Vehicle control method, device, program, medium, controller and vehicle

Abstract

The invention provides a vehicle control method and device, a program, a medium, a controller and a vehicle. According to the method, when it is detected that a driver steps on a brake pedal and releases an electronic parking brake system, target brake pressure corresponding to the travel of the brake pedal is obtained; then the target brake pressure is corrected based on a predefined brake pressure threshold value, the corrected target brake pressure is obtained, and brake control is conducted based on the corrected target brake pressure; by correcting the target brake pressure, the distance between the main cylinder piston and the compensation hole when the brake system achieves the target brake pressure can be changed, so that the problem that the main cylinder piston is reversely pushed to cross the compensation hole when the EPB is released, and consequently the braking force of a vehicle is rapidly reduced is solved, the vehicle sliding phenomenon is effectively avoided, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, program, medium, controller and vehicle. Background Art

[0002] With the development of automotive electronic technology, integrated power brake systems (IPB) and electronic parking brake systems (EPB) are widely used in modern vehicles to improve braking performance and driving convenience.

[0003] When the vehicle starts on a slope, the coordinated operation of the IPB and EPB presents a series of technical challenges. Specifically, when the vehicle is on a slope and the driver prepares to start, the IPB generates a hydraulic braking force to maintain the vehicle stationary in response to the braking request initiated by the driver's depressing the brake pedal. Simultaneously, the EPB switches from the "applied" state to the "released" state to allow the vehicle to begin moving. However, due to the hardware structure of the EPB, this switching process causes the volume of the wheel cylinder piston chamber to decrease, which in turn affects the internal pressure balance of the braking system.

[0004] Specifically, EPB release causes the wheel cylinder piston chamber to decrease in volume, increasing the internal brake pressure. This internal hydraulic pressure then pushes the master cylinder piston backward. When the master cylinder piston is pushed back past the master cylinder compensation hole, the internal pressure of the brake system drops rapidly. This sudden pressure drop directly leads to insufficient braking force, making it impossible for the vehicle to effectively resist the force of gravity on the slope, resulting in rolling. This not only threatens driving safety but can also cause traffic accidents, resulting in injuries to the driver, passengers, and other road users. Summary of the Invention

[0005] The present invention provides a vehicle control method, device, program, medium, controller and vehicle. By adopting this method, when the driver steps on the brake pedal and releases the electronic parking brake system, the target brake pressure calculated by the IPB based on the brake pedal stroke can be corrected, and braking control can be performed based on the corrected target brake pressure. This can avoid the problem of the master cylinder piston being pushed back across the compensation hole when the EPB is released, causing the vehicle braking force to drop rapidly, thereby effectively avoiding the vehicle from slipping and improving driving safety.

[0006] In one aspect, the present invention provides a vehicle control method, comprising:

[0007] When detecting that the driver has stepped on the brake pedal and released the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal stroke;

[0008] The target brake pressure is corrected based on a predefined brake pressure threshold to obtain a corrected target brake pressure, and brake control is performed based on the corrected target brake pressure.

[0009] Further, in some embodiments, the predefined brake pressure threshold includes a first brake pressure threshold, which is determined based on a change in brake pressure caused by the release of the electronic parking brake system;

[0010] The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes:

[0011] If the target brake pressure is greater than or equal to the first brake pressure threshold, determining the target brake pressure to be the corrected target brake pressure;

[0012] If the target braking pressure is less than the first braking pressure threshold, the first braking pressure threshold is determined to be the corrected target braking pressure.

[0013] Furthermore, in some embodiments, the predefined brake pressure threshold value further includes a brake pressure offset;

[0014] The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes:

[0015] determining a sum of the first brake pressure threshold and the brake pressure offset;

[0016] If the target brake pressure is greater than or equal to the sum, determining the target brake pressure to be the corrected target brake pressure;

[0017] If the target braking pressure is less than the sum value, the sum value is determined to be the corrected target braking pressure.

