Brake control method for vehicle transverse movement and related equipment

Abstract

The invention discloses a braking control method for vehicle transverse movement and related equipment, and the method comprises the steps: responding to a received braking instruction for a target vehicle, and determining the driving state of the target vehicle; in response to the fact that the running state of the target vehicle is the transverse moving state, the first brake cylinder pressure of front wheels of the target vehicle is adjusted to be smaller than the second brake cylinder pressure of rear wheels of the target vehicle, so that the front wheel braking force of the target vehicle is equal to the rear wheel braking force of the target vehicle.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, specifically relating to a braking control method for vehicle lateral movement, a braking control device for vehicle lateral movement, an electronic device, and a computer-readable storage medium. Background Technology

[0002] With the development of automotive chassis technology, the lateral movement function of corner modular vehicles can improve traffic flexibility. However, the braking force distribution coefficient of conventional vehicles is mostly set based on straight driving conditions. The front wheel brakes are usually larger than the rear wheel brakes to adapt to the forward center of gravity shift during braking. When corner modular vehicles move laterally, the center of gravity will shift in the lateral direction. If the original braking configuration is still used, it will lead to an imbalance of braking force between the front and rear wheels, thereby causing the vehicle to deviate during braking. The relevant technologies cannot take into account the braking safety of both straight and lateral movement conditions. Therefore, there is an urgent need for a braking control scheme for vehicle lateral movement to solve the above problems. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a braking control method for vehicle lateral movement, which can solve the problems of imbalance of braking force between the front and rear wheels and vehicle body deviation caused by using the same braking configuration for straight-line driving when braking in a corner module vehicle during lateral movement. It does not require modification of the vehicle's existing braking hardware, can take into account the braking safety requirements of both straight-line and lateral movement conditions, and significantly improves the braking stability and reliability of the vehicle in multi-mode driving.

[0004] To achieve the above objectives, a first aspect of the present invention provides a braking control method for vehicle lateral movement, comprising: in response to receiving a braking command for a target vehicle, determining the driving state of the target vehicle; and in response to the target vehicle's driving state being a lateral movement state, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle.

[0005] In some embodiments, the method further includes: detecting a brake pedal of a target vehicle; generating a braking command in response to a braking operation on the brake pedal; wherein the braking operation includes depressing the brake pedal to a preset travel position.

[0006] In some embodiments, the target vehicle is further provided with a braking control; the method further includes: detecting the braking control of the target vehicle; generating a braking command in response to a touch operation on the braking control; wherein the touch operation includes clicking the braking control, clicking the braking control a preset number of times, pressing the braking control, or pressing the braking control a preset number of times.

[0007] In some embodiments, after the target vehicle is in a lateral movement state, the method further includes: acquiring the lateral movement speed of the target vehicle and determining whether the speed is less than a preset speed; and in response to the speed being less than the preset speed, determining to perform an action to adjust the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle.

[0008] In some embodiments, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle, includes: determining the front wheel braking force based on the pressure of the first brake wheel cylinder of the front wheel of the target vehicle, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel; and determining the rear wheel braking force based on the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel; wherein the pressure of the first brake wheel cylinder is less than the pressure of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

[0009] In some embodiments, the method further includes: in response to the target vehicle being in a straight-line driving state, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be equal to the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is greater than the braking force of the rear wheel of the target vehicle.

[0010] In some embodiments, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be equal to the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is greater than the braking force of the rear wheel of the target vehicle, includes: determining the front wheel braking force based on the pressure of the first brake wheel cylinder of the front wheel of the target vehicle, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel; and determining the rear wheel braking force based on the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel; wherein, the pressure of the first brake wheel cylinder is equal to the pressure of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

[0011] The vehicle lateral braking control method according to an embodiment of the present invention includes: in response to receiving a braking command for a target vehicle, determining the driving state of the target vehicle; and in response to the target vehicle's driving state being a lateral movement state, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle. Therefore, this application can solve the problem of imbalance of braking force between the front and rear wheels and vehicle body deviation caused by using the same braking configuration for straight-line driving when braking in a corner module vehicle during lateral movement, without modifying the vehicle's existing braking hardware, and can take into account the braking safety requirements of both straight-line and lateral movement conditions, significantly improving the braking stability and reliability of the vehicle in multiple driving modes.

