Vehicle multi-scene adaptive low-speed braking control method and system and vehicle

Abstract

The application discloses a kind of vehicle multi-scene adaptive low-speed brake control method, system and vehicle, belong to vehicle braking technical field.The method includes: the driving data of target vehicle is collected in real time;Determine whether multi-scene adaptive low-speed brake control function triggers;When the multi-scene adaptive low-speed brake control function triggers, the brake pressure under low-speed working condition is adjusted and controlled as follows: according to the driving data, obtain the gain coefficient under different slope scenes with basic brake pressure, and the gain coefficient is adjusted to obtain target brake pressure, finally control the target vehicle executes brake operation according to the target brake pressure.The application realizes the brake performance optimization of vehicle under low-speed working condition.

Description

Technical Field

[0001] This invention belongs to the field of vehicle braking technology. Specifically, this invention relates to a vehicle multi-scenario adaptive low-speed braking control method, system, and vehicle. Background Technology

[0002] High-speed braking is easier for drivers to adapt to due to its longer deceleration time and relatively smoother braking process. However, at low speeds, the short braking time leads to a concentrated release of braking force, often causing a "nose-diving" impact and reducing comfort. This is particularly problematic in situations such as following other vehicles in congested traffic or parking in tight spaces. Furthermore, traditional systems lack a dynamic compensation mechanism for gradient and braking force. When braking on a slope, the component of gravity along the slope significantly affects braking performance, increasing the risk of rolling back due to insufficient braking force, thus requiring improved safety.

[0003] In existing solutions, publication number CN118163769A, publication date June 11, 2024, entitled "A Parking Braking System and Method," discloses a parking braking system and method that controls the braking mechanism using real-time data from a slope sensor. This aims to address the problem in existing solutions where the handbrake system generates insufficient pulling force, leading to a risk of vehicle rollover even on steep inclines. However, relying solely on slope sensor data for parking determination can result in misjudgments due to sensor performance variations under harsh environmental conditions. Furthermore, this document pertains to static parking conditions and is not applicable to dynamic low-speed braking situations.

[0004] Therefore, this invention proposes a vehicle multi-scenario adaptive low-speed braking control method, system, and vehicle. Summary of the Invention

[0005] This invention aims to overcome the shortcomings of the prior art and proposes a vehicle multi-scenario adaptive low-speed braking control method, system and vehicle to achieve the following objective: to optimize the braking performance of the vehicle under low-speed conditions.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a vehicle multi-scenario adaptive low-speed braking control method, the method comprising the following steps; Step S1: Collect driving data of the target vehicle in real time; Step S2: Based on the driving data, determine whether the multi-scenario adaptive low-speed braking control function is triggered; Step S3: When the multi-scenario adaptive low-speed braking control function is triggered, the braking pressure under low-speed conditions is adjusted and controlled as follows: the basic braking pressure and the gain coefficient under different slope scenarios are obtained based on the driving data, and the basic braking pressure is adjusted through the gain coefficient to obtain the target braking pressure. Finally, the target vehicle is controlled to perform braking operation according to the target braking pressure. The gain coefficient is obtained by querying a preset slope-braking pressure gain coefficient table based on the slope signal. The slope-braking pressure gain coefficient table is constructed by establishing a unique correspondence between the slope signal and the braking pressure gain coefficient. Based on the vehicle dynamics model and real vehicle test data, the corresponding gain coefficient is calibrated for different slope signals.

[0007] Preferably, the driving data of the target vehicle includes brake pedal travel signal, slope signal, vehicle speed signal, brake pedal pressure signal, adaptive low-speed braking function availability signal, and adaptive low-speed braking function on / off signal.

[0008] Preferably, in step S2, the multi-scenario adaptive low-speed braking function is triggered only when all of the following conditions are met simultaneously: Condition 1: The brake pedal is detected to be depressed; Condition 2: The current vehicle speed is detected to be lower than the preset vehicle speed threshold; Condition 3: The adaptive low-speed braking function is detected to be fault-free and the system status is normal, that is, the adaptive low-speed braking function is available. Condition 4: The adaptive low-speed braking function is detected to be in the activated state.