[0018] Furthermore, in some embodiments, the predefined brake pressure threshold further includes a second brake pressure threshold, and the second brake pressure threshold is smaller than the first brake pressure threshold;

[0019] The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes:

[0020] If the target brake pressure is greater than or equal to the first brake pressure threshold, determining the target brake pressure to be the corrected target brake pressure;

[0021] If the target brake pressure is less than the first brake pressure threshold and the target brake pressure is greater than the second brake pressure threshold, determining the first brake pressure threshold as the corrected target brake pressure;

[0022] If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure.

[0023] Furthermore, in some embodiments, the predefined brake pressure threshold value further includes a brake pressure offset;

[0024] The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes:

[0025] determining a sum of the first brake pressure threshold and the brake pressure offset;

[0026] If the target brake pressure is greater than or equal to the sum, determining the target brake pressure to be the corrected target brake pressure;

[0027] If the target brake pressure is less than the sum value and the target brake pressure is greater than the second brake pressure threshold, determining the sum value to be the corrected target brake pressure;

[0028] If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure.

[0029] In another aspect, the present invention further provides a vehicle control device, comprising:

[0030] a target pressure acquisition module, configured to acquire a target brake pressure corresponding to the brake pedal stroke when detecting that the driver has stepped on the brake pedal and released the electronic parking brake system;

[0031] The target pressure correction module is configured to correct the target braking pressure based on a predefined braking pressure threshold to obtain a corrected target braking pressure, and perform braking control based on the corrected target braking pressure.

[0032] On the other hand, the present invention further provides a computer program product, which includes a computer program, and implements the above method steps when the computer program is executed.

[0033] In another aspect, the present invention provides a storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.

[0034] On the other hand, the present invention further provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above method steps.

[0035] On the other hand, the present invention also provides a vehicle comprising the above-mentioned vehicle controller.

[0036] According to the vehicle control method provided by the present invention, when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, the target brake pressure corresponding to the brake pedal stroke is obtained, and then the target brake pressure is corrected based on a predefined brake pressure threshold to obtain the corrected target brake pressure, and braking control is performed based on the corrected target brake pressure; by correcting the target brake pressure, the distance between the master cylinder piston and the compensation hole when the brake system achieves the target brake pressure can be changed, thereby avoiding the problem of the master cylinder piston being pushed back across the compensation hole when the EPB is released, causing the vehicle braking force to drop rapidly, thereby effectively avoiding the vehicle slipping phenomenon and improving driving safety.

[0037] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram illustrating an example of a master cylinder piston being pushed back according to an embodiment of the present invention;

[0040] Figure 3 A schematic diagram illustrating an example of a master cylinder piston being pushed back according to an embodiment of the present invention;

[0041] Figure 4 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0042] Figure 5 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0043] Figure 6 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0044] Figure 7 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0045] Figure 8A schematic structural diagram of a vehicle control device provided by an embodiment of the present invention;

[0046] Figure 9 A schematic structural diagram of a vehicle controller provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, i.e., "including but not limited to." The term "based on" should be understood as "based at least in part on." The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0049] With the development of automotive electronic technology, integrated power brake systems (IPB) and electronic parking brake systems (EPB) are widely used in modern vehicles to improve braking performance and driving convenience.

[0050] The Integrated Power Brake (IPB) system is a comprehensive braking unit that integrates the brake booster unit with the traditional ESP functional module to realize basic braking and body stability control functions such as basic braking, TCS, ABS, VDC, and EBD, thereby improving the efficiency of the entire system and reducing the weight and complexity of the system through integrated design.

[0051] The Electronic Park Brake (EPB) system is a function used to implement parking brakes. It controls the operation of the brake calipers using signals from various sensors, such as the vehicle speed sensor and brake pedal position sensor, via the Electronic Control Unit (ECU). When the driver presses the EPB button, the system drives the brake calipers via a motor to clamp the brake discs, achieving parking braking. To release the brakes, the system reverses the rotation of the motor to release the brake discs.

[0052] When the vehicle starts on a slope, the coordinated operation of the IPB and EPB presents a series of technical challenges. Specifically, when the vehicle is on a slope and the driver prepares to start, the IPB generates a hydraulic braking force to maintain the vehicle stationary in response to the braking request initiated by the driver's depressing the brake pedal. Simultaneously, the EPB switches from the "applied" state to the "released" state to allow the vehicle to begin moving. However, due to the hardware structure of the EPB, this switching process causes the volume of the wheel cylinder piston chamber to decrease, which in turn affects the internal pressure balance of the braking system.

