Vehicle emergency braking control method, device, equipment, medium and program product

Abstract

The invention discloses a vehicle emergency braking control method and device, electronic equipment and a storage medium. The method comprises the steps that when it is detected that a vehicle enters an emergency braking state, the fault condition of the whole vehicle is detected; the whole vehicle fault condition comprises a condition that both the electronic stability control system and the brake-by-wire control system have no fault, a condition that the electronic stability control system or the brake-by-wire control system has a fault, and a condition that both the electronic stability control system and the brake-by-wire control system have a fault; a full braking control scheme corresponding to the whole vehicle fault condition is matched; and carrying out emergency braking control on the vehicle based on the full braking control scheme. According to the method, the problems of automatic emergency braking under the emergency response condition of a driver and insufficient braking force supply in a fault mode can be solved.

Description

Technical Field

[0001] This application relates to the field of vehicle braking control technology, specifically to a vehicle emergency braking control method, device, electronic equipment, readable storage medium, and computer program product. Background Technology

[0002] With the increasing intelligence of automobiles, emergency braking systems are playing an increasingly important role in improving driving safety. These systems are typically used when drivers face sudden dangerous situations requiring emergency braking. They work by sensing the driver's intentions and the vehicle's status, coordinating with various braking actuators to achieve rapid and effective deceleration.

[0003] However, existing technologies often rely on a single braking system, such as anti-lock braking using only an electronic stability control system. But when a part of the system fails, this method suffers from insufficient braking force supply, which cannot guarantee sufficient braking capacity under complex failure modes, and may affect the safety and reliability of the emergency braking process. Summary of the Invention

[0004] In view of the above problems, this application provides a vehicle emergency braking control method, device, electronic device, readable storage medium and computer program product, which can solve the problem of insufficient braking force supply under complex fault modes.

[0005] In a first aspect, this application provides a vehicle emergency braking control method, including: When the vehicle is detected to be in an emergency braking state, the vehicle's fault status is checked; the vehicle's fault status includes the following situations: no faults in both the electronic stability control system and the brake-by-wire control system; a fault in either the electronic stability control system or the brake-by-wire control system; and a fault in both the electronic stability control system and the brake-by-wire control system. Match the full braking control scheme corresponding to the vehicle fault condition; Based on the aforementioned full braking control scheme, emergency braking control is applied to the vehicle.

[0006] In the above technical solution, the method can determine different vehicle fault conditions (including scenarios where the electronic stability control system and brake-by-wire control system are fault-free, a single system is faulty, and both systems are faulty) when the vehicle enters an emergency braking state, and accurately match and execute the corresponding full braking control scheme to achieve the effect of providing sufficient braking force to the vehicle in complex fault modes, thereby effectively ensuring the safety and reliability of the emergency braking process.

[0007] In some embodiments, the method further includes: The pedal arm angle signal and the emergency brake switch signal are obtained through the brake pedal; Based on the pedal arm angle signal and the emergency brake switch signal, detect whether the vehicle has entered an emergency braking state; When the vehicle is detected to have entered the emergency braking state, the step of detecting the vehicle malfunction is performed.

[0008] In the above technical solution, the method can determine the degree of braking urgency through the pedal arm rotation signal and determine that the vehicle needs to perform large-force emergency braking through the emergency brake switch signal, thereby completing the detection of braking speed and braking force requirements, and thus accurately determining whether the vehicle has entered an emergency braking state.

[0009] In some implementations, the pedal arm angle signal and the emergency brake switch signal are obtained via the brake pedal, including: Obtain the pedal arm angle signal through the brake pedal; The braking force is obtained through the brake pedal, and when the braking force reaches a preset braking force threshold, an emergency brake switch signal is generated and the vehicle is triggered to enter the braking force holding state.

[0010] In the above technical solution, the method can generate an emergency braking switch signal when the pedal force is detected to reach a preset threshold, so that the system can determine the emergency braking demand based on the pedal force; at the same time, triggering the braking force holding state can maintain the braking force, thereby avoiding the driver from pressing the pedal for a long time and with great force to maintain the posture, and avoiding the problem of braking force changes caused by brake pedal loosening or shaking.

[0011] In some embodiments, the method further includes: The braking force is obtained through the brake pedal. When the emergency brake switch signal is in the triggered state and the braking force decreases, it is increased again to the preset braking force threshold. The emergency brake switch signal is then reset, and the braking force holding state on the vehicle is released.

