicles and a significant increase in their number, coupled with smaller parking spaces and complex road conditions, random stopping locations can have adverse effects in emergency situations. Therefore, there is still room for optimization of vehicle braking based on actual scenarios.

[0063] Figure 2 A flow chart of a vehicle braking method according to an embodiment of the present disclosure is schematically shown.

[0064] like Figure 2 As shown, the vehicle braking method according to the embodiment of the present disclosure includes operations S210 to S220.

[0065] The vehicle braking method is applied to a parking brake system, namely, an auxiliary brake system, and can be applied to a controller of the auxiliary brake system, or to a device with similar functions to the controller of the auxiliary brake system.

[0066] In operation S210 , braking force information is determined based on vehicle state information and target position information.

[0067] The braking force information indicates an adjustable braking force. The "adjustable braking force" in the embodiment of the present disclosure can be understood as the numerical value of the braking force being adjustable. The direction of the braking force can also be adjusted, for example. For example, it can also be a continuously adjustable braking force or a discretely adjustable braking force. "Adjustable" can be understood as the numerical value of the braking force can change in the time dimension. For a certain moment, the numerical value of the braking force is a fixed value.

[0068] In operation S220 , the brake is driven to operate according to the braking force information to provide an adjustable braking force so that the vehicle stops at the target position indicated by the target position information.

[0069] According to the vehicle braking method of the embodiment of the present disclosure, the vehicle status information indicates the status of the vehicle, for example, the vehicle status information indicates the status of the vehicle, such as the position and speed of the vehicle. According to the vehicle status information and the target position information indicating the target position, the braking force required to stop the vehicle at the target position can be determined. Since the target position is fixed and the vehicle status information in the time dimension is changeable, the braking force required to stop the vehicle at the target position is changeable. The braking force information of the vehicle braking method of the embodiment of the present disclosure indicates an adjustable braking force. The brake is driven to operate according to the braking force information, so that the vehicle can be stopped at the target position. Therefore, the vehicle can be stopped at the target position, avoiding the adverse effects caused by the randomness of the vehicle's braking position.

[0070] For example, the target location information can be predetermined. For example, the target location information can be determined by the vehicle's sensing device sensing the vehicle's surrounding environment, or the vehicle can receive the target location information from the vehicle's data center. In the autonomous parking scenario, the target location can be, for example, the location of a parking space, such as a home parking space, in which case the target location is predetermined. In the driving scenario, the target location can be a location with few obstacles and no traffic congestion.

[0071] According to a vehicle braking method according to another embodiment of the present disclosure, the braking system is an electronic parking brake system.

[0072] The Electronic Park Brake (EPB) system implements parking braking through electronic control.

[0073] For example, the following embodiments can be used to implement a specific example of driving a brake based on braking force information: determining a motor drive signal based on the braking force information. Based on the motor drive signal, driving the motor to operate so that the motor outputs a motor torque signal. Based on the motor torque signal, driving a brake connected to the motor to operate.

[0074] It should be noted that the motor refers to a motor used to drive the brake operation.

[0075] The application of electronic mechanical control in the vehicle field has become more and more extensive, so electric braking methods are becoming more and more popular. For example, the auxiliary brake system of the embodiment of the present disclosure is an electronic parking system. The electronic parking system uses a motor connected to the brake to control the brake action. Specifically, since the brake is connected to the motor, the motor torque signal output by the motor is related to the braking force of the brake (i.e., the braking force), and the input of the motor, i.e., the motor drive signal, and the output of the motor, i.e., the motor torque signal, are also related. Therefore, the braking force information indicating the braking force is related to the motor drive signal, and the motor drive signal and the motor torque signal are all related. Therefore, the vehicle braking method of the embodiment of the present disclosure can determine the motor drive signal according to the braking force information, and can also drive the motor action according to the motor drive signal, so that the motor outputs the motor torque signal. The motor torque signal can drive the brake connected to the motor to act, and the brake action can generate an adjustable braking force indicated by the braking force information.

[0076] For example, the motor drive signal may include an adjustable pulse width modulation (PWM) signal. For example, the adjustable PWM signal may include a PWM signal with an adjustable duty cycle. When the motor drive signal is an adjustable PWM signal, the motor torque signal output by the motor is also adjustable. Due to the correlation between the motor torque signal and the braking force, the braking force is also adjustable.

[0077] Exemplarily, the motor driving signal may further include an adjustable pulse frequency modulation (PFM) signal.