[0012] To achieve the above objectives, a second aspect of the present invention provides a braking control device for vehicle lateral movement, comprising: a receiving module configured to determine the driving state of the target vehicle in response to receiving a braking command for the target vehicle; and a responding module configured to adjust the pressure of a first brake wheel cylinder of the front wheel of the target vehicle to be greater than the pressure of a second brake wheel cylinder of the rear wheel of the target vehicle in response to the driving state of the target vehicle being lateral movement, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle.

[0013] A vehicle lateral braking control device according to an embodiment of the present invention includes: a receiving module configured to determine the driving state of the target vehicle in response to receiving a braking command for the target vehicle; and a responding module configured to adjust the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be greater than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle in response to the target vehicle's driving state being lateral, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle. Therefore, this application can solve the problem of imbalance of braking force between the front and rear wheels and vehicle body deviation caused by using the same braking configuration for straight-line driving when braking laterally in a corner module vehicle, without modifying the vehicle's existing braking hardware, and can take into account the braking safety requirements of both straight-line and lateral driving conditions, significantly improving the braking stability and reliability of the vehicle in multiple driving modes.

[0014] To achieve the above objectives, a third aspect of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the vehicle lateral movement braking control method as described above.

[0015] According to the electronic device of the present invention, by executing the above-described braking control method for vehicle lateral movement, the problem of imbalance of braking force between the front and rear wheels and vehicle body deviation caused by using the same braking configuration for straight-line driving when braking laterally in a corner module vehicle can be solved without modifying the vehicle's existing braking hardware. It can take into account the braking safety requirements of both straight-line and lateral driving conditions, and significantly improve the braking stability and reliability of the vehicle in multi-mode driving.

[0016] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle lateral movement braking control method as described above.

[0017] According to the computer-readable storage medium of the present invention, by executing the above-described vehicle lateral braking control method, the problem of imbalance of braking force between the front and rear wheels and vehicle body deviation caused by using the same straight-line driving braking configuration when the corner module vehicle is lateral braking can be solved. There is no need to modify the vehicle's existing braking hardware, and the braking safety requirements of both straight-line and lateral driving conditions can be taken into account, which significantly improves the braking stability and reliability of the vehicle in multi-mode driving.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating a braking control method for vehicle lateral movement according to an embodiment of this application. Figure 2 This is a schematic diagram of the overall scheme flow of a braking control method for vehicle lateral movement in an embodiment of this application; Figure 3 This is a schematic diagram of a vehicle lateral movement braking control device in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0020] Reference numerals: vehicle lateral movement braking control device 300, receiving module 301, response module 302, processor 410, memory 420, input / output interface 430, communication interface 440, bus 450. Detailed Implementation

[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0022] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0023] As described in the background section, with the rapid development of automotive chassis technology, the lateral movement function of corner module vehicles has greatly improved the vehicle's maneuverability in narrow road conditions. However, in actual use, traditional braking schemes are designed based on straight-line driving conditions, and the front wheel brakes are generally larger than the rear wheel brakes to adapt to forward center of gravity transfer. When the vehicle brakes laterally, the center of gravity will shift in the lateral direction. If the original configuration is used, it will lead to an imbalance of braking force between the front and rear wheels, causing the vehicle body to deviate. At the same time, the relevant technologies are difficult to take into account the braking safety of both straight-line and lateral movement conditions, which can easily create hidden braking safety hazards.