[0012] In the above technical solution, the method can flexibly control the emergency braking state by changing the pedal force, meeting the driver's need to adjust the braking operation according to the actual working conditions.

[0013] In some embodiments, the emergency braking control of the vehicle based on the full braking control scheme includes: When both the electronic stability control system and the brake-by-wire control system are functioning correctly, the four-wheel brakes are controlled to perform anti-lock braking according to the preset maximum boost capacity.

[0014] In the above technical solution, the method can maximize braking efficiency and achieve efficient and safe emergency braking control when both the electronic stability control system and the brake-by-wire control system are fault-free.

[0015] In some embodiments, the emergency braking control of the vehicle based on the full braking control scheme includes: In the event of a malfunction in the electronic stability control system or the brake-by-wire control system, the four-wheel brakes are controlled to perform anti-lock braking according to the preset maximum boost capacity. When it is detected that the braking force provided by the four-wheel brakes does not reach the lock-up braking force threshold, the braking force of the rear wheels and the front wheels of the vehicle is superimposed and controlled until the total braking force of the rear wheels and the front wheels of the vehicle reaches the lock-up braking force threshold.

[0016] In the above technical solution, the method can introduce other systems to enhance braking force based on the maximum braking force supply when there is a single system failure in the electronic stability control system or brake-by-wire control system, so as to ensure that the vehicle braking force meets the standard, thereby ensuring sufficient braking force supply and guaranteeing emergency braking effect.

[0017] In some embodiments, the superimposed control of braking forces on the rear wheels and front wheels of the vehicle includes: The electronic parking brake system is used to apply superimposed parking braking force to the rear wheels of the vehicle. The vehicle controller performs superimposed control of electric braking force on the front wheels of the vehicle.

[0018] In the above technical solution, the method can control the rear wheels through the electronic parking brake system and the front wheels through the vehicle controller, thereby achieving precise superposition of braking forces of the front and rear wheels, thus ensuring sufficient braking force and stable vehicle braking.

[0019] In some embodiments, the emergency braking control of the vehicle based on the full braking control scheme includes: In the event of a malfunction in both the electronic stability control system and the brake-by-wire control system, the vehicle controller performs electric braking control on the vehicle according to the preset maximum energy recovery capacity of the motor.

[0020] In the above technical solution, the method can implement electric braking control by taking advantage of the maximum energy recovery capability of the drive motor when both the electronic stability control system and the brake-by-wire control system fail, so that effective emergency braking of the vehicle can be achieved even in the extreme case of failure of both systems.

[0021] Secondly, this application provides a vehicle emergency braking control device, comprising: The detection unit is used to detect vehicle malfunctions when the vehicle enters an emergency braking state; the vehicle malfunctions include the following situations: no malfunction in both the electronic stability control system and the brake-by-wire control system; malfunction in either the electronic stability control system or the brake-by-wire control system; and malfunction in both the electronic stability control system and the brake-by-wire control system. Matching unit, used to match the full braking control scheme corresponding to the vehicle fault condition; A braking control unit is used to perform emergency braking control on the vehicle based on the full braking control scheme.

[0022] In the above technical solution, the device can determine different vehicle fault conditions (including scenarios where the electronic stability control system and brake-by-wire control system are fault-free, a single system is faulty, and both systems are faulty) when the vehicle enters an emergency braking state, and accurately match and execute the corresponding full braking control scheme to achieve the effect of providing sufficient braking force to the vehicle in complex fault modes, thereby effectively ensuring the safety and reliability of the emergency braking process.

[0023] Thirdly, this application provides an electronic device including a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle emergency braking control method described in any one of the first aspects.

[0024] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the vehicle emergency braking control method described in any one of the first aspects.

[0025] Fifthly, this application provides a computer program product comprising a computer program that, when executed by a processor, performs the vehicle emergency braking control method described in any one of the first aspects.