[0053] Specifically, due to the hardware structure of the EPB, releasing the EPB causes the wheel cylinder piston chamber to decrease in volume, increasing the system's internal brake pressure. This internal hydraulic pressure then pushes the master cylinder piston backward. When the master cylinder piston is pushed back past the master cylinder compensation hole, the internal brake system pressure drops rapidly. This sudden pressure drop directly leads to insufficient braking force, rendering the vehicle unable to effectively resist the force of gravity on the slope, resulting in rolling. This not only threatens driving safety but can also cause traffic accidents, resulting in injuries to the driver, passengers, and other road users.

[0054] Based on this, an embodiment of the present invention proposes a vehicle control method, which obtains a target brake pressure corresponding to the brake pedal stroke when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, and then corrects the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure, and performs braking control based on the corrected target brake pressure; by correcting the target brake pressure, the distance between the master cylinder piston and the compensation hole when the brake system achieves the target brake pressure can be changed, thereby avoiding the problem of the master cylinder piston being pushed back across the compensation hole when the EPB is released, causing the vehicle braking force to drop rapidly, thereby effectively avoiding the vehicle slipping phenomenon and improving driving safety.

[0055] See Figure 1 , which is a flow chart of a vehicle control method provided by an embodiment of the present invention. The execution subject of this process may be a vehicle control program, a vehicle equipped with such a program, a domain controller, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0056] The following is for Figure 1 The process shown is described in detail, and the vehicle control method may specifically include the following steps:

[0057] Step S102, when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal travel;

[0058] It should be noted that, in the related art, the electronic parking brake system is usually automatically released after the driver steps on the brake pedal and switches out of the P gear.

[0059] Specifically, the target brake pressure is determined by the IPB based on brake pedal travel, which is measured by the brake pedal travel sensor. When the driver depresses the brake pedal and the electronic parking brake system releases the brake, the target brake pressure corresponding to the brake pedal travel is generated within the braking system.

[0060] It's also worth noting that in a braking system, a compensation hole is typically located on the housing of the master cylinder, connecting the brake chamber to the fluid reservoir (fluid storage chamber). When no brake pressure is applied, the master cylinder piston is positioned behind the compensation hole. At this point, the brake chamber is connected to the fluid reservoir through the compensation hole, and there's no brake pressure in the brake chamber. During braking, the master cylinder piston is pushed forward. When the master cylinder piston moves past the closed compensation hole, the pressure in the brake chamber increases, the compensation hole is closed, and brake pressure builds up in the brake chamber. The further the master cylinder piston moves forward—that is, the greater the distance between the master cylinder piston and the compensation hole—the greater the brake pressure in the brake chamber.

[0061] Step S104 : Correcting the target braking pressure based on a predefined braking pressure threshold to obtain a corrected target braking pressure, and performing braking control based on the corrected target braking pressure.

[0062] Specifically, after obtaining the target brake pressure corresponding to the current brake pedal stroke, the target brake pressure is corrected according to a predefined brake pressure threshold to obtain a corrected target brake pressure, and braking control is performed based on the corrected target brake pressure.

[0063] The predefined brake pressure threshold may be determined according to a change in brake pressure in the brake chamber caused by the release of the EPB.

