Vehicle braking method, storage medium, program product, electronic equipment and vehicle

Abstract

The invention discloses a vehicle braking method, a storage medium, a program product, electronic equipment and a vehicle, vehicle braking is controlled based on a target steering angle of each wheel, and the target steering angle is determined according to a transverse steering angle and longitudinal braking force of the vehicle. Therefore, because the target steering angle of each wheel is determined based on the transverse steering angle and the longitudinal braking force of the vehicle, when the vehicle is braked by adopting an independent four-wheel steering system, the vehicle can be kept stable during turning, so that the safety of the vehicle is improved; therefore, the problem of safety of the vehicle caused by drifting during turning of the vehicle in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicles, and in particular to a vehicle braking method, a storage medium, a program product, an electronic device, and a vehicle. Background Art

[0002] At present, more and more vehicles use independent four-wheel steering systems as redundant braking devices to achieve vehicle braking and deceleration. In related technologies, when using independent four-wheel steering systems for vehicle braking, only the vehicle's longitudinal braking process and braking acceleration are considered. This makes it easy for the vehicle to skid when turning, causing the vehicle to deviate and thus causing vehicle safety problems. Summary of the Invention

[0003] The present invention aims to address at least one of the technical problems existing in the prior art. To this end, the present invention provides a vehicle braking method, storage medium, program product, electronic device, and vehicle. This solution controls vehicle braking based on a target steering angle for each wheel, where the target steering angle is determined based on the vehicle's lateral steering angle and longitudinal braking force. Thus, since the target steering angle for each wheel is determined based on the vehicle's lateral steering angle and longitudinal braking force, when a vehicle brakes using an independent four-wheel steering system, it can maintain vehicle stability during cornering, thereby improving vehicle safety. This addresses the issue in related art where vehicles are prone to tailspinning during cornering, which can lead to safety concerns.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a vehicle braking method, comprising: controlling vehicle braking based on a target steering angle of each wheel, wherein the target steering angle is determined according to a lateral steering angle and a longitudinal braking force of the vehicle.

[0006] In this way, since the target steering angle of each wheel is determined based on the vehicle's lateral turning angle and longitudinal braking force, when the vehicle uses an independent four-wheel steering system for braking, it can maintain vehicle stability when turning, thereby improving vehicle safety, thereby solving the problem in related technologies that vehicles are prone to skidding when turning, causing vehicle safety issues.

[0007] In some embodiments of the present application, it also includes: when the vehicle is in driver mode, determining the lateral turning angle of the vehicle according to the driver's steering intention, and determining the longitudinal braking force of the vehicle according to the driver's braking intention.

[0008] In a second aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer implements the method described in the first aspect.

[0009] In a third aspect, the present application provides a computer program product, which stores instructions. When the instructions are executed by a computer, the computer implements the method described in the first aspect.

[0010] In a fourth aspect, the present application provides an electronic device, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the method described in the first aspect.

[0011] In a fifth aspect, the present application provides a vehicle comprising: the electronic device as described in the fourth aspect; or a processor, the processor being configured to execute the method as described in the first aspect.

[0012] The advantages and control methods of the vehicle and the electronic device compared to the prior art are the same and will not be elaborated here.

[0013] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0015] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0016] Figure 1 is a schematic diagram of braking mode switching provided according to an embodiment of the present invention;

[0017] Figure 2 is a flow chart of a vehicle braking method provided according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of force analysis of a single wheel provided according to an embodiment of the present invention;

[0019] Figure 4 2. It is a schematic diagram of force analysis of each wheel of a vehicle traveling in a straight line according to an embodiment of the present invention;

[0020] Figure 5 2. A schematic diagram of force analysis of each wheel of a vehicle traveling on a curve according to an embodiment of the present invention;

[0021] Figure 6is a control logic diagram of a vehicle braking method provided according to an embodiment of the present invention;

[0022] Figure 7 2. It is a schematic diagram of the mechanism of a steering brake redundancy device provided according to an embodiment of the present invention;

[0023] Figure 8 is a structural diagram of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] At present, more and more vehicles use independent four-wheel steering systems as redundant braking devices to achieve vehicle braking and deceleration. In related technologies, when using independent four-wheel steering systems for vehicle braking, only the vehicle's longitudinal braking process and braking acceleration are considered. This makes it easy for the vehicle to skid when turning, causing the vehicle to deviate and thus causing vehicle safety problems.