[0009] If all of the above conditions are not met, the multi-scenario adaptive low-speed braking function will not be triggered. In this case, the target vehicle will perform braking operation according to the preset basic braking pressure.

[0010] Preferably, the method for determining whether the brake pedal has been depressed in condition 1 includes: Method 1: Based on the brake pedal travel signal, determine whether the brake pedal travel exceeds the preset brake pedal travel threshold. If it exceeds, it is determined that the brake pedal is depressed; otherwise, it is determined that the brake pedal is not depressed. Method 2: Compare the braking pressure measured by the brake pedal pressure signal with the set initial pressure threshold of the corresponding static friction force. When the braking pressure exceeds the initial pressure threshold of the static friction force, it is determined that the brake pedal is depressed; otherwise, it is determined that the brake pedal is not depressed. If either method 1 or method 2 determines that the brake pedal is depressed, then condition 1 determines that the brake pedal is depressed.

[0011] Preferably, the basic braking pressure is obtained by querying a preset brake pedal travel-brake pressure curve based on the brake pedal travel signal; the brake pedal travel-brake pressure curve is a coordinate system established with the brake pedal travel of the target vehicle as the abscissa and the target braking force of the target vehicle as the ordinate, and the corresponding relationship is plotted in the coordinate system to obtain the brake pedal travel-brake pressure curve.

[0012] Preferably, during vehicle braking, after the multi-scenario adaptive low-speed braking function is triggered, if it is determined from the driving data that the multi-scenario adaptive low-speed braking control function needs to be deactivated, the multi-scenario adaptive low-speed braking function remains in the triggered state in the initial state, and the gain coefficient remains at the instantaneous value of the moment the brake pedal is pressed, until the brake pedal travel is reduced to a preset brake pedal travel threshold, at which point the multi-scenario adaptive low-speed braking function is deactivated.

[0013] This invention also proposes a vehicle multi-scenario adaptive low-speed braking control system, using the aforementioned vehicle multi-scenario adaptive low-speed braking control method. The system includes a brake pedal travel detection module, a road slope detection module, a vehicle speed detection module, a brake pedal pressure detection module, an adaptive low-speed braking function switch, a controller, and a brake pressure output mechanism. The brake pedal travel detection module, road slope detection module, vehicle speed detection module, brake pedal pressure detection module, adaptive low-speed braking function switch, and brake pressure output mechanism are all connected to the controller, which executes the computer program constructed according to the aforementioned vehicle multi-scenario adaptive low-speed braking control method.

[0014] The present invention also proposes a computer-readable storage medium storing computer instructions for causing a computer to execute a computer program constructed according to the above-described vehicle multi-scenario adaptive low-speed braking control method.

[0015] The present invention also proposes a vehicle including the aforementioned multi-scenario adaptive low-speed braking control system.

[0016] The technical effects of this invention are as follows: The multi-scenario adaptive low-speed braking control system of this invention exhibits significant optimization effects in several aspects: In terms of comfort improvement, when the vehicle brakes at low speeds, by softening the braking pressure, the rate of change of braking deceleration is precisely controlled within the human sensitivity threshold, greatly reducing the "nose-diving" phenomenon and improving driving comfort; in terms of enhanced safety, the system automatically increases braking force in slope scenarios to compensate for the influence of gravity; adaptability and flexibility are reflected in the configurable vehicle speed threshold, gain coefficient table, and braking curve, which can be differentiated according to the characteristics and needs of different models such as sedans and SUVs, adapting to various models and complex working conditions; in terms of system reliability, the dual pedal detection mechanism and function maintenance strategy ensure the stability of the control logic under complex working conditions, avoid false triggering or false exit, and ensure that the braking system operates stably and reliably in harsh environments and complex working conditions. Attached Figure Description

[0017] Figure 1 The flowchart is a method for adaptive low-speed braking control of vehicles in multiple scenarios provided in an embodiment of the present invention. Detailed Implementation

[0018] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. This is to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the inventive concept and technical solutions of the present invention, and to facilitate its implementation. It should be noted that the terms "first," "second," etc., used in this application are only for the convenience of describing the technical solutions and to distinguish components; the corresponding component configurations may be the same or different, and are not intended to limit the scope of this application. To make the technical solutions of the present invention clearer, the present invention will be explained and illustrated through the following embodiments.