[0064] As can be seen from the above, releasing the EPB causes the wheel cylinder piston chamber volume to decrease, which in turn increases the brake pressure within the brake chamber. This increased brake pressure pushes the master cylinder piston backward. If the master cylinder piston moves backward past the compensation hole, the brake chamber will connect to the fluid reservoir through the compensation hole, and the brake pressure within the brake chamber will quickly drop to zero. This sudden pressure drop will directly lead to insufficient braking force, making it impossible for the vehicle to effectively resist the gravity component on the slope, resulting in the vehicle rolling away. Therefore, the master cylinder piston being pushed back past the compensation hole is the key to the vehicle rolling away problem. Figure 2 , is a schematic diagram of an example of a master cylinder piston being pushed back provided by an embodiment of the present invention. Figure 2 As shown, Figure 2 include Figure 2 a and Figure 2b, FIG2a is a schematic diagram of the relative positions of the master cylinder piston and the compensation hole before the driver steps on the brake pedal and the EPB is released, FIG2a includes the brake master cylinder, the brake wheel cylinder, the master cylinder piston, the wheel cylinder piston and the compensation hole, as shown in FIG2a. Figure 2 As shown in a, the master cylinder piston is located before the compensation hole, and the brake chamber cannot communicate with the fluid storage chamber through the compensation hole; Figure 2b is a schematic diagram of the relative positions of the master cylinder piston and the compensation hole after the driver steps on the brake pedal and the EPB is released. Figure 2b includes the brake master cylinder, brake wheel cylinder, master cylinder piston, wheel cylinder piston and compensation hole, as shown in Figure 2 As shown in b, after EPB is released, the volume of the cylinder chamber of the brake wheel cylinder decreases by △V compared with before EPB is released. As the volume of the brake chamber decreases, the pressure in the chamber increases. After the master cylinder piston is pushed back to the compensation hole, the brake chamber is connected to the fluid storage chamber through the compensation hole. At this time, the brake pressure in the brake chamber is reduced to 0.

[0065] In the embodiment of the present invention, by modifying the target brake pressure (e.g., increasing the target brake pressure), the distance between the master cylinder piston and the compensation hole can be changed when the brake system achieves the target brake pressure, thereby avoiding the problem of the master cylinder piston being pushed back across the compensation hole when the EPB is released, causing the vehicle's braking force to drop rapidly, thereby effectively preventing the vehicle from rolling away and improving driving safety. Figure 3 As shown, Figure 3 include Figure 3 a and Figure 3 b, FIG3a is a schematic diagram of the relative positions of the master cylinder piston and the compensation hole before the driver steps on the brake pedal and the EPB is released. FIG3a includes the brake master cylinder, the brake wheel cylinder, the master cylinder piston, the wheel cylinder piston and the compensation hole, as shown in FIG3a. Figure 3 As shown in a, the master cylinder piston is located before the compensation hole, and the brake chamber cannot communicate with the fluid storage chamber through the compensation hole; Figure 3b is a schematic diagram of the relative positions of the master cylinder piston and the compensation hole after the driver steps on the brake pedal and the EPB is released. Figure 3b includes the brake master cylinder, brake wheel cylinder, master cylinder piston, wheel cylinder piston and compensation hole, as shown in Figure 3 As shown in b, after EPB is released, the volume of the inner chamber of the brake wheel cylinder decreases by △V compared with that before EPB is released. As the volume of the brake chamber decreases, the pressure in the chamber increases, and the master cylinder piston is pushed back. Since the modified target brake pressure is large enough and the distance between the master cylinder piston and the compensation is far enough, the master cylinder piston is not pushed back to the compensation hole, and the brake chamber cannot be connected to the fluid storage chamber through the compensation hole. At this time, the brake pressure in the brake chamber still exists, which can effectively avoid the vehicle slipping.

[0066] In one embodiment, the predefined brake pressure threshold includes a first brake pressure threshold, which is determined based on the change in brake pressure caused by the release of the electronic parking brake system. The change in brake pressure caused by the release of the electronic parking brake system can be calibrated by engineers based on actual vehicles. For example, if the brake pressure in the brake chamber is 10 bar before the electronic parking brake system is released and increases from 10 bar to 16 bar after the electronic parking brake system is released, the change in brake pressure caused by the release of the electronic parking brake system can be determined to be 6 bar.

[0067] See Figure 4 , which is a flow chart of an example of a vehicle control method provided in an embodiment of the present invention.

[0068] like Figure 4 As shown, the following steps are included:

[0069] Step S202, when it is detected that the driver presses the brake pedal and releases the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal travel;

[0070] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0071] Step S204: if the target brake pressure is greater than or equal to the first brake pressure threshold, determine the target brake pressure as the corrected target brake pressure, and perform brake control based on the corrected target brake pressure;

[0072] Step S206 : If the target brake pressure is less than the first brake pressure threshold, the first brake pressure threshold is determined to be the corrected target brake pressure, and brake control is performed based on the corrected target brake pressure.