[0078] According to another embodiment of the vehicle braking method of the present disclosure, vehicle state information includes environmental perception information and braking state information. For example, the following embodiment can be used to implement a specific example of determining braking force information based on vehicle state information and target position information: Braking force information at a next moment is determined based on environmental perception information, target position information, and braking state information at a current moment.

[0079] The braking status information indicates the working status of the brakes, and the environmental perception information indicates the surrounding environment of the vehicle.

[0080] According to the vehicle braking method of the embodiment of the present disclosure, the environmental perception information indicates the surrounding environment of the vehicle, such as obstacles in the surrounding environment of the vehicle. The target position information indicates the target position to be reached by the vehicle. The driving route to the target position can be determined based on the environmental perception information and the target position information (because the vehicle's current position does not coincide with the target position, the vehicle needs to brake from the current position and travel at a lower speed to approach the target position, so a driving route can be formed between the current position and the target position). On this basis, the braking force at the next moment can be determined based on the braking state information at the current moment. The braking force at the next moment causes the vehicle to approach the target position from the current position, for example, via the driving route.

[0081] According to another embodiment of the present disclosure, a vehicle braking method can be implemented using the following embodiments to implement a specific example of determining braking force information at a next moment based on environmental perception information, target position information, and braking state information at a current moment: determining vehicle operation information at a next moment based on the environmental perception information and target position information. Determining braking force information at a next moment based on the vehicle operation information at a next moment.

[0082] Vehicle operation information indicates vehicle speed and direction.

[0083] According to the vehicle braking method of the embodiment of the present disclosure, similar to the previous embodiment, the environmental perception information indicates the surrounding environment of the vehicle, such as obstacles in the surrounding environment of the vehicle. The target position information indicates the target position to be reached by the vehicle. The driving route to the target position can be determined based on the environmental perception information and the target position information. The driving route is completed by the vehicle operation at the future moment, so the vehicle operation information at the next moment can be determined. The vehicle speed and direction indicated by the vehicle operation information at the next moment make the vehicle tend to the target position. The vehicle braking method of the embodiment of the present disclosure is used in a braking scenario. During the vehicle braking process, the vehicle will slow down and stop. This process is still achieved by the vehicle operation, so the braking force information at the next moment can be determined based on the vehicle operation information at the next moment. The braking force indicated by the braking force information at the next moment also makes the vehicle tend to the target position.

[0084] According to a vehicle braking method according to another embodiment of the present disclosure, the braking status information includes: pressure information and / or wheel speed information, the pressure information indicates the pressure applied by the brake on the wheel, and the wheel speed information indicates the wheel speed of the vehicle.

[0085] The pressure applied to the wheels by the brakes directly indicates the braking force. Therefore, pressure information can be used as a brake status indicator to characterize the braking status of the vehicle's auxiliary brake system. The purpose of vehicle braking is to reduce speed and bring the vehicle to a stop, so the vehicle's wheel speed represents the braking effectiveness of the auxiliary brake system.

[0086] The pressure information and / or wheel speed information included in the braking status information can also be understood as feedback information of vehicle braking. The braking status signal can, for example, be fed back to the braking process at the next moment, that is, the braking status information at the current moment can be used to determine the braking force information at the next moment.

[0087] According to another embodiment of the present disclosure, the vehicle braking method may further include receiving a failure instruction before determining the braking force information according to the vehicle state information.

[0088] The failure instruction indicates at least one of the following: a communication failure instruction and a power supply failure instruction. The communication failure instruction indicates a communication failure of the braking system, and the power supply failure instruction indicates a power supply failure of the motor of the braking system.

[0089] According to the vehicle braking method of the embodiment of the present disclosure, emergency braking can be performed in scenarios where communication with the auxiliary brake system fails and / or power supply to the motor of the auxiliary brake system fails, so that the vehicle can be stopped at the target position in an emergency.

[0090] The embodiments of the present disclosure also provide a controller of a braking system, a braking system, and a vehicle.

[0091] It should be noted that the controller of the brake system of the embodiment of the present disclosure is the controller of the brake system for parking brake, and can also be understood as the controller of the auxiliary brake system. The brake system of the embodiment of the present disclosure is the brake system for parking brake, and can also be understood as the auxiliary brake system.

[0092] Figure 3 A schematic diagram of a controller of a braking system according to an embodiment of the present disclosure is schematically shown.

[0093] like Figure 3 As shown, the controller of the braking system according to the embodiment of the present disclosure includes a braking force information determination module 310 and a brake driving module 320 .

[0094] The braking force information determination module 310 is configured to determine braking force information according to the vehicle state information and the target position information, where the braking force information indicates an adjustable braking force.