[0024] To address the shortcomings of existing braking solutions, the vehicle lateral braking control method of this invention dynamically adjusts the pressure of the front and rear wheel brake cylinders by identifying the vehicle's driving state. This achieves balanced braking force between the front and rear wheels during lateral movement, effectively solving the problem of vehicle body deviation during lateral braking. It avoids the increased costs and adaptation risks associated with hardware modifications, while also balancing detection efficiency and braking reliability.

[0025] The following is for reference. Figure 1 This application describes a braking control method for vehicle lateral movement provided by an embodiment.

[0026] refer to Figure 1 This is a flowchart illustrating a braking control method for vehicle lateral movement in an embodiment of this application.

[0027] like Figure 1 As shown, the vehicle lateral movement braking control method of this embodiment of the invention may include the following steps: Step S101: In response to receiving a braking command for the target vehicle, determine the driving state of the target vehicle.

[0028] Specifically, when the system receives a braking command for the target vehicle, it first determines the vehicle's driving status. The driving status may include straight driving, turning, lateral movement (such as skidding or emergency lane change), etc.

[0029] In step S102, in response to the target vehicle's lateral movement state, the pressure of the first brake cylinder of the front wheel of the target vehicle is adjusted to be less than the pressure of the second brake cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle.

[0030] Specifically, if the vehicle is detected to be in a lateral movement state, the braking cylinder pressure of the front and rear wheels is actively adjusted so that the braking cylinder pressure of the front wheel is less than that of the rear wheel, thereby ensuring that the braking force of the front wheel is equal to that of the rear wheel.

[0031] During lateral movement, the vehicle experiences load transfer due to centrifugal force, resulting in changes in the vertical load on the front and rear wheels and altering the tire's grip on the ground. Maintaining normal braking pressure distribution may lead to uneven braking force, exacerbating vehicle instability and potentially causing oversteer or understeer. Adjusting the pressure to equalize the braking force on the front and rear wheels helps balance the slip ratio of the front and rear wheels, improving braking stability and handling, and reducing the risk of sideslip.

[0032] As an optional embodiment, the method further includes: detecting the brake pedal of the target vehicle; generating a braking command in response to a braking operation on the brake pedal; wherein the braking operation includes depressing the brake pedal to a preset travel position.

[0033] Specifically, the system continuously monitors the brake pedal condition of the target vehicle. When the driver presses the brake pedal to a preset travel position (the pressing depth exceeds 30% of the total pedal travel or a calibrated threshold, and the pressing duration exceeds the preset threshold of 3 seconds), the system will immediately generate a corresponding braking command.

[0034] It should be noted that the "preset travel position" is a key threshold. It avoids the accidental triggering of complex stability control logic due to slight, unintentional pedal touches by the driver (such as on bumpy roads), ensuring that the system intervenes only when the driver has a clear intention to brake, thus improving the accuracy and necessity of control.

[0035] As an optional embodiment, the target vehicle is also provided with a braking control; the method further includes: detecting the braking control of the target vehicle; generating a braking command in response to a touch operation on the braking control; wherein the touch operation includes clicking the braking control, clicking the braking control a preset number of times, pressing the braking control, or pressing the braking control a preset number of times.

[0036] If the target vehicle is equipped with a touch-sensitive brake control, the system can simultaneously detect the operation status of the control. When the user clicks the touch component of the brake control, clicks the touch component twice in a row, presses and holds for more than 1 second, or presses the brake button three times in total, the braking command can be effectively triggered.

[0037] It's important to note that in highly automated driving or driverless vehicles in specific scenarios, there may be no traditional driver or the physical pedal may have been eliminated. In this case, braking controls (such as buttons on the steering wheel, virtual buttons on the central control screen, or remote command interfaces) become crucial components for the vehicle control system to directly trigger braking. In traditional vehicles, braking controls can serve as redundant or backup inputs. For example, if the brake pedal sensor malfunctions, the driver can still trigger the system via an emergency brake button. This enhances the overall functional safety level of the vehicle.