[0073] The first brake pressure threshold is determined based on the change in brake pressure caused by the release of the electronic parking brake system. The first brake pressure threshold can be a brake pressure threshold used to determine whether the master cylinder piston will be pushed back past the compensation hole. When the target brake pressure is greater than the first brake pressure threshold, the change in brake pressure in the brake chamber caused by the release of the EPB will not cause the master cylinder piston to be pushed back past the compensation hole. When the target brake pressure is less than the first brake pressure threshold, the change in brake pressure in the brake chamber caused by the release of the EPB will cause the master cylinder piston to be pushed back past the compensation hole.

[0074] In this embodiment, if the target brake pressure is greater than or equal to the first brake pressure threshold, the change in brake pressure in the brake chamber caused by the release of EPB will not cause the master cylinder piston to be pushed back across the compensation hole. The target brake pressure is determined to be the corrected target brake pressure, and the target brake pressure is kept unchanged. If the target brake pressure is less than the first brake pressure threshold, the change in brake pressure in the brake chamber caused by the release of EPB will cause the master cylinder piston to be pushed back across the compensation hole. At this time, the first brake pressure threshold is determined to be the corrected target brake pressure to avoid the situation where the master cylinder piston is pushed back across the compensation hole due to the release of EPB, thereby avoiding the problem of slipping caused by the rapid reduction of braking force.

[0075] In one embodiment, the predefined brake pressure threshold includes a first brake pressure threshold and a brake pressure offset. Figure 5 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. Figure 5 As shown, the following steps are included:

[0076] Step S302 , when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal travel;

[0077] Specifically, for step S302, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0078] Step S304, determining the sum of the first brake pressure threshold and the brake pressure offset;

[0079] The brake pressure offset is a safety margin set to offset system errors or measurement errors.

[0080] It should be understood that the first brake pressure threshold is used to determine whether the master cylinder piston will be pushed back across the compensation hole due to the change in brake pressure in the brake chamber caused by the release of EPB. In actual applications, various calculation and measurement errors exist within the braking system. In this case, a safety margin is added to the first brake pressure threshold. The sum of the first brake pressure threshold and the brake pressure offset is used as the threshold to determine whether the master cylinder piston will be pushed back across the compensation hole due to the release of EPB.

[0081] Step S306 , if the target brake pressure is greater than or equal to the sum value, determining the target brake pressure as the corrected target brake pressure, and performing brake control based on the corrected target brake pressure;

[0082] Step S308: If the target braking pressure is less than the sum value, the sum value is determined as the corrected target braking pressure, and braking control is performed based on the corrected target braking pressure.

[0083] In this embodiment, if the target brake pressure is greater than or equal to the sum value, the change in brake pressure in the brake chamber caused by the release of EPB will not cause the master cylinder piston to be pushed back across the compensation hole. The target brake pressure is determined to be the corrected target brake pressure, and the target brake pressure is kept unchanged. If the target brake pressure is less than the sum value, the change in brake pressure in the brake chamber caused by the release of EPB will cause the master cylinder piston to be pushed back across the compensation hole. At this time, the first brake pressure threshold is determined to be the corrected target brake pressure to avoid the situation where the master cylinder piston is pushed back across the compensation hole due to the release of EPB, thereby avoiding the problem of slipping caused by the rapid reduction of braking force.

[0084] In one embodiment, the predefined brake pressure thresholds include a first brake pressure threshold and a second brake pressure threshold, wherein the second brake pressure threshold is smaller than the first brake pressure threshold. The first brake pressure threshold is used to determine whether the master cylinder piston will be pushed back across the compensation hole due to the change in brake pressure in the brake chamber caused by the release of the EPB. Figure 6 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. Figure 6 As shown, the following steps are included:

[0085] Step S402 , when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal travel;

[0086] Specifically, for step S402, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0087] Step S404: if the target brake pressure is greater than or equal to the first brake pressure threshold, determine the target brake pressure as the corrected target brake pressure, and perform brake control based on the corrected target brake pressure;

