Brake control method and device, control equipment and vehicle

Abstract

The invention relates to the field of vehicle control, and provides a brake control method and device, control equipment and a vehicle. The braking control method comprises the steps of detecting whether a vehicle is in a braking scene or not in the vehicle driving process; if the vehicle is in the braking scene, determining a target relation curve based on identity information of a driver of the vehicle; and if the pedal signal of the brake pedal of the vehicle is detected, brake control is conducted on the vehicle based on the target relation curve. By means of the method, discomfort brought to passengers in the vehicle braking process can be effectively avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle information security management technology, and in particular to a braking control method, device, control equipment and vehicle. Background Technology

[0002] Regenerative Braking Systems (RBRS) are a common technology in electric and hybrid vehicles. They convert kinetic energy into electrical energy during deceleration or braking, storing it in the battery to improve the vehicle's overall energy efficiency. In existing technologies, to improve energy recovery efficiency, the RBRS activates immediately when the driver releases the pedal, decelerating the vehicle instantly based on the pedal signal. However, if the driver depresses the pedal too quickly, it can cause excessive deceleration, leading to a shift in the vehicle's center of gravity and a pitching motion similar to the front of the car "nodding," which can cause discomfort to passengers. Summary of the Invention

[0003] In view of the above, it is necessary to provide a braking control method, device, control equipment, and vehicle that can effectively prevent discomfort to passengers during vehicle braking.

[0004] The first aspect of this application provides a braking control method applied to a vehicle, the method comprising: detecting whether the vehicle is in a braking scenario during vehicle operation; if the vehicle is in a braking scenario, determining a target relationship curve based on the identity information of the driver of the vehicle; and if a pedal signal of the vehicle's brake pedal is detected, performing braking control on the vehicle based on the target relationship curve.

[0005] In some embodiments of this application, detecting whether the vehicle is in a braking scenario includes: if the vehicle is traveling on a downhill road, the distance between the vehicle and the speed bump in front is less than a preset distance, or the rate at which the distance between the vehicle and the vehicle in front decreases exceeds a preset threshold, then the vehicle is determined to be in a braking scenario.

[0006] In some embodiments of this application, the method further includes: acquiring historical braking data generated by the driver while driving the vehicle, the historical braking data including pedal force, pedal travel corresponding to the pedal force, and braking deceleration corresponding to the pedal force; fitting the relationship between the pedal force and the corresponding pedal travel and braking deceleration based on the historical braking data to obtain a first relationship curve; filtering and smoothing the first relationship curve to obtain a second relationship curve; associating the second relationship curve with the driver's identity information and storing the associated second relationship curve.

[0007] In some embodiments of this application, the step of filtering and smoothing the first relationship curve to obtain a second relationship curve includes: identifying inflection points in the first relationship curve; determining a target filtering coefficient based on the inflection point deceleration corresponding to the inflection point, and determining a target curve segment based on the position of the inflection point in the first relationship curve; and filtering the target curve segment based on the target filtering coefficient to obtain the second relationship curve.

[0008] In some embodiments of this application, the method further includes: establishing a correspondence between multiple deceleration ranges and multiple filter coefficients, wherein the multiple deceleration ranges do not overlap; determining the target filter coefficient based on the inflection point deceleration corresponding to the inflection point includes: determining a deceleration range that matches the inflection point deceleration from the multiple deceleration ranges; determining the deceleration range that matches the inflection point deceleration as the target deceleration range; and using the filter coefficient corresponding to the target deceleration range as the target filter coefficient.

[0009] In some embodiments of this application, determining the target relationship curve based on the identity information of the vehicle's driver includes: determining a second relationship curve that matches the identity information of the vehicle's driver from a plurality of pre-stored second relationship curves, and using the second relationship curve that matches the identity information of the vehicle's driver as the target relationship curve, wherein the plurality of pre-stored second relationship curves are each associated with the identity information of a driver.

[0010] In some embodiments of this application, the pedal signal carries the current pedal travel and pedal force of the brake pedal, and the braking control of the vehicle based on the target relationship curve includes: determining the braking deceleration corresponding to the current pedal travel and pedal force of the brake pedal based on the target relationship curve; and controlling the vehicle to decelerate according to the determined braking deceleration.