[0095] The brake driving module 320 is used to drive the brake according to the braking force information to provide an adjustable braking force so that the vehicle stops at the target position indicated by the target position information.

[0096] The controller of the braking system according to the embodiment of the present disclosure can implement the vehicle braking method of the above embodiment. The specific technical principles and technical effects can be found in the vehicle braking method of the above embodiment, which will not be repeated here.

[0097] According to another embodiment of the present disclosure, the braking system is an electronic parking brake system, and the brake drive module includes: a motor drive signal determination submodule, which is used to determine the motor drive signal based on the braking force information; a motor drive submodule, which is used to drive the motor to operate according to the motor drive signal so that the motor outputs a motor torque signal; and a brake first drive submodule, which is used to drive the brake connected to the motor to operate according to the motor torque signal.

[0098] Exemplarily, the motor driving signal includes an adjustable pulse width modulation signal.

[0099] According to another embodiment of the present disclosure, the vehicle status information includes: environmental perception information and braking status information, and the braking force information determination module includes: a first braking force information determination submodule, which is used to determine the braking force information at the next moment based on the environmental perception information, the target position information and the braking status information at the current moment, so as to make the vehicle move toward the target position, the braking status information indicates the working status of the brake, and the environmental perception information indicates the surrounding environment of the vehicle.

[0100] According to another embodiment of the present disclosure, the first braking force information determination submodule includes: a vehicle operation information determination unit, which is used to determine the vehicle operation information at the next moment based on the environmental perception information and the target position information, and the vehicle operation information indicates the vehicle speed and direction; the first braking force information determination unit, which is used to determine the braking force information at the next moment based on the vehicle operation information at the next moment.

[0101] According to another embodiment of the present disclosure, the braking status information includes: pressure information and / or wheel speed information, the pressure information indicates the pressure applied by the brake on the wheel, and the wheel speed information indicates the wheel speed of the vehicle.

[0102] According to another embodiment of the present disclosure, the controller of the braking system further includes: a transceiver module for receiving a failure instruction, wherein the failure instruction indicates at least one of the following: a communication failure instruction and a power supply failure instruction, the communication failure instruction indicates a communication failure of the braking system, and the power supply failure instruction indicates a motor power supply failure of the braking system.

[0103] Figure 4 The schematic diagram of the braking system according to the embodiment of the present disclosure is shown schematically. The braking system is used for parking brake and can be understood as an auxiliary braking system.

[0104] like Figure 4 As shown, the braking system according to an embodiment of the present disclosure includes: a controller of the braking system as in any of the above embodiments, a vehicle state sensing device connected to the controller of the braking system, and a brake connected to the controller of the braking system.

[0105] The vehicle state sensing device is used to determine vehicle state information, and the brake is used to provide braking force.

[0106] Exemplarily, the vehicle state perception device may include, for example, a vehicle sensor, an image acquisition device, and the like.

[0107] For example, the brake may include brake pads, brake discs, brake calipers, etc. acting on the wheels.

[0108] According to another embodiment of the present disclosure, the controller of the braking system is connected to the motor, the motor is connected to the brake, the motor is used to output a motor torque signal, and the motor torque signal is used to drive the brake to operate.

[0109] For example, the braking system according to the embodiment of the present disclosure may be an electronic parking brake system.

[0110] According to yet another embodiment of the present disclosure, the braking system further includes: a communication assembly for braking system communication.

[0111] The communication assembly makes the communication of the auxiliary brake system of the embodiment of the present disclosure independent, for example, not affected by the connection of the main brake system. Therefore, the braking performance of the brake system of the embodiment of the present disclosure is higher.

[0112] According to yet another embodiment of the present disclosure, the braking system further includes: a power supply system for supplying power to the motor of the braking system.

[0113] The power supply system for powering the motor of the brake system makes the motor power supply of the auxiliary brake system of the embodiment of the disclosure independent, for example, not affected by the motor power supply of the main brake system. Therefore, the braking performance of the brake system of the embodiment of the disclosure is higher.

[0114] Figure 4 A schematic diagram of a vehicle according to an embodiment of the present disclosure is also schematically shown.

[0115] like Figure 4 As shown, the vehicle according to the embodiment of the present disclosure includes the braking system of any one of the above embodiments, that is, the vehicle includes the auxiliary braking system of any one of the above embodiments.

[0116] According to the vehicle of the embodiment of the present disclosure, since the braking system of the above embodiment is provided, the vehicle can be stopped at the target position in an emergency situation of parking brake, avoiding the adverse effects caused by the random braking position of the vehicle.