[0026] In this way, since the target steering angle of each wheel is determined based on the vehicle's lateral turning angle and longitudinal braking force, when the vehicle uses an independent four-wheel steering system for braking, it can maintain vehicle stability when turning, thereby improving vehicle safety, thereby solving the problem in related technologies that vehicles are prone to skidding when turning, causing vehicle safety issues.

[0027] The present application scheme is further described below with reference to the embodiments.

[0028] like Figure 1 , which is a schematic diagram of braking mode switching provided by an embodiment of the present invention.

[0029] During braking, the primary and secondary braking systems monitor the hydraulic valves, hydraulic pumps, EMB motors, and sensors to identify fault conditions and levels. When the primary braking system is operating normally, the required braking force is fully provided by the primary braking system. If the primary braking system fails, the secondary braking system takes over and generates the required braking force. If both the active and secondary braking systems fail, the system switches to the four-wheel independent steering system, operating in a redundant steering mode. Using four-wheel independent steering control, the system provides emergency braking and safely stops the vehicle.

[0030] like Figure 2FIG. 1 is a flow chart of a vehicle braking method according to an embodiment of the present invention. The braking method is applied to a four-wheel independent steering system. The method includes:

[0031] 201. Control vehicle braking based on a target steering angle for each wheel, where the target steering angle is determined based on the vehicle's lateral steering angle and longitudinal braking force.

[0032] The transverse direction mentioned above refers to the width direction of the vehicle, and the longitudinal direction refers to the length direction of the vehicle.

[0033] Embodiments of the present invention generate a braking force signal based on the target steering angle of each wheel, and cause the actuator of the braking device to apply braking accordingly. The braking force signal indicates the lateral friction force to be generated by the steering tire. According to examples of this application, regardless of whether the two front wheels are steering, the two rear wheels are steering, or all tires (i.e., the two front wheels and the two rear wheels) are steering, the resultant lateral friction force generated by the tires is a force in the opposite direction of the vehicle's travel, and this resultant force serves as the braking force used to stop the vehicle.

[0034] As an optional implementation, the above method also includes the following: 202. When the vehicle is in human driving mode, the lateral turning angle of the vehicle is determined according to the driver's steering intention, and the longitudinal braking force of the vehicle is determined according to the driver's braking intention.

[0035] Exemplarily, the above step 202 determines the lateral turning angle of the vehicle according to the driver's steering intention, and specifically includes: 202a1, obtaining the steering wheel angle based on the driver's steering intention; 202b1, determining the lateral turning angle of the vehicle according to the steering wheel angle.

[0036] Specifically, the vehicle lateral steering wheel angle δ is analyzed based on the driver's steering intention w , since the four-wheel steering is independent and the steering angle of each wheel is different, assuming that the front and rear wheels adopt proportional control, δ r =ξδ f , through the front wheel steering system angular transmission ratio i w , calculate the equivalent turning angle of the front wheel end, that is, the lateral turning angle of the vehicle is Where: f is the front wheel angle (the average of the left and right front wheel angles), δ r is the rear wheel angle (the average of the left and right rear wheel angles), and ξ is the proportional coefficient.

[0037] Exemplarily, the above-mentioned step 202 determines the longitudinal braking force of the vehicle according to the driver's braking intention, specifically including: 202a2, obtaining the braking deceleration of the vehicle based on the driver's braking intention; 202b2, estimating the longitudinal braking force of the vehicle according to the braking deceleration of the vehicle and vehicle parameters.

[0038] Specifically, the vehicle analyzes the braking intensity in the longitudinal direction based on the driver's braking intention, which includes brake pedal depth and brake pedal speed. The braking intensity and braking deceleration are obtained by interpolation using the vehicle's preset brake pedal feel model; the vehicle's total braking force requirement is estimated using the vehicle's weight parameters.

[0039] As an optional implementation, the above method further includes the following: 203. When the vehicle is in the intelligent driving mode, the lateral turning angle and longitudinal braking force of the vehicle are obtained from the intelligent driving system.

[0040] Specifically, the vehicle enters the driving mode judgment. When the vehicle is in the intelligent driving mode, the vehicle will obtain the vehicle's lateral turning angle and longitudinal braking force through the wheel end turning angle generated by the assisted driving (English full name: Advanced Driver Assistance Systems, abbreviated as: ADAS) in path tracking and the braking deceleration of the vehicle speed control, and use its requirements as the input of the control algorithm, and remind the user to take over in time.