[0038] Furthermore, by defining "a preset number of clicks" or "a preset press duration," a higher trigger threshold than a simple single click can be set. This effectively prevents accidental braking caused by unintended touches, improving the safety and accuracy of control. For example, it can be set to trigger emergency braking only upon "rapid double-click" or "press and hold for 2 seconds."

[0039] Once a braking command generated in any of the above methods is received, the system will determine whether the target vehicle is currently in a straight-line or lateral movement state based on data such as wheel speed, steering angle, and vehicle posture collected by onboard sensors, combined with the pre-stored working condition recognition logic in the vehicle control system.

[0040] As an optional embodiment, in response to the target vehicle being in a lateral movement state, the method further includes: acquiring the lateral movement speed of the target vehicle and determining whether the speed is less than a preset speed; in response to the speed being less than the preset speed, determining to perform an action to adjust the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle.

[0041] Specifically, the front wheels are the wheels closest to the front of the target vehicle, and the rear wheels are the wheels closest to the rear of the target vehicle. The system first obtains the current lateral speed of the vehicle through the on-board wheel speed sensor and compares it with a preset speed threshold. Only when the lateral speed of the vehicle is detected to be less than the preset value will the system adjust the brake cylinder pressure of the front and rear wheels through the brake control module, so that the pressure of the first brake cylinder of the front wheel is less than the pressure of the second brake cylinder of the rear wheel, so as to achieve a balance of braking force between the front and rear wheels during lateral braking and avoid the vehicle body from deviating due to the imbalance of braking force.

[0042] When lateral movement occurs at low speeds (such as maneuvering or slow turns in urban areas), the vehicle dynamics are relatively mild. Adjusting the front and rear braking force distribution to directly correct the vehicle's posture is usually safe and effective. However, at high speeds (such as emergency lane changes on highways), severe lateral movement (such as skidding) occurs. The vehicle's kinetic energy is high, and its dynamics are extremely complex and unstable. In such cases, simply adopting a fixed strategy of "front wheel pressure less than rear wheel pressure" may lead to improper intervention or even exacerbate the risk of loss of control. High-speed stability should be handled by a more advanced and comprehensive Electronic Stability Program (ESP), which comprehensively controls engine output and the braking force of each wheel. The conditional judgment in this application's embodiment acts as a safety valve, preventing a relatively simple control logic from intervening in potentially complex vehicle dynamics under extreme high-speed, high-dynamic conditions, ensuring that the system only operates within its designed "comfort zone."

[0043] As an optional embodiment, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be greater than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle, includes: determining the front wheel braking force based on the pressure of the first brake wheel cylinder, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel; determining the rear wheel braking force based on the pressure of the second brake wheel cylinder, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel of the target vehicle; wherein, the pressure of the first brake wheel cylinder is less than the pressure of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

[0044] Specifically, the system first retrieves the pre-stored core braking hardware parameters of the target vehicle, and then calculates the front wheel braking force and rear wheel braking force separately. The relationship between the front wheel braking force and the core parameters is expressed as follows:

[0045] Where F1 is the front wheel braking force, P1 is the pressure of the first brake wheel cylinder of the front wheel, A1 is the area of ​​the first brake wheel cylinder, u1 is the friction coefficient of the front wheel friction pad, and R1 is the front wheel radius.

[0046] Similarly, the relationship between rear wheel braking force and core parameters is expressed as follows:

[0047] Where F2 is the rear wheel braking force, P2 is the pressure of the second brake cylinder of the rear wheel, A2 is the area of ​​the second brake cylinder, u2 is the friction coefficient of the rear wheel friction pad, and R2 is the rear wheel radius.