[0019] This embodiment provides a vehicle multi-scenario adaptive low-speed braking control method, aiming to optimize the braking performance of the vehicle under low-speed conditions. Its core implementation process mainly includes three key stages: signal acquisition, logic judgment, and pressure regulation, corresponding to steps S1 to S3 below. The following describes the method in conjunction with... Figure 1 As shown, steps S1 to S3 of the method in this embodiment will be explained.

[0020] Step S1: Collect driving data of the target vehicle in real time; Step S2: Based on the driving data, determine whether the multi-scenario adaptive low-speed braking control function is triggered; Step S3: When the multi-scenario adaptive low-speed braking control function is triggered, the braking pressure under low-speed conditions is adjusted and controlled as follows: the basic braking pressure and the gain coefficient under different slope scenarios are obtained based on the driving data, and the basic braking pressure is adjusted through the gain coefficient to obtain the target braking pressure. Finally, the target vehicle is controlled to perform braking operation according to the target braking pressure. Among them, the gain coefficient is obtained by querying the preset slope-braking pressure gain coefficient table based on the slope signal. The slope-braking pressure gain coefficient table is constructed to establish a unique correspondence between the slope signal and the braking pressure gain coefficient. Based on the vehicle dynamics model and real vehicle test data, the corresponding gain coefficient is calibrated for different slope signals.

[0021] Specifically, in step S1, the target vehicle's driving data includes brake pedal travel signal, gradient signal, vehicle speed signal, brake pedal pressure signal, adaptive low-speed braking function availability signal, and adaptive low-speed braking function on / off signal. In practice, a distributed sensor network can be constructed to collect these signals in real time, building the basic data chain for function triggering and control. Among these: Brake pedal travel signal: The brake pedal travel is detected in real time by a pedal displacement sensor installed behind the brake pedal, which is used to determine the action of the brake pedal.

[0022] Brake pedal pressure signal: The pressure in the brake line is detected in real time by a pressure sensor installed behind the brake pedal, which can be used to determine the action of the brake pedal.

[0023] Vehicle speed signal: Real-time vehicle speed is obtained through wheel speed sensors (wheel speed pulse signal) or on-board bus (vehicle speed signal) to determine whether the low speed threshold condition is met.

[0024] Slope signal: Road data is collected in real time by vehicle attitude sensors or inertial measurement units (IMUs), and the slope signal is obtained after processing, which in turn provides a basis for slope gain compensation.

[0025] System status signals include adaptive low-speed braking function availability signals (system is fault-free, i.e. no fault reports from any system component) and function switch signals (driver actively activates the function).

[0026] In this embodiment, the original signals collected above can be processed by existing mean filtering and outlier removal algorithms before being used for subsequent logical judgments to remove high-frequency noise and abnormal sensor data, thereby forming a stable input signal stream and ensuring the accuracy of subsequent logical judgments.

[0027] In this embodiment, step S2, based on the signal acquisition results, executes a four-fold conditional coupling triggering logic to verify the triggering conditions of the multi-scenario adaptive low-speed braking function step by step. Specifically, in step S2 of this embodiment, the multi-scenario adaptive low-speed braking function will only be triggered when all of the following conditions are met simultaneously: Condition 1: The brake pedal is detected to be depressed; Condition 2: The current vehicle speed is detected to be lower than the preset speed threshold (e.g., 15km / h). This threshold can be flexibly adjusted according to the vehicle type (sedan / SUV) and driving scenario (traffic jam following / narrow road parking), that is, to detect whether the vehicle is in a low-speed condition. Condition 3: The adaptive low-speed braking function is detected to be fault-free and the system status is normal, that is, the adaptive low-speed braking function is available. Condition 4: The adaptive low-speed braking function is detected to be in the activated state, that is, the corresponding function switch is turned on.