[0041] Further optionally, the above method also includes: 204, determining a target steering angle of each wheel according to the lateral turning angle and longitudinal braking force of the vehicle.

[0042] Exemplarily, the above-mentioned step 204 includes the following: 204a, determining a first steering angle of each wheel according to the lateral turning angle of the vehicle and determining a second steering angle of each wheel according to the longitudinal braking force of the vehicle; 204b, determining a target steering angle of each wheel according to the first steering angle and the second steering angle.

[0043] Further optionally, the above-mentioned step 204a determines the first steering angle of each wheel based on the lateral turning angle of the vehicle, specifically including the following contents: 204a1, inputting the lateral turning angle of the vehicle into a two-degree-of-freedom reference model to determine the target yaw rate and target sideslip angle of the vehicle body; and 204a2, determining the first steering angle of each wheel based on the target yaw rate and target sideslip angle.

[0044] For example, the calculation formula of the two-degree-of-freedom reference model is as follows:

[0045]

[0046] In the above formula 1, K is the vehicle stability coefficient. m is the vehicle mass; l is the wheelbase, l f and l r are the distances from the center of mass to the front and rear axles, C f is the front axle cornering stiffness, C r is the rear axle cornering stiffness, μ is the estimated ground adhesion coefficient, g is the acceleration of gravity, vx is the longitudinal speed, δ fd is the lateral turning angle of the vehicle, ω d is the target yaw rate, β d is the target sideslip angle.

[0047] For example, the embodiment of the present invention can calculate the first steering angle of each wheel through PID control. Specifically, the above-mentioned target yaw rate and target sideslip angle can be input into the PID control algorithm to output the first steering angle of each wheel. where e(t) = (ω-ω d )+η(β-β d ), η is the proportional coefficient, PID parameter K P , K I and K D Calibration needs to be performed based on actual vehicle response.

[0048] Further, optionally, to address the related art issues of different adhesion coefficients on both sides of the wheels during straight-line driving, differences in suspension and steering systems, the inability to achieve zero lateral net force, and the braking stability issues caused by non-zero lateral net force, the above method further includes: 205. When the vehicle is in straight-line driving mode, setting the target yaw angle and slip angle to zero and controlling the vehicle body to approach the target values.

[0049] The embodiment of the present invention introduces closed-loop control of the vehicle body yaw rate and sideslip angle to set the target yaw rate (w d ) and sideslip angle (β d ) is zero, controlling the actual yaw angle (w) and slip angle (β) of the vehicle body toward the target values ​​while ensuring the vehicle travels straight. By balancing braking stability and braking efficiency, optimal braking efficiency is achieved under braking stability.

[0050] Further optionally, the above-mentioned step 204a determines the second steering angle of each wheel based on the longitudinal braking force of the vehicle, specifically including the following contents: 204a3, determining the braking force of each wheel based on the longitudinal braking force of the vehicle; and 204a4, determining the second steering angle of each wheel based on the lateral force and braking force of each wheel.

[0051] Exemplarily, the above step 204a3 of determining the braking force of each wheel according to the longitudinal braking force of the vehicle specifically includes the following:

[0052] Taking into account the vehicle's axle load transfer during braking, the braking force distribution between the front and rear axles is achieved according to the target braking deceleration. The braking force distribution of the left and right wheels is initially the same. After considering the braking stability and steering intention requirements, it will be further changed according to the tire model or the actual vehicle tire characteristics.

[0053] Based on the ideal front and rear axle braking force distribution curve, the front axle braking force F xf and rear axle braking force F xr calculate.

[0054]

[0055] In the above formula 2, h g is the vehicle center of mass height. Based on the above formula 2, F can be quickly calculated. xf and F xr The left and right wheel braking forces are initially distributed in the same manner, i.e. the front axle braking force F xf or rear axle braking force F xr Divide it equally to get the braking force F of each wheel xi .

[0056] For example, the above step 204a4 specifically includes the following: using the wheel force analysis model, calculate the second steering angle of each wheel according to the lateral force and braking force of each wheel The details are as follows: The force decomposition of a single wheel is as follows: Figure 3 As shown, the wheel lateral force F Yi Decomposed into horizontal F yi =F Yi sin and vertical

[0057] First, based on the load transfer formula and Where a x The target braking deceleration of the vehicle is calculated by calculating the front axle vertical load F z1 and rear axle vertical load F z2 Simplify the calculation, do not consider the roll effect of turning, and calculate the left and right wheels according to the average distribution, and you can get the vertical load F of each wheel zi According to the preset one-dimensional table of maximum tire lateral force and vertical load, the lateral force F of each wheel is calculated by interpolation. Yi .