[0026] The beneficial effects of this application are as follows: when the driver performs an emergency braking operation, the emergency braking signal can maintain the braking force, relieving the driver of the need to continuously apply force to the brake pedal in an emergency response state, and enhancing the emergency braking capability in emergency situations. At the same time, by prioritizing or combining all currently available braking methods and capabilities for maximum braking, sufficient braking capacity can be ensured, achieving more effective vehicle emergency braking. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart illustrating a vehicle emergency braking control method in some embodiments of this application; Figure 2 This is a curve showing the relationship between pedal force and pedal travel of the brake pedal in some embodiments of this application; Figure 3 This is a flowchart of the vehicle emergency braking control logic in some embodiments of this application; Figure 4 This is a schematic diagram of the structure of a vehicle emergency braking control device in some embodiments of this application; Figure 5 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0029] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0031] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0034] Existing technologies often rely on a single braking system, such as anti-lock braking using only an electronic stability control system. However, when a part of the system fails, this method suffers from insufficient braking force supply, which cannot guarantee sufficient braking capacity under complex failure modes, and may affect the safety and reliability of the emergency braking process.

[0035] To address the aforementioned technical problems, this application provides a vehicle emergency braking control method. This method can detect the driver's braking speed and braking force under emergency response, and maintain the braking force through a maintenance method, providing a basis for determining braking force. At the same time, by identifying vehicle system faults, it coordinates the vehicle's braking capability to achieve more effective and sufficient emergency braking.

[0036] Based on this, the method can maintain the braking force through an emergency braking signal when the driver performs an emergency braking operation, relieving the driver of the need to continuously apply force to the brake pedal in an emergency response state and enhancing the emergency braking capability. At the same time, by prioritizing or combining all currently available braking methods and capabilities for maximum braking, it can ensure sufficient braking capacity and achieve more effective vehicle emergency braking.

[0037] like Figure 1 As shown, some embodiments of this application provide a vehicle emergency braking control method, which includes: S101. When the vehicle is detected to be in an emergency braking state, check the vehicle's fault status; the vehicle's fault status includes the following situations: no faults in the electronic stability control system and the brake-by-wire control system; faults in the electronic stability control system or the brake-by-wire control system; and faults in both the electronic stability control system and the brake-by-wire control system. S102, Matching the full braking control scheme corresponding to vehicle fault conditions; S103. Based on the full braking control scheme, perform emergency braking control on the vehicle. In some embodiments, emergency braking refers to a braking condition in which the driver rapidly and forcefully depresses the brake pedal, requiring a quick reduction in vehicle speed.

[0038] In some embodiments, vehicle fault conditions refer to the presence and combination of faults in key systems related to braking control (specifically, electronic stability control system and brake-by-wire control system) during vehicle operation.

[0039] In some embodiments, Electronic Stability Control (ESC) refers to an electronic system that assists in the stable driving of a vehicle. It can prevent the vehicle from slipping or fishtailing during steering or braking by adjusting wheel braking force, engine power, etc.

[0040] In some embodiments, brake-by-wire (BWA) refers to a vehicle braking system that does not rely on traditional mechanical connections but transmits braking commands via electronic signals to control the brakes to generate braking force.

[0041] In some embodiments, the full braking control scheme refers to an emergency braking operation strategy determined for different vehicle malfunctions that maximizes braking effect and safety.

[0042] In this embodiment, to ensure sufficient braking force during emergency automatic braking, the method employs a priority-based and combined-based approach, utilizing all currently available braking methods and capabilities for maximum braking. Priority is defined as follows: four-wheel brakes → Electronic Parking Brake (EPB) → Vehicle Controller (VDC); braking methods and capabilities are determined by the combined use of these three systems.

[0043] In the above embodiments, the method can determine different vehicle fault conditions (including scenarios where the electronic stability control system and brake-by-wire control system are fault-free, a single system is faulty, and both systems are faulty) when the vehicle enters an emergency braking state, and accurately match and execute the corresponding sufficient braking control scheme to achieve the effect of providing sufficient braking force to the vehicle in complex fault modes, thereby effectively ensuring the safety and reliability of the emergency braking process.

[0044] In some embodiments, the method further includes: The pedal arm angle signal and the emergency brake switch signal are obtained through the brake pedal; Based on the pedal arm angle signal and the emergency brake switch signal, detect whether the vehicle has entered an emergency braking state; When the vehicle is detected to be in an emergency braking state, the steps for detecting vehicle malfunctions are executed.

[0045] In some embodiments, the brake pedal is an electronic brake pedal (EBP).

[0046] In some embodiments, the pedal arm rotation angle signal is the same as the angular travel signal, both of which are used to indicate the brake pedal depressing angle.