[0048] The front wheel braking force F1 is determined based on the pressure P1 of the first brake wheel cylinder, the area A1 of the first brake wheel cylinder, the friction coefficient of the front wheel friction pads, and the front wheel radius u1. The rear wheel braking force F2 is determined based on the pressure P2 of the second brake wheel cylinder, the area A2 of the second brake wheel cylinder, the friction coefficient of the rear wheel friction pads, and the rear wheel radius u2. Specifically, the pressure P1 of the first brake wheel cylinder must be less than the pressure P2 of the second brake wheel cylinder, and the product of the area A1 of the first brake wheel cylinder, the friction coefficient u1 of the front wheel friction pads, and the front wheel radius R1 is greater than the product of the area A2 of the second brake wheel cylinder, the friction coefficient u2 of the rear wheel friction pads, and the rear wheel radius R2. These three parameters are related to the wheel braking force. The braking force output capability (i.e., the basic braking force output limit inherent in the hardware itself) is determined by the inherent parameters of the braking system hardware. Among these parameters, the larger the area of ​​the brake wheel cylinder, the stronger the friction pad thrust, the higher the friction coefficient, and the greater the friction between the friction pad and the brake disc. The larger the wheel radius, the longer the braking torque arm. The larger the product of these three parameters, the higher the upper limit of the braking force output at the hardware level. A larger product value for the front wheel indicates that the braking force F1 output capability of the front wheel is higher than that of the rear wheel braking force F2 output capability. Combined with the fact that the pressure P1 of the first brake wheel cylinder of the front wheel is less than the pressure P2 of the second brake wheel cylinder of the rear wheel, the braking force deviation caused by the difference in hardware specifications can be offset, and the braking force of the front and rear wheels can be balanced during lateral braking.

[0049] As an optional embodiment, the method further includes: in response to the target vehicle being in a straight-line driving state, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be equal to the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is greater than the braking force of the rear wheel of the target vehicle.

[0050] As an optional embodiment, adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be equal to the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is greater than the braking force of the rear wheel of the target vehicle, includes: determining the front wheel braking force based on the pressure of the first brake wheel cylinder, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel; determining the rear wheel braking force based on the pressure of the second brake wheel cylinder, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel of the target vehicle; wherein, the pressure of the first brake wheel cylinder is equal to the pressure of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

[0051] Specifically, referring to the relationship between front wheel braking force, rear wheel braking force and core parameters, they are expressed as follows:

[0052] Where F1 is the front wheel braking force, P1 is the pressure of the first brake wheel cylinder of the front wheel, A1 is the area of ​​the first brake wheel cylinder, u1 is the friction coefficient of the front wheel friction pad, and R1 is the front wheel radius.

[0053]

[0054] Where F2 is the rear wheel braking force, P2 is the pressure of the second brake cylinder of the rear wheel, A2 is the area of ​​the second brake cylinder, u2 is the friction coefficient of the rear wheel friction pad, and R2 is the rear wheel radius.

[0055] After determining that the target vehicle is traveling in a straight line, the pressure P1 of the first brake cylinder of the front wheel of the target vehicle is adjusted to be equal to the pressure P2 of the second brake cylinder of the rear wheel of the target vehicle. Due to the inherent difference in braking force output capability between the front and rear wheels (the product of the area A1 of the first brake cylinder of the front wheel, the friction coefficient u1 of the front wheel friction pad, and the radius R1 of the front wheel is greater than the product of the area A2 of the second brake cylinder of the rear wheel, the friction coefficient u2 of the rear wheel friction pad, and the radius R2 of the rear wheel), the braking force F1 output capability of the front wheel is higher than that of the rear wheel. Under the condition of applying the same brake cylinder pressure, the actual braking force that the front wheel can output will be higher than that of the rear wheel. The stronger braking force of the front wheel ensures the stability of the vehicle body posture during the braking process.