[0058] Further according to the formula Calculate The angles of the left front wheel and the right front wheel of the vehicle are equal in size and opposite in direction; the angles of the left rear wheel and the right rear wheel of the vehicle are equal in size and opposite in direction. w =0°, such as Figure 4 As shown), theoretically, the lateral force decomposed by the left and right wheels of the vehicle is required to be ∑F y =0; when driving on a curve (i.e. the driver's steering wheel angle δ w≠0°, such as Figure 5 As shown), the longitudinal force of the four wheels is required to be ∑F x =ma x Producing braking effect, the lateral force of the four wheels ∑F y =ma y Produces a steering effect.

[0059] As an optional implementation, the above step 204b may specifically include the following: summing the first steering angle and the second steering angle to obtain a target steering angle for each wheel.

[0060] The embodiment of the present invention comprehensively considers the lateral and longitudinal vehicle turning angle values, and calculates the sum of the longitudinal and lateral four wheel turning angles. is a feedforward control, and It is a feedback control, and the combination of the two can achieve the fastest response and stability.

[0061] Further optionally, the above method also includes the following: 206. Control vehicle braking according to the target steering angle of each wheel and the set threshold.

[0062] Exemplarily, the above-mentioned step 206 specifically includes the following contents: 206a, the target steering angle is greater than the set threshold, and the vehicle braking is controlled based on the set threshold; 206b, the target steering angle is less than or equal to the set threshold, and the vehicle braking is controlled based on the target steering angle.

[0063] Optionally, the above-mentioned set thresholds are at least two, including a front wheel set threshold and a rear wheel set threshold, that is, the left and right front wheels are set to the same first threshold, and the left and right rear wheels are set to the same second threshold, and the first threshold and the second threshold are different. When the target steering angle of the front wheel (front left wheel or front right wheel) is greater than the first threshold, the vehicle brakes are controlled based on the first threshold, that is, the front wheel is controlled to be steered to the first threshold angle; when the front wheel target steering angle is less than or equal to the first threshold, the vehicle brakes are controlled based on the target steering angle, that is, the front wheel is controlled to be steered to the calculated actual target steering angle. When the target steering angle of the rear wheel (rear left wheel or rear right wheel) is greater than the second threshold, the vehicle brakes are controlled based on the second threshold, that is, the rear wheel is controlled to be steered to the second threshold angle; when the rear wheel target steering angle is less than or equal to the second threshold, the vehicle brakes are controlled based on the target steering angle, that is, the rear wheel is controlled to be steered to the calculated actual target steering angle.

[0064] In the embodiment of the present invention, the final wheel angle δ is obtained by considering the safety angle threshold. iThe safety angle threshold needs to be based on the angle limit of the four-wheel independent steering engineering design, considering the upper limit design method of the wheel angle size, combined with the actual vehicle tire wear and tire derailment risk assessment performance, and reasonably design the safety threshold of each wheel angle to ensure product reliability. This value in the algorithm is a range and is set according to different vehicle models.

[0065] like Figure 6 , which is a control logic diagram of a vehicle braking method provided by an embodiment of the present invention.

[0066] First, the vehicle enters the driving mode judgment. When in the intelligent driving mode, the vehicle will use the wheel end angle generated by ADAS in path tracking and the braking deceleration requirements of vehicle speed control as the input of the control algorithm, and remind the user to take over in time; when in the human driving mode, the vehicle will analyze the driver's braking intention and steering intention, and enter the vehicle emergency braking process with steering redundant braking.

[0067] Secondly, the parameter vehicle lateral turning angle δ corresponding to human driving mode or intelligent driving mode is fd and longitudinal braking force F xd Input to the steering redundant brake module, the steering redundant brake module uses the lateral angle δ fd and longitudinal braking force F xd The first steering angle of each wheel is calculated in two dimensions and the second steering angle The target steering angle δ of each wheel is obtained by summing i , and then after the safety threshold is judged, the actual steering angle of each wheel is obtained as Finally, the calculation is input into the vehicle model or the actual vehicle for execution. For the specific calculation process, please refer to the specific content of the above steps 201-206, which will not be repeated here.