[0047] In some embodiments, an angle sensor on the brake pedal can acquire a pedal arm rotation angle signal, enabling the brake-by-wire control system (BWA), electronic stability control system (ESC), and vehicle controller (VDC) to calculate the pedal rotation angle rate based on the angular travel signal. The formula for calculating the pedal rotation angle rate is as follows: The pedal angular rate = (angular travel value at the next moment - angular travel value at the previous moment) ÷ the time interval between the two data acquisitions.

[0048] In some embodiments, the size of the pedal arm angle is one of the conditions for judging the urgency of the driver's reaction, and the pre-braking advance can be calculated accordingly.

[0049] In some embodiments, drivers typically instinctively slam on the brake pedal in an emergency. Based on this, the method proposes the following technical solution: an emergency brake switch is installed at the mechanical stop position of the brake pedal, and this emergency brake switch triggers an emergency brake switch signal. Wherein, Figure 2 The curve showing the relationship between pedal force and pedal travel of a brake pedal is illustrated.

[0050] In some embodiments, when the driver normally depresses the brake pedal, the relationship between the depressing force and the pedal travel is as follows: Figure 2 As shown by curve a in the figure; when the curve reaches point A (the pedal travel corresponding to point A corresponds to the mechanical stop position), the pedal travel no longer increases with the increase of pedal force (as shown by curve b). Therefore, the pedal arm position corresponding to point A is the mechanical stop position of the electronic brake pedal (the travel of a traditional hydraulic brake pedal will still increase approximately linearly with the increase of pedal force after point A, as shown by curve c in the figure). At this time, the pedal force F corresponding to the position of point A is determined. A The vehicle deceleration *a* (typically 1g) corresponds to the travel distance at point A. Here, the deceleration at point A is usually the deceleration achievable by the driver during normal driving (corresponding to the maximum braking force), and the pedal force at point A is usually the pedal force achievable by the driver during normal driving. Therefore, this method can... A As the trigger force threshold for subsequent emergency braking switches (pedaling force exceeding F) A (When emergency braking is triggered), 'a' is used as the deceleration boundary for emergency braking, providing a criterion for subsequent braking schemes.

[0051] In the above embodiments, the method can determine the degree of braking urgency through the pedal arm rotation signal and determine that the vehicle needs to perform large-force emergency braking through the emergency brake switch signal, thereby completing the detection of braking speed and braking force requirements, and thus accurately determining whether the vehicle has entered an emergency braking state.

[0052] In some embodiments, acquiring the pedal arm angle signal and the emergency brake switch signal via the brake pedal includes: Obtain the pedal arm angle signal through the brake pedal; The braking force is obtained by the brake pedal, and when the braking force reaches the preset braking force threshold, an emergency brake switch signal is generated and the vehicle is triggered to enter the braking force holding state.

[0053] In some embodiments, the preset pedaling force threshold is set to "F". A +△F”. Where F A The trigger force threshold for the emergency braking switch is ΔF, which is a small increment, such as 30-50N.

[0054] In some embodiments, △F is used to ensure that "the driver actively exerts force beyond the maximum force applied in daily life", thereby ensuring the accuracy of the trigger threshold and avoiding false triggering.

[0055] In some embodiments, the pedal arm rotation angle signal is acquired by an angle sensor on the brake pedal, which reflects the angle (angular travel) of the pedal arm rotation. Using this signal, the brake-by-wire (BWA), electronic stability control (ESC), and vehicle controller (VDC) can further calculate the pedal rotation rate (the change in angle per unit time).

[0056] In some embodiments, the size of the pedal arm angle is directly related to the strength of the driver's braking intention; the larger the angle, the stronger the braking demand. The pedal angle rate reflects the urgency of the braking operation; the higher the rate, the more urgent the scenario faced by the driver. The system uses preset angle and rate thresholds to preliminarily determine whether there may be an emergency braking demand.

[0057] In some embodiments, Figure 2 The text indicates that point A is the critical point where the pedal travel no longer increases with increasing pedaling force. Therefore, when the pedal travel corresponding to point A is converted into a pedal arm angle value, that pedal arm angle value is the preset angle threshold. Additionally, a floating value can be added to this angle threshold setting to mitigate errors.