[0011] A second aspect of this application provides a braking control device operating in a control device, the braking control device comprising: a detection module for detecting whether the vehicle is in a braking scenario during vehicle operation; a determination module for determining a target relationship curve based on the driver's identity information if the vehicle is in a braking scenario; and a control module for performing braking control on the vehicle based on the target relationship curve if a brake pedal signal is detected.

[0012] A third aspect of this application provides a control device, the control device comprising: a storage device storing computer-readable instructions; and a processor executing the computer-readable instructions to implement the braking control method.

[0013] A fourth aspect of this application provides a vehicle that includes the aforementioned control device.

[0014] As can be seen from the above technical solutions, when the brake pedal signal of the vehicle is detected, this application can perform braking control on the vehicle based on the target relationship curve determined based on the driver's identity information. Since the target relationship curve is obtained by fitting based on the driver's historical braking data and has been filtered and smoothed, braking control based on the target relationship curve can effectively avoid the "nodding" phenomenon caused by sudden deceleration of the vehicle, thereby avoiding the discomfort caused by the "nodding" phenomenon. In addition, this application also determines the target relationship curve for braking control as soon as the vehicle is detected to be in a braking scenario, preparing in advance for the execution of braking control and optimizing the overall duration of braking control. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the vehicle structure provided in the embodiments of this application.

[0016] Figure 2 This is a flowchart of a relationship curve fitting method provided in an embodiment of this application.

[0017] Figure 3 Let's take an example to illustrate the first relationship curve.

[0018] Figure 4 For example, to illustrate Figure 3 The second relationship curve is obtained after filtering and smoothing the first relationship curve shown.

[0019] Figure 5 This is a flowchart of a braking control method provided in an embodiment of this application.

[0020] Figure 6 This is a functional block diagram of a braking control device provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0023] In the embodiments of this application, the terms "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 construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner. Unless otherwise specified, the following embodiments and features described herein can be combined with each other.

[0024] like Figure 1 The diagram shown is a structural schematic of the vehicle provided in an embodiment of this application.

[0025] In some embodiments of this application, vehicle 1 includes control device 10. Control device 10 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored computer-readable instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0026] In some embodiments of this application, the control device 10 may be an in-vehicle device (also known as an electronic control unit (ECU)), or an electronic device of different forms such as a mobile terminal or computer equipment. In actual applications, there is no limitation on this.

[0027] In some embodiments of this application, the control device 10 includes, but is not limited to, a memory 101, a processor 102, and computer-readable instructions and / or modules stored in the memory 101 and executable on the processor 102.

[0028] In some embodiments of this application, the network in which vehicle 1 is located includes, but is not limited to, the Internet, a wide area network (WAN), a metropolitan area network (MAN), a local area network (LAN), and a virtual private network (VPN). Vehicle 1 also includes, but is not limited to, a pedal sensor 11, a pedal force sensor 12, a brake pedal 13, and an acceleration sensor 14. The pedal sensor 11 is used to sense the pedal travel generated when the driver of vehicle 1 depresses the brake pedal 13. The pedal force sensor 12 is used to detect the force (also referred to as "pedal force") applied to the brake pedal 13 when the driver depresses it. The acceleration sensor 14 can be a longitudinal acceleration sensor used to sense the braking deceleration of vehicle 1.

[0029] In some embodiments of this application, the pedal sensor 11, pedal force sensor 12, and acceleration sensor 14 acquire data at the same acquisition frequency (e.g., 2000 Hz).

[0030] Those skilled in the art will understand that Figure 1 This is merely an example of vehicle 1 and does not constitute a limitation on vehicle 1. Vehicle 1 may include more or fewer components than shown, or combine certain components, or different components. For example, vehicle 1 may also include input / output devices, network access devices, buses, etc.

[0031] The memory 101 can be used to store computer-readable instructions and / or modules. The processor 102 implements various functions of the control device 10 by running or executing the computer-readable instructions and / or modules stored in the memory 101 and calling the data stored in the memory 101, such as braking control of the vehicle 1.

[0032] The memory 101 may include non-volatile and volatile memory, such as: hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other storage device.