[0068] The above vehicle braking method is applied in virtual models and real vehicles with reference to the following contents:

[0069] (1) In the early stage of product development, the patented control algorithm can be virtually verified and calibrated in a joint simulation model. The vehicle dynamics model (including suspension, wheels, steering, transmission, etc.) is established through Carsim, and the control algorithm is established through Simulink software to output the vehicle simulation yaw rate ω and sideslip angle β.

[0070] (2) During the product actual vehicle verification phase, the specific steering and braking redundancy devices are as follows: Figure 7As shown, the patented control algorithm can be downloaded to the signal processor. When a fault signal enters or exits the steering redundancy device, the fault mode is triggered. The signal processing device outputs a control signal to the redundant execution device. The IMU is used to measure the vehicle's yaw rate ω and sideslip angle β in real time, and feedback control is used to ensure the vehicle's actual braking performance and vehicle stability.

[0071] As a closed-loop control, the above steps are iterated continuously until the vehicle stops safely.

[0072] The present invention primarily operates through an emergency braking control method based on four-wheel independent steering in the event of a main brake system failure, achieving maximum braking efficiency while ensuring vehicle braking stability and steering system and wheel reliability. When the wheel braking system fails during cornering braking, the vehicle must respond not only to the driver's steering request but also to their braking needs. As a redundant steering and braking system, it requires integrated control of the vehicle's steering and braking to distribute the four-wheel steering angles and implement closed-loop control to ensure stability and safety in cornering braking.

[0073] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of this specification. The electronic device 700 includes a processor 701 with one or more processing cores, a memory 702 with one or more computer-readable storage media, and a computer program stored in the memory 702 and executable on the processor. The processor 701 is electrically connected to the memory 702.

[0074] The processor 701 is the control center of the electronic device 700. It connects the various parts of the entire electronic device 700 using various interfaces and lines. By running or loading software programs and / or units stored in the memory 702 and calling data stored in the memory 702, it executes various functions of the electronic device 700 and processes data, thereby monitoring the electronic device 700 as a whole. The processor 701 can be a processor CPU (Central Processing Unit), a graphics processor GPU (Graphics Processing Unit), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0075] In an embodiment of the present application, the processor 701 in the electronic device 700 will load the computer program corresponding to the process of one or more applications into the memory 702 according to the method or steps of the above embodiment, and the processor 701 will run the application stored in the memory 702, thereby executing the above-mentioned vehicle-machine interconnection method.

[0076] According to an embodiment of the present invention, the electronic device executes the aforementioned method to control vehicle braking based on a target steering angle for each wheel, where the target steering angle is determined based on the vehicle's lateral steering angle and longitudinal braking force. Thus, since the target steering angle for each wheel is determined based on the vehicle's lateral steering angle and longitudinal braking force, when a vehicle brakes using an independent four-wheel steering system, it can maintain vehicle stability during cornering, thereby improving vehicle safety. This addresses the related art issue of vehicles being prone to tailspin when cornering, which can lead to safety concerns.

[0077] Embodiments of the present invention further provide a computer-readable storage medium storing a computer program. When executed by a processor, the computer implements the vehicle control method described above. For example, the computer-readable storage medium may be the aforementioned memory containing program instructions. The program instructions may be executed by a processor of an electronic device to implement or execute the various methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0078] Embodiments of the present invention further provide a computer program product that stores instructions that, when executed by a computer, cause the computer to implement the vehicle control method described above. For example, when executed by a computer, the instructions implement or execute the various methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0079] An embodiment of the present invention further provides a vehicle, comprising the system, electronic device, or processor described above, configured to execute the vehicle control method described above. The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, and this specification does not specifically limit this.

[0080] In a vehicle according to an embodiment of the present invention, the electronic device, control system, or controller executes the aforementioned method to control vehicle braking based on a target steering angle for each wheel, where the target steering angle is determined based on the vehicle's lateral steering angle and longitudinal braking force. Thus, because the target steering angle for each wheel is determined based on the vehicle's lateral steering angle and longitudinal braking force, the vehicle, when braking using an independent four-wheel steering system, can maintain vehicle stability during cornering, thereby improving vehicle safety. This addresses the safety issue associated with prior art vehicles that are prone to tailspin when cornering.