[0058] In some embodiments, the pedal angle rate is closely related to the operation of emergency braking. Therefore, this method can be based on the driver's normal depressing of the brake pedal to... Figure 2The normal pedal angle rate is calculated by taking the time required for the pedal travel at midpoint A. Based on this, the method can preset an angle rate that is slightly larger than the normal pedal angle rate, thereby showing from a data perspective that the driver's pedal speed is much faster than the operating speed during normal braking, thus achieving auxiliary judgment of emergency braking intention.

[0059] In some embodiments, the emergency brake switch signal is generated by an emergency brake switch located at the mechanical stop position of the brake pedal. When the driver depresses the pedal with a force exceeding the maximum range for normal driving, the pedal reaches the mechanical stop and triggers the emergency brake switch signal.

[0060] In some embodiments, the emergency brake switch signal is a critical threshold signal for determining emergency braking, indicating that the driver needs to apply emergency braking beyond the normal maximum braking force.

[0061] In some embodiments, the method provides an emergency brake switch at the mechanical stop position to cause the driver's pedal force to reach F. A When the emergency brake switch is triggered (i.e., the pedal force is F), the emergency brake switch is activated. A When +△F is applied, the emergency brake switch is depressed to maintain braking force, so that braking deceleration no longer depends on the driver's pedal force.

[0062] In the above embodiments, the method can generate an emergency braking switch signal when the pedal force is detected to reach a preset pedal force threshold, thereby enabling the system to determine the emergency braking demand based on the pedal force; at the same time, triggering the braking force holding state can maintain the braking force, thereby avoiding the driver from pressing the pedal for a long time and with great force to maintain the posture, and avoiding the problem of braking force changes caused by brake pedal loosening or shaking.

[0063] In some embodiments, the method further includes: The braking force is obtained by the brake pedal. When the emergency brake switch signal is triggered and the braking force decreases, it is increased again to the preset braking force threshold. Then the emergency brake switch signal is reset and the braking force holding state of the vehicle is released.

[0064] In some embodiments, the method detects the driver's slight release and re-depressing of the brake pedal to activate the emergency brake switch while the braking force is held. When such an operation is detected, the emergency brake switch is triggered to return to its original position, thereby ending the brake holding state.

[0065] For example, when the driver and vehicle are in an emergency, the driver will react with emergency braking (such as quickly and forcefully pressing the brake pedal), causing the pedal arm to trigger the emergency brake switch, thereby putting the vehicle into an emergency automatic braking process. At this time, the driver's foot can be relieved of the pressure applied to the brake pedal. Here, an emergency situation refers to a situation where the driver subjectively believes that the vehicle must be stopped immediately to avoid danger, or a situation where the vehicle should be stopped immediately to avoid danger.

[0066] In the above embodiments, the method can flexibly control the emergency braking state by changing the pedal force, meeting the driver's need to adjust the braking operation according to the actual working conditions.

[0067] In some embodiments, emergency braking control of the vehicle is performed based on a full braking control scheme, including: When both the electronic stability control system and the brake-by-wire control system are functioning correctly, the four-wheel brakes are controlled to perform anti-lock braking according to the preset maximum boost capacity.

[0068] In some embodiments, the preset maximum boost capacity is the inherent performance upper limit of the electronic stability control system and the brake-by-wire control system. These performance parameters are determined by the hardware design and represent a baseline of hardware capabilities defined before the braking system leaves the factory.

[0069] In some embodiments, when there are no faults in the vehicle and the braking system, the ESC and BWA receive the pedal arm angle signal and the emergency brake switch signal respectively to determine the emergency state, and actively perform pressure build-up braking of the four-wheel brakes, and perform anti-lock braking according to the maximum boost capacity.

[0070] In some embodiments, anti-lock braking refers to a braking method that prevents the wheels from stopping during braking, achieves strong deceleration while maintaining wheel rolling, and also preserves steering ability.

[0071] In some embodiments, four-wheel brakes refer to core braking actuators installed on the four wheels of a vehicle. Their core function is to generate braking torque directly on the wheels through physical friction, translating the deceleration command of the braking system into actual vehicle deceleration or stopping. Specifically, in the emergency braking scenario corresponding to this application, when both the Electronic Stability Control (ESC) and Brake-by-Wire (BWA) systems are functioning correctly, commands are sent to the four-wheel brakes to operate at maximum boost capacity. This, combined with the anti-lock braking system (ABS) to prevent wheel lock-up and loss of control, maximizes the braking efficiency of the four-wheel brakes while ensuring vehicle stability during braking, ultimately achieving efficient and safe emergency braking.