[0033] The memory 101 can be an external storage device and / or an internal storage device of the control device 10. Furthermore, the memory 101 can be a storage device with physical form, such as a memory stick, a TF card (Trans-flash Card), etc.

[0034] Processor 102 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor, a processor, or any conventional processor. Processor 102 is the computational core and control center of control device 10, connecting various parts of control device 10 via various interfaces and lines, and executing the operating system of control device 10, as well as various installed application programs and program code.

[0035] In some embodiments of this application, the memory 101 in the control device 10 stores computer-readable instructions, and the processor 102 can implement, for example, the computer-readable instructions stored in the memory 101. Figure 2 , Figure 5 The steps are shown.

[0036] like Figure 2 The diagram shown is a flowchart of a method for fitting a relationship curve according to an embodiment of this application. The method for fitting a relationship curve is applied in a control device (e.g., control device 10 of vehicle 1). Depending on different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

[0037] The following is based on a driver driving a vehicle (e.g.) Figure 1 The following example illustrates how historical braking data generated by vehicle 1) can be used to fit a relationship curve.

[0038] Step 201: Obtain historical braking data generated by the driver during the driving process. The historical braking data includes pedal force, pedal travel corresponding to the pedal force, and braking deceleration corresponding to the pedal force.

[0039] In some embodiments of this application, the control device may use a vehicle pedal sensor to sense the pedal travel generated by the driver pressing the brake pedal, a pedal force sensor to detect the pedal force applied to the brake pedal when the driver presses the brake pedal, and an acceleration sensor (e.g., a longitudinal acceleration sensor) to sense the vehicle's braking deceleration. In some embodiments of this application, the pedal sensor, pedal force sensor, and acceleration sensor simultaneously acquire data at the same acquisition frequency (e.g., 2000 Hz).

[0040] In some embodiments of this application, the control device may also record the data collected simultaneously by the pedal sensor, pedal force sensor and acceleration sensor, thereby obtaining the correspondence between pedal force, pedal travel and braking deceleration.

[0041] In some embodiments of this application, the control device may also associate the collected data with the identity information of the vehicle's driver.

[0042] In some embodiments of this application, the control device may also associate the collected data with the manufacturer (i.e., brand) and model (i.e., vehicle series) of the vehicle.

[0043] In some embodiments of this application, historical braking data may include a preset number of braking data entries (e.g., 10,000 entries), each entry including a pedal force, a pedal travel corresponding to that pedal force, and a braking deceleration corresponding to that pedal force. In some embodiments of this application, historical braking data may also be braking data collected within a preset time period, such as all braking data collected by the driver from the first time the vehicle was driven to the most recent time the vehicle was driven.

[0044] Step 202: Based on historical braking data, fit the relationship between pedal force and the corresponding pedal travel and braking deceleration to obtain the first relationship curve.

[0045] In some embodiments of this application, the first relationship curve, also known as a spatial curve, reflects the relationship between pedal force, pedal travel corresponding to the pedal force, and braking deceleration. In some embodiments of this application, the control device can use the X-axis to represent pedal force, the Y-axis to represent pedal travel, and the Z-axis to represent braking deceleration, and obtain the first relationship curve by curve fitting based on historical braking data.

[0046] Step 203: Filter and smooth the first relationship curve to obtain the second relationship curve.

[0047] In some embodiments of this application, the control device performs filtering and smoothing processing on the first relationship curve to obtain a second relationship curve, including: identifying inflection points in the first relationship curve; determining a target filtering coefficient based on the braking deceleration corresponding to the inflection point (hereinafter referred to as "inflection point deceleration" for ease of description), and determining a target curve segment based on the position of the inflection point in the first relationship curve; and filtering the target curve segment based on the target filtering coefficient to obtain the second relationship curve.

[0048] In some embodiments of this application, the control device can obtain the position of the inflection point in the first relationship curve using second-order differentiation, for example, by first using a polynomial function such as... The points of the space curve are fitted, where Z represents braking deceleration, X represents pedal force, Y represents pedal travel, a, b, and c are constants generated by the fitting, and n and m are the orders of the polynomial. After fitting, the second derivative of the polynomial function is taken, that is, the polynomial function is differentiated twice. The points where the second derivative is 0 are the inflection points. The location of the inflection point can be regarded as the point of gradual braking transition, which is the source of the discomfort caused by energy recovery.