[0056] In summary, this application provides a braking control method for vehicle lateral movement, comprising: in response to receiving a braking command for a target vehicle, determining the driving state of the target vehicle; and in response to the target vehicle's driving state being lateral movement, adjusting the pressure of the first brake wheel cylinder of the target vehicle's front wheel to be less than the pressure of the second brake wheel cylinder of the target vehicle's rear wheel, so that the braking force of the target vehicle's front wheel is equal to the braking force of the target vehicle's rear wheel. Therefore, this application can solve the problem of unbalanced front and rear wheel braking forces and vehicle body deviation caused by using the same braking configuration for straight-line driving when braking laterally in corner module vehicles, without modifying the vehicle's existing braking hardware, and can take into account the braking safety requirements of both straight-line and lateral driving conditions, significantly improving the braking stability and reliability of the vehicle in multiple driving modes.

[0057] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the above method.

[0058] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0059] refer to Figure 3 A schematic diagram of a vehicle lateral movement braking control device in an embodiment of this application.

[0060] The vehicle lateral movement braking control device 300 includes: a receiving module 301 and a response module 302.

[0061] The receiving module 301 is configured to determine the driving state of the target vehicle in response to receiving a braking command for the target vehicle; the responding module 302 is configured to adjust the pressure of the first brake cylinder of the front wheel of the target vehicle to be greater than the pressure of the second brake cylinder of the rear wheel of the target vehicle in response to the target vehicle's driving state being a lateral movement state, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle.

[0062] The receiver module 301 is also configured as follows: Detect the brake pedal of the target vehicle; In response to a braking operation on the brake pedal, a braking command is generated; wherein the braking operation includes pressing the brake pedal to a preset travel position.

[0063] Optionally, the receiving module 301 is also configured to: The target vehicle is also equipped with brake controls; The method also includes: Detect the brake controls of the target vehicle; In response to a touch operation on the brake control, a braking command is generated; wherein the touch operation includes clicking the brake control, clicking the brake control a preset number of times, pressing the brake control, or pressing the brake control a preset number of times.

[0064] Response module 302 is also configured as follows: After responding to the target vehicle's lateral movement state, the method further includes: Obtain the lateral speed of the target vehicle and determine whether the speed is less than the preset speed; In response to a vehicle speed lower than a preset speed, the action of adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be lower than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle is determined.

[0065] Optionally, response module 302 is also configured as follows: Adjusting the pressure of the first brake cylinder of the front wheels of the target vehicle to be less than the pressure of the second brake cylinder of the rear wheels of the target vehicle, so that the braking force of the front wheels of the target vehicle is equal to the braking force of the rear wheels of the target vehicle, including: The front wheel braking force is determined based on the pressure of the first brake wheel cylinder, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pads, and the front wheel radius of the target vehicle. The rear wheel braking force is determined based on the pressure of the second brake wheel cylinder, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pads, and the rear wheel radius of the target vehicle. Among them, the pressure of the first brake wheel cylinder is less than that of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

[0066] The vehicle lateral braking control device provided in this application can solve the problem of imbalance of braking force between the front and rear wheels and vehicle body deviation caused by using the same braking configuration for straight driving when braking laterally in a corner module vehicle. It does not require modification of the vehicle's existing braking hardware, can take into account the braking safety requirements of both straight and lateral driving conditions, and significantly improves the braking stability and reliability of the vehicle in multi-mode driving.

[0067] refer to Figure 4 The diagram below is a block diagram of an electronic device according to some embodiments of the present invention. It illustrates a more specific hardware structure of an electronic device provided in this application embodiment. The device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. The processor 410, memory 420, input / output interface 430, and communication interface 440 are internally connected to each other via the bus 450.

[0068] The processor 410 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0069] The memory 420 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 420 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 420 and is called and executed by the processor 410.

[0070] Input / output interface 430 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0071] The communication interface 440 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0072] Bus 450 includes a pathway for transmitting information between various components of the device, such as processor 410, memory 420, input / output interface 430, and communication interface 440.