[0088] Step S406: If the target brake pressure is less than the first brake pressure threshold and the target brake pressure is greater than the second brake pressure threshold, determine the first brake pressure threshold as the corrected target brake pressure, and perform brake control based on the corrected target brake pressure;

[0089] In this embodiment, if the target brake pressure is greater than or equal to the first brake pressure threshold, the change in brake pressure in the brake chamber caused by the release of EPB will not cause the master cylinder piston to be pushed back across the compensation hole. The target brake pressure is determined to be the corrected target brake pressure, and the target brake pressure is kept unchanged. If the target brake pressure is less than the first brake pressure threshold and the target brake pressure is greater than the second brake pressure threshold, the change in brake pressure in the brake chamber caused by the release of EPB will cause the master cylinder piston to be pushed back across the compensation hole. At this time, the first brake pressure threshold is determined to be the corrected target brake pressure to avoid the situation where the master cylinder piston is pushed back across the compensation hole due to the release of EPB, thereby avoiding the problem of slipping caused by the rapid reduction of braking force.

[0090] Step S408 : If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure, and braking control is performed based on the corrected target braking pressure.

[0091] It should be noted that in some scenarios, the driver may request a smaller target braking pressure. At this time, the driver has no need to maintain pressure, and the driver's actual driving intention is to let the vehicle slide.

[0092] In this embodiment, if the target brake pressure is less than or equal to the second brake pressure threshold, it is determined that the driver's actual driving intention is to let the vehicle slide. At this time, the target pressure is kept unchanged, and the target brake pressure is determined to be the corrected target brake pressure. Braking control is performed based on the corrected target brake pressure. The change in brake pressure in the brake chamber caused by the release of EPB will cause the master cylinder piston to be pushed back across the compensation hole, and then the vehicle will slide naturally.

[0093] In one embodiment, the predefined brake pressure thresholds include a first brake pressure threshold, a second brake pressure threshold, and a brake pressure offset, wherein the second brake pressure threshold is less than the first brake pressure threshold. The first brake pressure threshold is used to determine whether the master cylinder piston will be pushed back across the compensation hole due to the change in brake pressure in the brake chamber caused by the release of the EPB. Figure 7 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. Figure 7 As shown, the following steps are included:

[0094] Step S502 , when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal travel;

[0095] Specifically, for step S502, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0096] Step S504, determining the sum of the first brake pressure threshold and the brake pressure offset;

[0097] The brake pressure offset is a safety margin set to offset system errors or measurement errors.

[0098] It should be understood that the first brake pressure threshold is used to determine whether the master cylinder piston will be pushed back across the compensation hole due to the change in brake pressure in the brake chamber caused by the release of EPB. In actual applications, various calculation and measurement errors exist within the braking system. In this case, a safety margin is added to the first brake pressure threshold. The sum of the first brake pressure threshold and the brake pressure offset is used as the threshold to determine whether the master cylinder piston will be pushed back across the compensation hole due to the release of EPB.

[0099] Step S506 , if the target braking pressure is greater than or equal to the sum value, determining the target braking pressure as the corrected target braking pressure;

[0100] Step S508 , if the target brake pressure is less than the sum value and the target brake pressure is greater than the second brake pressure threshold, determining the sum value as the corrected target brake pressure;

[0101] In this embodiment, if the target brake pressure is greater than or equal to the sum value, the change in brake pressure in the brake chamber caused by the release of EPB will not cause the master cylinder piston to be pushed back across the compensation hole. The target brake pressure is determined to be the corrected target brake pressure, and the target brake pressure is kept unchanged. If the target brake pressure is less than the sum value, the change in brake pressure in the brake chamber caused by the release of EPB will cause the master cylinder piston to be pushed back across the compensation hole. At this time, the first brake pressure threshold is determined to be the corrected target brake pressure to avoid the situation where the master cylinder piston is pushed back across the compensation hole due to the release of EPB, thereby avoiding the problem of slipping caused by the rapid reduction of braking force.

[0102] Step S510: If the target braking pressure is less than or equal to the second braking pressure threshold, determine the target braking pressure as the corrected target braking pressure.