[0049] In some embodiments of this application, the control device pre-establishes a correspondence between multiple deceleration ranges and multiple filter coefficients, wherein the multiple deceleration ranges do not overlap.

[0050] In some embodiments of this application, the control device can be configured such that the filtering coefficient is positively correlated with the upper limit of the deceleration range. That is, the larger the upper limit of the deceleration range, the larger the corresponding filtering coefficient. Because the greater the braking deceleration, the stronger the discomfort, it is necessary to increase the filtering coefficient.

[0051] For example, the multiple deceleration ranges include three ranges: range A (deceleration less than 0.2g), range B (deceleration between 0.2g and 0.5g), and range C (deceleration greater than 0.5g). The control device can set the filter coefficient for range A to 0.8, the filter coefficient for range B to 1, and the filter coefficient for range C to 1.2.

[0052] In some embodiments of this application, the control device determines the target filtering coefficient based on the inflection point deceleration corresponding to the inflection point, including: determining a deceleration range that matches the inflection point deceleration from a plurality of deceleration ranges; determining the deceleration range that matches the inflection point deceleration as the target deceleration range; and using the filtering coefficient corresponding to the target deceleration range as the target filtering coefficient.

[0053] For example, suppose that the braking deceleration corresponding to a certain inflection point on the first relationship curve is 0.4g. Since the braking deceleration of 0.4g falls within range B, the control device can determine range B as the target deceleration range and set the filter coefficient corresponding to range B as 1 as the target filter coefficient.

[0054] In some embodiments of this application, the control device determines the target curve segment based on the position of the inflection point in the first relationship curve by using curve segments within a preset range before and after the position of the inflection point on the first relationship curve as the target curve segment. The preset range can be the product of the length of the first relationship curve and a preset percentage, and the value of the preset percentage can be an empirical value such as 5%, 6%, or other set values. That is, the curve segments within a preset range before and after the position of the inflection point on the first relationship curve are used as the target curve segments.

[0055] In some embodiments of this application, in order to reproduce the driver's pedal style to the greatest extent, the control device may also preset a filtering frequency, for example, 200 Hz. Thus, the control device can perform filtering and smoothing on the target curve segment based on the target filtering coefficient and the filtering frequency. Braking control based on the second relationship curve obtained after filtering can effectively reduce the discomfort caused by energy recovery.

[0056] Step 204: Associate the second relationship curve with the driver's identity information and store the associated second relationship curve.

[0057] In some embodiments of this application, the driver's identity information includes the driver's facial feature data, including, but not limited to, image information of the driver's facial features, head, shoulders, and elbows. In some embodiments of this application, the control device may use a camera installed in the cockpit to collect the driver's identity information.

[0058] For example, Figure 3 The figure shows the first relationship curve obtained based on historical braking data generated by the driver driving the vehicle. Figure 4 The image shows the second relationship curve obtained after filtering and smoothing the first relationship curve. The control device can establish a correspondence between the second relationship curve and the driver's identity information, and store the second relationship curve and the corresponding driver's identity information.

[0059] Based on steps 201 to 204 above, the control device can establish a second relationship curve for different drivers, and associate each driver's identity information with the corresponding second relationship curve and store the associated second relationship curve and the driver's identity information.

[0060] In some embodiments of this application, the control device further associates the second relationship curve with the manufacturer (i.e., brand) and model (i.e., vehicle) of the vehicle. Thus, the second relationship curve corresponds not only to the driver's identity information but also to the manufacturer and model of the vehicle. Therefore, when performing the braking control described below, for different vehicles of the same manufacturer and model driven by the same driver, the second relationship curve corresponding to the driver's identity information can be directly invoked for braking control.

[0061] See Figure 5 The diagram shown is a flowchart of a braking control method provided in one embodiment of this application. The braking control method is applied in a control device (e.g., control device 10 of vehicle 1). Depending on different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

[0062] Step 501: Detect whether the vehicle is in a braking scenario. If the vehicle is in a braking scenario, proceed to step 502.

[0063] In some embodiments of this application, during vehicle operation, the control device detects whether the vehicle is in a braking scenario.