[0028] If all of the above conditions are not met, the multi-scenario adaptive low-speed braking function will not be triggered. In this case, the target vehicle will perform braking operation according to the preset basic braking pressure, taking into account both compatibility and safety.

[0029] For condition 1, a dual-redundancy detection mechanism is used first to determine whether the driver intends to apply the brakes. Specifically, in this embodiment, the method for determining whether the brake pedal has been pressed in condition 1 includes: Method 1: Based on the brake pedal travel signal, determine whether the brake pedal travel exceeds the preset brake pedal travel threshold. If it exceeds, it is determined that the brake pedal is depressed; otherwise, it is determined that the brake pedal is not depressed. Method 2: Compare the brake pressure measured by the brake pedal pressure signal with the set initial pressure threshold of the corresponding static friction. When the brake pressure exceeds the initial pressure threshold of the static friction, it is determined that the brake pedal is depressed; otherwise, it is determined that the brake pedal is not depressed. If either method 1 or method 2 determines that the brake pedal is depressed, then condition 1 determines that the brake pedal is depressed. That is, the two methods use an "OR" logic to determine whether the brake pedal is depressed, improving signal reliability. For example, the brake pedal travel threshold is set to 2mm, and the initial static friction pressure threshold is set to 1.5bar. In specific implementations, these can be flexibly set according to actual conditions.

[0030] In practical implementation, this invention identifies brake pedal action through two methods: a brake pedal displacement sensor (direct detection method) and a brake pressure sensor (indirect detection method). The two sensors operate independently, and the collected data are cross-verified. Even if one sensor malfunctions or displays abnormal data, the data from the other sensor can still ensure the system accurately determines pedal action. For example, if the displacement sensor displays abnormal data due to a mechanical fault, but the brake pressure sensor functions normally, the system can still accurately determine pedal action based on the pressure data. This greatly improves the reliability of pedal action signal detection and ensures accurate response under various complex operating conditions, such as sensor malfunctions or adverse weather conditions affecting sensor performance, thus guaranteeing stable operation of the braking system.

[0031] Next, in step S3, when the multi-scenario adaptive low-speed braking control function is triggered, the basic braking pressure and the gain coefficient under different slope scenarios are obtained based on driving data. The basic braking pressure is then adjusted using the gain coefficient to obtain the target braking pressure. Finally, the target vehicle is controlled to perform braking operations according to the target braking pressure. In specific implementation, the system first queries the basic braking pressure based on the brake pedal travel, then calculates the target braking pressure by combining it with the gain coefficient corresponding to the real-time slope, and executes the "basic pressure calculation and slope dynamic gain compensation" strategy to achieve dual coupling control of "driver intention and environmental conditions," thereby achieving fine-tuning of braking pressure.

[0032] Specifically, the base braking pressure is obtained by querying the preset brake pedal travel-brake pressure curve based on the brake pedal travel signal. The brake pedal travel-brake pressure curve is a coordinate system established with the target vehicle's brake pedal travel as the horizontal axis and the target vehicle's target braking force as the vertical axis. The corresponding relationship is plotted in the coordinate system to obtain the brake pedal travel-brake pressure curve.

[0033] Meanwhile, to overcome the influence of gravity on vehicle braking under slope conditions, a slope-brake pressure gain coefficient mapping table is constructed for dynamic slope gain compensation. This table is built by establishing a unique correspondence between slope signals and brake pressure gain coefficients. Based on the vehicle dynamics model and actual vehicle test data, the corresponding gain coefficients for different slope signals are calibrated and stored in the slope-brake pressure gain coefficient table. This achieves bidirectional adaptive adjustment of brake pressure. In step S3, the gain coefficient can be obtained by querying the preset slope-brake pressure gain coefficient table based on the slope signal.