[0117] For example, Figure 4 As shown, the vehicle according to the embodiment of the present disclosure may further include a main braking system, which is used for service braking, for example.

[0118] Figure 5A A schematic diagram of a braking system for a parking scenario according to an embodiment of the present disclosure is shown schematically.

[0119] like Figure 5A As shown, vehicle devices such as sensors perceive the vehicle's surrounding environment. For example, the parking perception system can determine vehicle status information and plan a parking trajectory based on the vehicle status information and target location information. Specifically, the system can determine, for example, vehicle operation information and braking force information at the next moment. The braking system can control parking based on the trajectory planning results, such as controlling the vehicle's (next moment) speed, direction, and braking force. Braking force can be fed back via pressure information and / or motor speed, and parking control can be achieved through feedback from wheel speed information, for example.

[0120] Figure 5B A schematic diagram of a braking system for a parking scenario according to yet another embodiment of the present disclosure is schematically shown.

[0121] and Figure 5A Differently, in the example Figure 5BIn the example shown in FIG, the braking force can also be fed back via wheel speed information.

[0122] The following description will take the embodiment of the present disclosure as an example in which the braking system is an electronic parking brake system.

[0123] Figure 5C The figure schematically shows the architecture of an electronic parking brake system according to an embodiment of the present disclosure. Figure 5D The control diagram of the electronic parking brake system is shown schematically.

[0124] Combine Figure 5C and Figure 5D The auxiliary brake system is the electronic parking brake system, which acts on the left and right rear wheels of the vehicle (in Figure 5D For example, the electronic parking brake system drives the motor, which in turn drives the brake connected to the motor to generate braking force on the rear wheels of the vehicle. Figure 5C In the example, the motor power supply system 1 ( Figure 5C The power supply 1) shown is used to supply power to the motor of the main brake system, that is, the power supply system 1 can supply power to the motors of all wheels of the vehicle (including the rear wheels), which are connected to the brakes, and the brakes act on the corresponding wheels.

[0125] Exemplarily, the braking system according to the embodiment of the present disclosure further includes a power supply system 2 ( Figure 5C The power supply 2 shown in the figure is used, that is, the power supply system 2 supplies power to the motor of the rear wheel, which is connected to the brake, and the brake acts on the corresponding rear wheel. As a result, the motor of the rear wheel of the vehicle is supported by the power supply system 1 and the power supply system 2 ( Figure 5C Power supply 1 & 2 shown), which can make the motor power supply system of the auxiliary brake system independent of the motor power supply system of the main brake system, avoiding the failure of the motor power supply system of the auxiliary brake system due to the failure of the motor power supply system of the main brake system, and improving the braking performance of the auxiliary brake system.

[0126] For example, the braking system according to the embodiment of the present disclosure includes an independent set of communication assemblies. For example, in the parking scenario, Figure 5C The diagram schematically shows a secondary parking control (module) of the secondary braking system that is independent of the parking control (module) of the primary braking system, thereby avoiding communication failure of the secondary braking system caused by communication failure of the primary braking system, and providing a higher braking performance of the secondary braking system.

[0127] exist Figure 5DIn the example, the controller of the electronic parking brake system of the embodiment of the present disclosure may include a micro controller unit (MCU), an EPB controller and a PWM circuit. The micro control unit may process the input information of the braking system to obtain braking force information. The EPB controller may determine the motor drive signal based on the braking force information. Based on the motor drive signal, the PWM circuit may drive the motor M to operate so that the motor M outputs a motor torque signal.

[0128] exist Figure 5D In the example, the motor driving signal is a PWM signal output by a PWM circuit, and the PWM signal acts on the motor M.

[0129] Figure 5E The diagram schematically shows the positive correlation between the motor torque signal and the braking torque. Figure 5E A specific example of using pressure signals and / or wheel speed information as feedback information in the vehicle braking method according to an embodiment of the present disclosure is also schematically shown.

[0130] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0131] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A vehicle braking method, characterized in that: A braking system for parking brakes, wherein the vehicle braking method comprises: determining braking force information based on the vehicle state information and the target position information, the braking force information indicating an adjustable braking force; According to the braking force information, the brake is driven to provide the adjustable braking force so that the vehicle stops at the target position indicated by the target position information.

2. The method according to claim 1, characterized in that The braking system is an electronic parking brake system, and the driving of the brake action according to the braking force information includes: determining a motor drive signal according to the braking force information; According to the motor drive signal, the motor is driven to operate so that the motor outputs a motor torque signal; The brake connected to the motor is driven to operate according to the motor torque signal.