[0064] In some embodiments of this application, detecting whether the vehicle is in a braking scenario includes: if the vehicle is traveling on a downhill road, the distance between the vehicle and the speed bump in front is less than a preset distance (e.g., 200 meters), or the rate at which the distance between the vehicle and the vehicle in front decreases exceeds a preset threshold, then the vehicle is determined to be in a braking scenario.

[0065] In some embodiments of this application, the preset threshold is an empirical value, such as 4.9 m / s² or other set values.

[0066] Step 502: Determine the target relationship curve based on the driver's identity information of the vehicle.

[0067] In some embodiments of this application, determining the target relationship curve based on the identity information of the vehicle's driver includes: determining a second relationship curve that matches the identity information of the vehicle's driver from a plurality of pre-stored second relationship curves, and using the second relationship curve that matches the identity information of the vehicle's driver as the target relationship curve.

[0068] In some embodiments of this application, the control device pre-establishes an association between each second relationship curve and the driver's identity information. Therefore, the target relationship curve can be obtained by matching from a pre-stored set of multiple second relationship curves based on the vehicle's driver's identity information.

[0069] In some embodiments of this application, if the vehicle is in a braking scenario, the control device can use a camera installed in the vehicle's cockpit to collect the current driver's identity information. In other embodiments of this application, the control device can also collect the driver's identity information using the camera when the vehicle starts, instead of waiting until it is determined that the vehicle is in a braking scenario to start collecting the driver's identity information. This can shorten the time required to determine the target relationship curve based on the driver's identity information.

[0070] Step 503: Determine whether a brake pedal signal is detected. If a brake pedal signal is detected, proceed to step 504.

[0071] In some embodiments of this application, the pedal signal may include signals detected by a vehicle's pedal sensor and signals detected by a vehicle's pedal force sensor. The signal detected by the vehicle's pedal sensor carries the pedal travel, and the signal detected by the vehicle's pedal force sensor carries the pedal force. The vehicle's pedal sensor and pedal force sensor transmit the detected signals to the control device in real time. In some embodiments of this application, the vehicle's pedal sensor and pedal force sensor acquire data at the same acquisition frequency (e.g., 2000 Hz).

[0072] Step 504: Perform braking control on the vehicle based on the target relationship curve.

[0073] In some embodiments of this application, braking control of a vehicle based on a target relationship curve includes: determining a braking deceleration corresponding to the current pedal travel and pedal force of the brake pedal based on the target relationship curve; and controlling the vehicle to decelerate according to the determined braking deceleration.

[0074] As described in the previous step, the control device can use the pedal sensor to detect the current pedal travel of the brake pedal, and also use the pedal sensor to detect the current pedal force of the brake pedal.

[0075] like Figure 6 The diagram shown is a functional block diagram of the braking control device provided in an embodiment of this application. The braking control device 110 operates in the control device 10. The braking control device 110 includes a detection module 1101, a determination module 1102, and a control module 1103. The module / unit referred to in this application refers to a series of computer-readable instruction segments that can be acquired by the processor 102 and can perform a fixed function, and which are stored in the memory 101.

[0076] The detection module 1101 is used to detect whether the vehicle is in a braking scenario during the vehicle's operation; the determination module 1102 is used to determine a target relationship curve based on the driver's identity information if the vehicle is in a braking scenario; and the control module 1103 is used to perform braking control on the vehicle based on the target relationship curve if a brake pedal signal is detected.

[0077] As can be seen from the above technical solutions, when the brake pedal signal of the vehicle is detected, this application can perform braking control on the vehicle based on the target relationship curve determined based on the driver's identity information. Since the target relationship curve is obtained by fitting based on the driver's historical braking data and has been filtered and smoothed, braking control based on the target relationship curve can effectively avoid the "nodding" phenomenon caused by sudden deceleration of the vehicle, thereby avoiding the discomfort caused by the "nodding" phenomenon. In addition, this application also determines the target relationship curve for braking control as soon as the vehicle is detected to be in a braking scenario, preparing in advance for the execution of braking control and optimizing the overall duration of braking control.

[0078] If the modules / units integrated in the control device 10 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by instructing related hardware through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium, and when executed by a processor, they can implement the steps of the various method embodiments described above.