[0103] It should be noted that in some scenarios, the driver may request a smaller target braking pressure, and the driver's actual driving intention is to let the vehicle slide.

[0104] In this embodiment, if the target brake pressure is less than or equal to the second brake pressure threshold, it is determined that the driver's actual driving intention is to let the vehicle slide. At this time, the target pressure is kept unchanged, and the target brake pressure is determined to be the corrected target brake pressure. Braking control is performed based on the corrected target brake pressure. The change in brake pressure in the brake chamber caused by the release of EPB will cause the master cylinder piston to be pushed back across the compensation hole, and then the vehicle will slide naturally.

[0105] See Figure 8, is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention. Figure 8 As shown, the vehicle control device 01 can be implemented as all or part of the vehicle controller through software, hardware, or a combination of both. According to some embodiments, the vehicle control device 01 may include a target pressure acquisition module 11 and a target pressure correction module 12, specifically including:

[0106] a target pressure acquisition module 11, configured to acquire a target brake pressure corresponding to the brake pedal stroke when detecting that the driver has stepped on the brake pedal and released the electronic parking brake system;

[0107] The target pressure correction module 12 is configured to correct the target braking pressure based on a predefined braking pressure threshold to obtain a corrected target braking pressure, and perform braking control based on the corrected target braking pressure.

[0108] Optionally, the predefined brake pressure threshold includes a first brake pressure threshold, which is determined based on a brake pressure change caused by the release of the electronic parking brake system; the target pressure correction module 12 is specifically configured to:

[0109] If the target brake pressure is greater than or equal to the first brake pressure threshold, determining the target brake pressure to be the corrected target brake pressure;

[0110] If the target braking pressure is less than the first braking pressure threshold, the first braking pressure threshold is determined to be the corrected target braking pressure.

[0111] Optionally, the predefined brake pressure threshold value further includes a brake pressure offset; the target pressure correction module 12 is specifically configured to:

[0112] determining a sum of the first brake pressure threshold and the brake pressure offset;

[0113] If the target brake pressure is greater than or equal to the sum, determining the target brake pressure to be the corrected target brake pressure;

[0114] If the target braking pressure is less than the sum value, the sum value is determined to be the corrected target braking pressure.

[0115] Optionally, the predefined brake pressure threshold further includes a second brake pressure threshold, and the second brake pressure threshold is smaller than the first brake pressure threshold; the target pressure correction module 12 is specifically configured to:

[0116] If the target brake pressure is greater than or equal to the first brake pressure threshold, determining the target brake pressure to be the corrected target brake pressure;

[0117] If the target brake pressure is less than the first brake pressure threshold and the target brake pressure is greater than the second brake pressure threshold, determining the first brake pressure threshold as the corrected target brake pressure;

[0118] If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure.

[0119] Optionally, the predefined brake pressure threshold value further includes a brake pressure offset; the target pressure correction module 12 is specifically configured to:

[0120] determining a sum of the first brake pressure threshold and the brake pressure offset;

[0121] If the target brake pressure is greater than or equal to the sum, determining the target brake pressure to be the corrected target brake pressure;

[0122] If the target brake pressure is less than the sum value and the target brake pressure is greater than the second brake pressure threshold, determining the sum value to be the corrected target brake pressure;

[0123] If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure.

[0124] The above-mentioned device embodiments correspond to the method embodiments. For detailed descriptions, please refer to the description of the method embodiments, which will not be repeated here. The device embodiments are obtained based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. For detailed descriptions, please refer to the corresponding method embodiments.

[0125] In one embodiment, the present invention further provides a computer program product, which may store a computer program. The computer program may be loaded and executed as in the vehicle control methods of the above embodiments. For the specific execution process, please refer to the specific descriptions in the above embodiments and will not be repeated here.

[0126] In one embodiment, the present invention further provides a storage medium, which can store multiple instructions, and the instructions are suitable for being loaded by a processor and executed by the vehicle control method of the above embodiments. The specific execution process can be found in the specific descriptions of the above embodiments and will not be repeated here.