[0081] As described above, the above embodiments are only used to illustrate the technical solution of applying the above method to vehicles, rather than to limit it; although the present application is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that: this method can also be used for motor vehicles, trains and ships, etc., which does not make the essence of the corresponding technical solution deviate from the scope of the technical solution of each embodiment of this application.

[0082] In one embodiment, a vehicle can be configured for a fully or partially autonomous driving mode. For example, while in autonomous driving mode, the vehicle can control itself and, through human interaction, determine the current state of the vehicle and its surroundings, determine the possible behavior of at least one other vehicle in the surroundings, and determine a confidence level corresponding to the likelihood that the other vehicle will perform the possible behavior, and control the vehicle based on this information. While in autonomous driving mode, the vehicle can be configured to operate without human interaction.

[0083] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0084] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," "optional example," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0085] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0086] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle braking method, characterized in that: include: Vehicle braking is controlled based on a target steering angle for each wheel, the target steering angle being determined based on a lateral steering angle and a longitudinal braking force of the vehicle.

2. The method according to claim 1, characterized in that Also includes: When the vehicle is in a human driving mode, the lateral turning angle of the vehicle is determined according to the driver's steering intention, and the longitudinal braking force of the vehicle is determined according to the driver's braking intention.

3. The method according to claim 2, characterized in that Determining the lateral turning angle of the vehicle according to the driver's steering intention includes: Obtaining the steering wheel angle based on the driver's steering intention; A lateral angle of the vehicle is determined based on the steering wheel angle.

4. The method according to claim 2, characterized in that Determining the longitudinal braking force of the vehicle according to the driver's braking intention includes: obtaining a braking deceleration of the vehicle based on the driver's braking intention; The longitudinal braking force of the vehicle is estimated based on the braking deceleration of the vehicle and vehicle parameters.

5. The method according to claim 1, characterized in that Also includes: When the vehicle is in the intelligent driving mode, the lateral turning angle and longitudinal braking force of the vehicle are obtained from the intelligent driving system.

6. The method according to claim 2 or 5, characterized in that Also includes: A target steering angle of each wheel is determined according to the lateral turning angle and the longitudinal braking force of the vehicle.

7. The method according to claim 6, characterized in that Determining the target steering angle of each wheel according to the lateral turning angle and longitudinal braking force of the vehicle includes: determining a first steering angle of each wheel according to a lateral turning angle of the vehicle and determining a second steering angle of each wheel according to a longitudinal braking force of the vehicle; A target steering angle for each wheel is determined according to the first steering angle and the second steering angle.

8. The method according to claim 7, characterized in that Determining a first steering angle of each wheel according to the lateral turning angle of the vehicle includes: Inputting the lateral turning angle of the vehicle into a two-degree-of-freedom reference model to determine a target yaw rate and a target sideslip angle of the vehicle body; A first steering angle of each wheel is determined according to the target yaw rate and the target sideslip angle.

9. The method according to claim 8, characterized in that Also includes: When the vehicle is in a straight-line driving mode, the target values ​​of the target yaw angle and the target slip angle are set to zero and the vehicle body is controlled to approach the target values.

10. The method according to claim 7, characterized in that Determining the second steering angle of each wheel according to the longitudinal braking force of the vehicle includes: determining a braking force for each wheel based on the longitudinal braking force of the vehicle; A second steering angle of each wheel is determined based on the braking force and the lateral force of each wheel.

11. The method according to claim 7, characterized in that The determining a target steering angle of each wheel according to the first steering angle and the second steering angle includes: The target steering angle of each wheel is obtained by summing the first steering angle and the second steering angle.

12. The method according to claim 11, characterized in that The method further comprises: The vehicle braking is controlled according to the target steering angle of each wheel and a set threshold.

13. The method according to claim 12, characterized in that The controlling of vehicle braking according to the target steering angle of each wheel and the set threshold comprises: The target steering angle is greater than a set threshold, and vehicle braking is controlled based on the set threshold; The target steering angle is less than or equal to a set threshold, and vehicle braking is controlled based on the target steering angle.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer is caused to implement the method according to any one of claims 1 to 13 .

15. A computer program product, characterized in that The computer program product stores instructions which, when executed by a computer, cause the computer to implement the method of any one of claims 1 to 13 .

16. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 13.

17. A vehicle, characterized in that: include: The electronic device according to claim 16; Alternatively, a processor configured to execute the method according to any one of claims 1 to 13.

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