[0079] Computer-readable instructions include computer-readable instruction code, which can be in the form of source code, object code, executable file, or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer-readable instruction code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), and random access memory (RAM).

[0080] For example, computer-readable instructions can be divided into one or more modules / units, one or more of which are stored in memory 101 and executed by processor 102 to complete this application. One or more modules / units can be a series of computer-readable instruction segments capable of performing a specific function, which describe the execution process of the computer-readable instructions in control device 10. For example, computer-readable instructions can be divided into a detection module 1101, a determination module 1102, and a control module 1103.

[0081] For detailed information on the functions of each module / unit, please refer to the above text. Figure 3 and Figure 5 The detailed description will not be repeated here.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0083] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0085] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0086] Furthermore, it is clear that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices can also be implemented by a single unit or device through software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any specific order.

Claims

1. A braking control method applied to a vehicle, characterized in that, The method includes: During the vehicle's operation, it is detected whether the vehicle is in a braking scenario; If the vehicle is in a braking scenario, a target relationship curve is determined based on the driver's identity information; and If a brake pedal signal is detected for the vehicle, braking control is performed on the vehicle based on the target relationship curve.

2. The method according to claim 1, characterized in that, The detection of whether the vehicle is in a braking scenario includes: If the vehicle is traveling on a downhill road, the distance between the vehicle and the speed bump in front is less than a preset distance, or the rate at which the distance between the vehicle and the vehicle in front decreases exceeds a preset threshold, the vehicle is determined to be in a braking scenario.

3. The method according to claim 1, characterized in that, The method further includes: Acquire historical braking data generated by the driver while driving the vehicle, the historical braking data including pedal force, pedal travel corresponding to the pedal force, and braking deceleration corresponding to the pedal force; Based on the historical braking data, the relationship between the pedal force and the corresponding pedal travel and braking deceleration is fitted to obtain a first relationship curve; The first relationship curve is filtered and smoothed to obtain the second relationship curve; The second relationship curve is associated with the driver's identity information, and the associated second relationship curve is stored.

4. The method according to claim 3, characterized in that, The step of filtering and smoothing the first relationship curve to obtain the second relationship curve includes: Identify the inflection points in the first relationship curve; The target filtering coefficient is determined based on the inflection point deceleration corresponding to the inflection point, and the target curve segment is determined based on the position of the inflection point in the first relationship curve; The target curve segment is filtered based on the target filtering coefficients to obtain the second relationship curve.

5. The method according to claim 4, characterized in that, The method further includes: Establish a correspondence between multiple deceleration ranges and multiple filter coefficients, wherein the multiple deceleration ranges do not overlap; The step of determining the target filter coefficient based on the inflection point deceleration corresponding to the inflection point includes: Determine the deceleration range that matches the inflection point deceleration from the plurality of deceleration ranges; The deceleration range that matches the inflection point deceleration is defined as the target deceleration range; and The filter coefficient corresponding to the target deceleration range is used as the target filter coefficient.

6. The method according to claim 3, characterized in that, The determination of the target relationship curve based on the driver's identity information of the vehicle includes: A second relationship curve matching the identity information of the driver of the vehicle is determined from a plurality of pre-stored second relationship curves, and the second relationship curve matching the identity information of the driver of the vehicle is used as the target relationship curve, wherein the plurality of pre-stored second relationship curves are each associated with the identity information of a driver.

7. The method according to claim 1, characterized in that, The pedal signal carries the current pedal travel and pedal force of the brake pedal, and the braking control of the vehicle based on the target relationship curve includes: Based on the target relationship curve, determine the braking deceleration corresponding to the current pedal travel and pedal force of the brake pedal; and The vehicle deceleration is controlled based on the determined braking deceleration rate.

8. A braking control device, operating in a control equipment, characterized in that, The braking control device includes: The detection module is used to detect whether the vehicle is in a braking scenario during vehicle operation; The determination module is used to determine the target relationship curve based on the driver's identity information if the vehicle is in a braking scenario; and The control module is used to control the braking of the vehicle based on the target relationship curve if a pedal signal of the vehicle's brake pedal is detected.

9. A control device, characterized in that, The control device includes: Storage device, storing computer-readable instructions; and The processor executes the computer-readable instructions to implement the braking control method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle includes the control device as described in claim 9.

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