[0034] For example, the following table shows the slope-braking pressure gain coefficients obtained by calibrating the gain coefficients for different slope signals based on vehicle dynamics models and real vehicle test data: Flat ground / slight slope (within ±3%): gain coefficient ≤1 (e.g. 0.8~1), by softening the braking pressure output (e.g., braking pressure gain 0.8), suppressing the "nose-diving" impact during low-speed braking, thus improving comfort; Uphill (>+3%): Gain coefficient >1 (e.g., 1.2 for +5% slope), by increasing braking pressure to compensate for the component of gravity downward along the slope, preventing slippage; Downhill (< -3%): Based on the actual vehicle's performance under corresponding slope conditions, the actual vehicle calibrates the gain coefficient (e.g., 1.1 for a slope of -5%) to balance braking force and downhill acceleration, helping the driver to better control vehicle speed and avoid brake lock-up or speed loss.

[0035] In addition, to improve the robustness of the control system, this invention also sets up a trigger maintenance mechanism for the multi-scenario adaptive low-speed braking function. That is, during vehicle braking, after the multi-scenario adaptive low-speed braking function is triggered, if it is determined from the driving data that the multi-scenario adaptive low-speed braking control function needs to be released (if one or more of conditions 2 to 4 are not met according to the driving data detection), then in the initial state, the multi-scenario adaptive low-speed braking function remains in the triggered state, and the gain coefficient remains at the instantaneous value of the moment the brake pedal is pressed, until the brake pedal travel decreases to the preset brake pedal travel threshold, at which point the multi-scenario adaptive low-speed braking function is released.

[0036] For example, after the vehicle triggers the multi-scenario adaptive low-speed braking function, the gradient changes from 10% to 5%. However, due to the function maintenance mechanism, the system does not immediately switch to conventional braking. Instead, it maintains the original gain coefficient and continues to operate according to the multi-scenario adaptive low-speed braking control logic until the brake pedal travel decreases to a preset brake pedal travel threshold, at which point the multi-scenario adaptive low-speed braking function is released. This effectively avoids frequent control switching caused by frequent fluctuations in operating conditions, prevents braking performance from being affected by control instability, ensures the smoothness and reliability of the braking process, and improves system robustness.

[0037] Meanwhile, this invention also proposes a vehicle multi-scenario adaptive low-speed braking control system. Using the aforementioned vehicle multi-scenario adaptive low-speed braking control method, the system includes a brake pedal travel detection module, a road slope detection module, a vehicle speed detection module, a brake pedal pressure detection module, an adaptive low-speed braking function switch, a controller, and a brake pressure output mechanism. The brake pedal travel detection module, road slope detection module, vehicle speed detection module, brake pedal pressure detection module, adaptive low-speed braking function switch, and brake pressure output mechanism are all connected to the controller, which executes the computer program constructed according to the aforementioned vehicle multi-scenario adaptive low-speed braking control method.

[0038] This embodiment also proposes a computer-readable storage medium, specifically a non-transitory computer-readable storage medium. The computer-readable storage medium stores computer instructions that cause a computer to execute a computer program constructed according to the above-described vehicle multi-scenario adaptive low-speed braking control method.

[0039] The present invention also proposes a vehicle including the aforementioned multi-scenario adaptive low-speed braking control system.