[0072] In some embodiments, the core braking actuator described above may be a disc brake consisting of a brake disc, a brake caliper, and brake friction pads.

[0073] In some embodiments, when the maximum output braking force of the system (determined by the maximum boost capacity) is less than the braking force required for wheel lock-up, the system directly outputs the maximum output braking force (at which point the wheels will not lock up); when the maximum output braking force of the system is not less than the braking force required for wheel lock-up, the system does not output the full boost capacity, but instead outputs the maximum anti-lock braking force close to the lock-up threshold (this braking force is less than or equal to the maximum output braking force of the system, in order to avoid wheel lock-up and ensure braking safety and steering ability).

[0074] In the above embodiments, when both the electronic stability control system and the brake-by-wire control system are functioning properly, the method can control the four-wheel brakes to perform anti-lock braking according to the maximum boost capacity through the dual systems, thereby maximizing braking efficiency and achieving efficient and safe emergency braking control.

[0075] In some embodiments, emergency braking control of the vehicle is performed based on a full braking control scheme, including: In the event of a malfunction in the electronic stability control system or brake-by-wire control system, the four-wheel brakes are controlled to perform anti-lock braking according to the preset maximum boost capacity. When it is detected that the braking force provided by the four-wheel brakes is insufficient to reach the lock-up braking force threshold, the braking force of the rear wheels and the front wheels of the vehicle is superimposed and controlled until the total braking force of the rear wheels and the front wheels of the vehicle reaches the lock-up braking force threshold.

[0076] In some embodiments, when either the ESC or BWA malfunctions, the ESC or BWA receives the pedal arm angle signal and the emergency brake switch signal to determine the emergency situation, and prioritizes active pressure building for four-wheel brake pressure building and braking, and performs anti-lock braking according to the maximum boost capacity.

[0077] In some embodiments, when the braking force is insufficient to achieve the vehicle's anti-lock braking force, the ESC or BWA requests its built-in PBCLib control program to drive the rear wheel EPB to perform rear wheel parking braking force superposition as needed, and requests the VDC to perform electric braking force superposition on the front wheels as needed, until the total braking force of the front and rear wheels simultaneously reaches the corresponding anti-lock braking force.

[0078] In some embodiments, "until the total braking force of the front and rear wheels simultaneously reaches the corresponding lock-up braking force" means that the total braking force formed by the front wheels of the vehicle through "basic braking force + electric braking force superimposed by VDC" and the total braking force formed by the rear wheels of the vehicle through "basic braking force + parking braking force superimposed by EPB" reach their respective critical values ​​of being about to lock up but not completely locked up, and the timing of the front and rear wheels reaching this critical state is synchronized.

[0079] In the above embodiments, the method can introduce other systems to enhance braking force based on the maximum braking force supply when there is a single system failure in the electronic stability control system or brake-by-wire control system, so as to ensure that the vehicle braking force meets the standard, thereby ensuring sufficient braking force supply and guaranteeing emergency braking effect.

[0080] In some embodiments, superimposed braking force control is applied to the rear wheels and front wheels of the vehicle, including: The electronic parking brake system is used to apply superimposed parking braking force to the rear wheels of the vehicle. The vehicle controller performs superimposed control of electric braking force on the front wheels of the vehicle.

[0081] In some embodiments, electric braking force refers to the deceleration force that acts on the wheels and is converted into a force that hinders the rotation of the wheels through the energy recovery function of the vehicle drive motor or the motor's active reverse output torque.

[0082] In some embodiments, the Electronic Parking Brake (EPB) is an electronic handbrake that uses electronic control to drive mechanical braking components via an actuator motor, thereby achieving vehicle parking braking. When activated, the motor drives the brake to clamp the wheels, achieving braking; when released, the motor is also controlled electronically to release, eliminating the need for manually pulling a lever like a traditional handbrake.

[0083] In some embodiments, the vehicle dynamics control (VDC) is a comprehensive active safety system whose main function is to monitor parameters such as vehicle posture, wheel speed, and steering angle in real time during vehicle operation (especially when steering, accelerating, or braking). When it detects unstable trends such as slippage, sideslip, understeer, or oversteer, it actively intervenes in the engine power output and individually controls the braking force of a certain wheel to adjust the force state of the vehicle and help the driver maintain the stability and handling of the vehicle.