[0127] In one embodiment, the present invention further provides Figure 9 The structural diagram of the vehicle controller is shown in FIG. Figure 9At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile storage 25. It may also include other hardware required for its operations. The vehicle controller can be installed in a vehicle, where the processor 21 reads the corresponding computer program from the non-volatile storage 25, stores it in the memory, and then executes it to implement the aforementioned vehicle control method.

[0128] In one embodiment, the present invention also provides a vehicle, which may include a vehicle controller as described above, so as to execute a vehicle control method through the vehicle controller, and when it is detected that the driver has stepped on the brake pedal and released the electronic parking brake system, obtain a target brake pressure corresponding to the brake pedal stroke, and then correct the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure, and perform braking control based on the corrected target brake pressure; by correcting the target brake pressure, the distance between the master cylinder piston and the compensation hole of the braking system when achieving the target brake pressure can be changed, thereby avoiding the problem that the master cylinder piston is pushed back across the compensation hole when the EPB is released, resulting in a rapid decrease in the vehicle braking force, thereby effectively avoiding the vehicle slipping phenomenon and improving driving safety.

[0129] Finally, the various embodiments of the present invention are described in a progressive manner. Similar parts between the various embodiments can be referred to in detail. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant parts, refer to the description of the method embodiment.

[0130] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A vehicle control method, comprising: When detecting that the driver has stepped on the brake pedal and released the electronic parking brake system, obtaining a target brake pressure corresponding to the brake pedal stroke; The target brake pressure is corrected based on a predefined brake pressure threshold to obtain a corrected target brake pressure, and brake control is performed based on the corrected target brake pressure.

2. The method according to claim 1, wherein the predefined brake pressure threshold comprises a first brake pressure threshold, the first brake pressure threshold being determined based on an amount of brake pressure change caused by a release of an electronic parking brake system; The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes: If the target brake pressure is greater than or equal to the first brake pressure threshold, determining the target brake pressure to be the corrected target brake pressure; If the target braking pressure is less than the first braking pressure threshold, the first braking pressure threshold is determined to be the corrected target braking pressure.

3. The method according to claim 2, wherein the predefined brake pressure threshold further comprises a brake pressure offset; The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes: determining a sum of the first brake pressure threshold and the brake pressure offset; If the target brake pressure is greater than or equal to the sum, determining the target brake pressure to be the corrected target brake pressure; If the target braking pressure is less than the sum value, the sum value is determined to be the corrected target braking pressure.

4. The method according to claim 2, wherein the predefined brake pressure threshold further comprises a second brake pressure threshold, the second brake pressure threshold being smaller than the first brake pressure threshold; The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes: If the target brake pressure is greater than or equal to the first brake pressure threshold, determining the target brake pressure to be the corrected target brake pressure; If the target brake pressure is less than the first brake pressure threshold and the target brake pressure is greater than the second brake pressure threshold, determining the first brake pressure threshold as the corrected target brake pressure; If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure.

5. The method according to claim 4, wherein the predefined brake pressure threshold further comprises a brake pressure offset; The step of correcting the target brake pressure based on a predefined brake pressure threshold to obtain a corrected target brake pressure includes: determining a sum of the first brake pressure threshold and the brake pressure offset; If the target brake pressure is greater than or equal to the sum, determining the target brake pressure to be the corrected target brake pressure; If the target brake pressure is less than the sum value and the target brake pressure is greater than the second brake pressure threshold, determining the sum value to be the corrected target brake pressure; If the target braking pressure is less than or equal to the second braking pressure threshold, the target braking pressure is determined to be the corrected target braking pressure.

6. A vehicle control device comprising: a target pressure acquisition module, configured to acquire a target brake pressure corresponding to the brake pedal stroke when detecting that the driver has stepped on the brake pedal and released the electronic parking brake system; The target pressure correction module is configured to correct the target braking pressure based on a predefined braking pressure threshold to obtain a corrected target braking pressure, and perform braking control based on the corrected target braking pressure.

7. A computer program product comprising a computer program, wherein when the computer program is executed, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are suitable for being loaded by a processor and executing the steps of the method according to any one of claims 1 to 5.

9. A vehicle controller comprising: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the method according to any one of claims 1 to 5.

10. A vehicle comprising the vehicle controller according to claim 9.

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