[0040] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A vehicle multi-scenario adaptive low-speed braking control method, characterized in that: The method includes the following steps; Step S1: Collect driving data of the target vehicle in real time; Step S2: Based on the driving data, determine whether the multi-scenario adaptive low-speed braking control function is triggered; Step S3: When the multi-scenario adaptive low-speed braking control function is triggered, the braking pressure under low-speed conditions is adjusted and controlled as follows: the basic braking pressure and the gain coefficient under different slope scenarios are obtained according to the driving data, and the basic braking pressure is adjusted through the gain coefficient to obtain the target braking pressure. Finally, the target vehicle is controlled to perform braking operation according to the target braking pressure. During vehicle braking, after the multi-scenario adaptive low-speed braking function is triggered, if it is determined according to the driving data that the multi-scenario adaptive low-speed braking control function needs to be released, the multi-scenario adaptive low-speed braking function will remain in the triggered state in the initial state, and the gain coefficient will remain at the instantaneous value at the moment the brake pedal is pressed, until the brake pedal travel is reduced to the preset brake pedal travel threshold, at which point the multi-scenario adaptive low-speed braking function will be released. In step S2, the multi-scenario adaptive low-speed braking function will only be triggered if all of the following conditions are met simultaneously: Condition 1: The brake pedal is detected to be depressed; Condition 2: The current vehicle speed is detected to be lower than the preset speed threshold; Condition 3: The adaptive low-speed braking function is detected to be fault-free and the system status is normal, that is, the adaptive low-speed braking function is available. Condition 4: The adaptive low-speed braking function is detected to be activated; If all of the above conditions are not met, the multi-scenario adaptive low-speed braking function will not be triggered. In this case, the target vehicle will perform braking operation according to the preset basic braking pressure. The method for determining whether the brake pedal has been depressed under condition 1 includes: Method 1: Based on the brake pedal travel signal, determine whether the brake pedal travel exceeds the preset brake pedal travel threshold. If it exceeds, it is determined that the brake pedal is depressed; otherwise, it is determined that the brake pedal is not depressed. Method 2: Compare the brake pressure measured by the brake pedal pressure signal with the set initial pressure threshold of the corresponding static friction force. When the brake pressure exceeds the initial pressure threshold of the static friction force, it is determined that the brake pedal is depressed; otherwise, it is determined that the brake pedal is not depressed. If either method 1 or method 2 determines that the brake pedal is depressed, then condition 1 determines that the brake pedal is depressed.

2. The vehicle multi-scenario adaptive low-speed braking control method according to claim 1, characterized in that: The gain coefficient is obtained by querying a preset slope-brake pressure gain coefficient table based on the slope signal; the slope-brake pressure gain coefficient table is constructed by the unique correspondence between the slope signal and the brake pressure gain coefficient, wherein the gain coefficient corresponding to different slope signals is calibrated based on the vehicle dynamics model and real vehicle test data.

3. The vehicle multi-scenario adaptive low-speed braking control method according to claim 1, characterized in that: The target vehicle's driving data includes brake pedal travel signal, slope signal, vehicle speed signal, brake pedal pressure signal, adaptive low-speed braking function availability signal, and adaptive low-speed braking function on / off signal.

4. A vehicle multi-scenario adaptive low-speed braking control method according to claim 1 or 3, characterized in that: The basic braking pressure is obtained by querying a preset brake pedal travel-braking pressure curve based on the brake pedal travel signal. The brake pedal travel-braking pressure curve is obtained by establishing a coordinate system with the brake pedal travel of the target vehicle as the horizontal axis and the target braking force of the target vehicle as the vertical axis, and drawing the corresponding relationship in the coordinate system.

5. A vehicle multi-scenario adaptive low-speed braking control system, using the vehicle multi-scenario adaptive low-speed braking control method according to any one of claims 1-4, characterized in that: The system includes a brake pedal travel detection module, a road slope detection module, a vehicle speed detection module, a brake pedal pressure detection module, an adaptive low-speed braking function switch, a controller, and a brake pressure output mechanism; wherein the brake pedal travel detection module, the road slope detection module, the vehicle speed detection module, the brake pedal pressure detection module, the adaptive low-speed braking function switch, and the brake pressure output mechanism are all connected to the controller, and the controller is used to execute the computer program constructed according to any one of claims 1-4 of the vehicle multi-scenario adaptive low-speed braking control method.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions for causing the computer to execute a computer program constructed according to any one of claims 1-4 for a vehicle multi-scenario adaptive low-speed braking control method.

7. A vehicle, characterized in that, This includes a vehicle multi-scenario adaptive low-speed braking control system as described in claim 5.

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