[0084] In the above embodiments, the method can control the rear wheels through the electronic parking brake system and the front wheels through the vehicle controller, thereby achieving precise superposition of braking forces of the front and rear wheels, thus ensuring sufficient braking force and stable vehicle braking.

[0085] In some embodiments, emergency braking control of the vehicle is performed based on a full braking control scheme, including: In the event of a malfunction in both the electronic stability control system and the brake-by-wire control system, the vehicle controller performs electric braking control on the vehicle according to the preset maximum energy recovery capacity of the motor.

[0086] In some embodiments, when both ESC and BWA fail, VDC receives the emergency brake switch signal to determine the emergency situation and uses the motor's energy recovery for electric braking, braking at the maximum energy recovery capacity. The preset maximum energy recovery capacity is determined by the motor and is a performance indicator predetermined before the motor leaves the factory.

[0087] In the above embodiments, the method can implement electric braking control by taking advantage of the maximum energy recovery capability of the drive motor when both the electronic stability control system and the brake-by-wire control system fail, thereby achieving effective emergency braking of the vehicle even in the extreme case of dual system failure.

[0088] To make the objectives, technical solutions, and advantages of this application clearer, a clear and complete control logic flowchart is provided below for the technical solutions in this application. Please refer to... Figure 3 , Figure 3 A flowchart of a vehicle emergency braking control logic is shown.

[0089] Figure 4 A schematic diagram of a vehicle emergency braking control device is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0090] The vehicle's emergency braking control device includes: The detection unit 210 is used to detect vehicle malfunctions when the vehicle is detected to be in an emergency braking state. Vehicle malfunctions include the following situations: no malfunction in both the electronic stability control system and the brake-by-wire control system; malfunction in either the electronic stability control system or the brake-by-wire control system; and malfunction in both the electronic stability control system and the brake-by-wire control system. Matching unit 220 is used to match the full braking control scheme corresponding to the vehicle fault conditions; The brake control unit 230 is used to perform emergency braking control on the vehicle based on a full braking control scheme.

[0091] In some embodiments, the vehicle emergency braking control device further includes: Acquisition unit 240 is used to acquire pedal arm rotation angle signal and emergency brake switch signal through brake pedal; The detection unit 210 is specifically used to detect whether the vehicle has entered an emergency braking state based on the pedal arm angle signal and the emergency brake switch signal; and when the vehicle is detected to have entered an emergency braking state, to detect the vehicle's fault status.

[0092] In some embodiments, the acquisition unit 240 is specifically used to acquire the pedal arm rotation signal through the brake pedal; acquire the pedal force through the brake pedal; and when the pedal force reaches a preset pedal force threshold, generate an emergency brake switch signal and trigger the vehicle to enter the braking force holding state.

[0093] In some embodiments, the vehicle emergency braking control device further includes: The reset unit 250 is used to obtain the pedal force through the brake pedal. When the emergency brake switch signal is in the triggered state and the pedal force decreases, it increases again to the preset pedal force threshold, resets the emergency brake switch signal, and releases the braking force holding state of the vehicle.

[0094] In some embodiments, the brake control unit 230 is specifically used to control the four-wheel brakes to perform anti-lock braking according to a preset maximum boost capacity when there are no faults in the electronic stability control system and the brake-by-wire control system.

[0095] In some embodiments, the braking control unit 230 includes: The first braking control subunit 231 is used to control the four-wheel brakes to perform anti-lock braking according to the preset maximum boost capacity when there is a fault in the electronic stability control system or the brake-by-wire control system. The second braking control subunit 232 is used to perform superimposed braking force control on the rear wheels and front wheels of the vehicle respectively when it is detected that the braking force provided by the four-wheel brakes does not reach the lock-up braking force threshold, until the total braking force of the rear wheels and front wheels of the vehicle reaches the lock-up braking force threshold.

[0096] In some embodiments, the second braking control subunit 232 is specifically used to perform superimposed control of parking braking force on the rear wheels of the vehicle through the electronic parking brake system; and to perform superimposed control of electric braking force on the front wheels of the vehicle through the vehicle controller.