3. The method according to claim 2, characterized in that The motor driving signal includes an adjustable pulse width modulation signal.

4. The method according to any one of claims 1 to 3, characterized in that The vehicle state information includes: environmental perception information and braking state information. The determining of braking force information based on the vehicle state information and target position information includes: Based on the environmental perception information, the target position information and the braking status information at the current moment, the braking force information at the next moment is determined to make the vehicle move toward the target position. The braking status information indicates the working status of the brake, and the environmental perception information indicates the surrounding environment of the vehicle.

5. The method according to claim 4, characterized in that in, The determining the braking force information at a next moment according to the environmental perception information, the target position information, and the braking state information at a current moment includes: determining vehicle operation information at a next moment based on the environmental perception information and the target location information, wherein the vehicle operation information indicates a vehicle speed and direction; The braking force information at the next moment is determined according to the vehicle operation information at the next moment.

6. The method according to claim 4, characterized in that The braking status information includes: pressure information and / or wheel speed information, wherein the pressure information indicates the pressure applied by the brake on the wheel, and the wheel speed information indicates the wheel speed of the vehicle.

7. The method according to claim 2, characterized in that Before determining the braking force information according to the vehicle state information, the method further includes: A failure instruction is received, wherein the failure instruction indicates at least one of the following: a communication failure instruction and a power supply failure instruction, wherein the communication failure instruction indicates a communication failure of the braking system and the power supply failure instruction indicates a power supply failure of a motor of the braking system.

8. A controller for a braking system, characterized in that: include: a braking force information determination module, configured to determine braking force information based on vehicle state information and target position information, wherein the braking force information indicates an adjustable braking force; The brake driving module is used to drive the brake to operate according to the braking force information to provide the adjustable braking force so that the vehicle stops at the target position indicated by the target position information.

9. The controller according to claim 8, characterized in that The braking system is an electronic parking brake system, and the brake drive module includes: a motor drive signal determination submodule, configured to determine a motor drive signal according to the braking force information; a motor driving submodule, configured to drive the motor to operate according to the motor driving signal, so that the motor outputs a motor torque signal; The first brake driving submodule is used to drive the brake connected to the motor to operate according to the motor torque signal.

10. The controller according to claim 9, characterized in that The motor drive signal includes an adjustable pulse width modulation signal.

11. The controller according to claim 8, characterized in that The vehicle state information includes: environmental perception information and braking state information, and the braking force information determination module includes: The first braking force information determination submodule is used to determine the braking force information at the next moment based on the environmental perception information, the target position information and the braking status information at the current moment, so as to make the vehicle move toward the target position, the braking status information indicates the working status of the brake, and the environmental perception information indicates the surrounding environment of the vehicle.

12. The controller according to claim 11, characterized in that The braking force information first determination submodule includes: a vehicle operation information determination unit, configured to determine vehicle operation information at a next moment based on the environment perception information and the target position information, wherein the vehicle operation information indicates a vehicle speed and direction; The first braking force information determining unit is configured to determine the braking force information at a next moment according to the vehicle operation information at a next moment.

13. The controller according to claim 11, characterized in that The braking status information includes: pressure information and / or wheel speed information, wherein the pressure information indicates the pressure applied by the brake on the wheel, and the wheel speed information indicates the wheel speed of the vehicle.

14. The controller according to claim 8, wherein Also includes: The transceiver module is used to receive a failure instruction, wherein the failure instruction indicates at least one of the following: a communication failure instruction and a power supply failure instruction, the communication failure instruction indicates a communication failure of the braking system, and the power supply failure instruction indicates a motor power supply failure of the braking system.

15. A braking system, characterized in that: include: A controller for a braking system according to any one of claims 8 to 14, a vehicle state sensing device connected to the controller of the braking system, the vehicle state sensing device being used to determine vehicle state information; A brake connected to a controller of the braking system, wherein the brake is used to provide braking force.

16. The braking system according to claim 15, characterized in that in, The controller of the braking system is connected to the motor, the motor is connected to the brake, the motor is used to output a motor torque signal, and the motor torque signal is used to drive the brake to operate.

17. The braking system according to claim 15, characterized in that The braking system further includes a communication assembly for communication with the braking system.

18. The braking system according to claim 15, characterized in that: The braking system further comprises a power supply system for supplying power to the motor of the braking system.

19. A vehicle, characterized in that: Comprising a braking system as claimed in any one of claims 15 to 18.

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