[0097] In some embodiments, the braking control unit 230 is further configured to perform electric braking control on the vehicle according to the preset maximum energy recovery capacity of the motor through the vehicle controller when both the electronic stability control system and the brake-by-wire control system are faulty.

[0098] like Figure 5 As shown, this application provides an electronic device 300, which includes a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not shown). The memory 302 stores a computer program that can be executed by the processor 301. When the computing device is running, the processor 301 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0099] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0100] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0101] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A vehicle emergency braking control method, characterized in that, include: When the vehicle is detected to be in an emergency braking state, the vehicle's fault status is checked; the vehicle's fault status includes the following situations: no faults in both the electronic stability control system and the brake-by-wire control system; a fault in either the electronic stability control system or the brake-by-wire control system; and a fault in both the electronic stability control system and the brake-by-wire control system. Match the full braking control scheme corresponding to the vehicle fault condition; Based on the aforementioned full braking control scheme, emergency braking control is applied to the vehicle.

2. The vehicle emergency braking control method according to claim 1, characterized in that, The method further includes: The pedal arm angle signal and the emergency brake switch signal are obtained through the brake pedal; Based on the pedal arm angle signal and the emergency brake switch signal, detect whether the vehicle has entered an emergency braking state; When the vehicle is detected to have entered the emergency braking state, the step of detecting the vehicle malfunction is performed.

3. The vehicle emergency braking control method according to claim 2, characterized in that, The pedal arm angle signal and emergency brake switch signal are obtained through the brake pedal, including: Obtain the pedal arm angle signal through the brake pedal; The braking force is obtained through the brake pedal, and when the braking force reaches a preset braking force threshold, an emergency brake switch signal is generated and the vehicle is triggered to enter the braking force holding state.

4. The vehicle emergency braking control method according to claim 2, characterized in that, The method further includes: The braking force is obtained through the brake pedal. When the emergency brake switch signal is in the triggered state and the braking force decreases and then increases again to the preset braking force threshold, the emergency brake switch signal is reset and the braking force holding state of the vehicle is released.

5. The vehicle emergency braking control method according to claim 1, characterized in that, The emergency braking control of the vehicle based on the aforementioned full braking control scheme includes: When both the electronic stability control system and the brake-by-wire control system are functioning correctly, the four-wheel brakes are controlled to perform anti-lock braking according to the preset maximum boost capacity.

6. The vehicle emergency braking control method according to claim 1, characterized in that, The emergency braking control of the vehicle based on the aforementioned full braking control scheme includes: In the event of a malfunction in the electronic stability control system or the brake-by-wire control system, the four-wheel brakes are controlled to perform anti-lock braking according to the preset maximum boost capacity. When it is detected that the braking force provided by the four-wheel brakes does not reach the lock-up braking force threshold, the braking force of the rear wheels and the front wheels of the vehicle is superimposed and controlled until the total braking force of the rear wheels and the front wheels of the vehicle reaches the lock-up braking force threshold.

7. The vehicle emergency braking control method according to claim 1, characterized in that, The method of superimposing braking forces on the rear and front wheels of the vehicle includes: The electronic parking brake system is used to apply superimposed parking braking force to the rear wheels of the vehicle. The vehicle controller performs superimposed control of electric braking force on the front wheels of the vehicle.

8. The vehicle emergency braking control method according to claim 1, characterized in that, The emergency braking control of the vehicle based on the aforementioned full braking control scheme includes: In the event of a malfunction in both the electronic stability control system and the brake-by-wire control system, the vehicle controller performs electric braking control on the vehicle according to the preset maximum energy recovery capacity of the motor.

9. A vehicle emergency braking control device, characterized in that, The vehicle emergency braking control device includes: The detection unit is used to detect vehicle malfunctions when the vehicle enters an emergency braking state; the vehicle malfunctions include the following situations: no malfunction in both the electronic stability control system and the brake-by-wire control system; malfunction in either the electronic stability control system or the brake-by-wire control system; and malfunction in both the electronic stability control system and the brake-by-wire control system. Matching unit, used to match the full braking control scheme corresponding to the vehicle fault condition; A braking control unit is used to perform emergency braking control on the vehicle based on the full braking control scheme.

10. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle emergency braking control method according to any one of claims 1 to 8.

11. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the vehicle emergency braking control method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the vehicle emergency braking control method according to any one of claims 1 to 8.

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