[0073] It should be noted that although the above-described device only shows the processor 410, memory 420, input / output interface 430, communication interface 440, and bus 450, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0074] The electronic devices described above are used to implement the corresponding vehicle lateral movement braking control method in any of the foregoing embodiments, and have the beneficial effects of the corresponding vehicle lateral movement braking control method embodiments, which will not be repeated here.

[0075] Based on the same concept, corresponding to the vehicle lateral movement braking control method provided in any of the above embodiments, this application also provides a computer-readable storage medium storing a program or instructions, which, when executed by a processor, implements the vehicle lateral movement braking control method as described in the first aspect.

[0076] The aforementioned computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0077] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the corresponding vehicle lateral movement braking control method in any of the foregoing embodiments, and have the beneficial effects of the corresponding vehicle lateral movement braking control method embodiments, which will not be repeated here.

[0078] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0079] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0080] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A braking control method for vehicle lateral movement, characterized in that, include: In response to receiving a braking command for the target vehicle, the driving state of the target vehicle is determined; In response to the target vehicle being in a lateral movement state, the pressure of the first brake wheel cylinder of the front wheel of the target vehicle is adjusted to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle.

2. The braking control method for vehicle lateral movement according to claim 1, characterized in that, The method further includes: Detect the brake pedal of the target vehicle; In response to a braking operation on the brake pedal, a braking command is generated; wherein the braking operation includes depressing the brake pedal to a preset travel position.

3. The braking control method for vehicle lateral movement according to claim 1, characterized in that, The target vehicle is also equipped with braking controls; The method further includes: Detect the brake control of the target vehicle; In response to a touch operation on the braking control, a braking command is generated; wherein the touch operation includes clicking the braking control, clicking the braking control a preset number of times, pressing the braking control, or pressing the braking control a preset number of times.

4. The braking control method for vehicle lateral movement according to claim 1, characterized in that, After responding to the target vehicle's lateral movement state, the method further includes: Obtain the lateral speed of the target vehicle and determine whether the speed is less than a preset speed; In response to the vehicle speed being less than the preset vehicle speed, it is determined to perform an action to adjust the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle.

5. The braking control method for vehicle lateral movement according to claim 1, characterized in that, The step of adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be less than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle, includes: The front wheel braking force is determined based on the pressure of the first brake wheel cylinder, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pads, and the front wheel radius of the target vehicle. The rear wheel braking force is determined based on the pressure of the second brake wheel cylinder, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pads, and the rear wheel radius of the target vehicle. Wherein, the pressure of the first brake wheel cylinder is less than the pressure of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

6. The braking control method for vehicle lateral movement according to claim 1, characterized in that, The method further includes: In response to the target vehicle being in a straight-line driving state, the pressure of the first brake wheel cylinder of the front wheel of the target vehicle is adjusted to be equal to the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is greater than the braking force of the rear wheel of the target vehicle.

7. The braking control method for vehicle lateral movement according to claim 6, characterized in that, Adjusting the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to equal the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle, so that the braking force of the front wheel of the target vehicle is greater than the braking force of the rear wheel of the target vehicle, includes: The front wheel braking force is determined based on the pressure of the first brake wheel cylinder, the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pads, and the front wheel radius of the target vehicle. The rear wheel braking force is determined based on the pressure of the second brake wheel cylinder, the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pads, and the rear wheel radius of the target vehicle. Wherein, the pressure of the first brake wheel cylinder is equal to the pressure of the second brake wheel cylinder, and the product of the area of ​​the first brake wheel cylinder, the friction coefficient of the front wheel friction pad, and the radius of the front wheel is greater than the product of the area of ​​the second brake wheel cylinder, the friction coefficient of the rear wheel friction pad, and the radius of the rear wheel.

8. A braking control device for vehicle lateral movement, characterized in that, include: The receiving module is configured to determine the driving state of the target vehicle in response to receiving a braking command for the target vehicle. The response module is configured to adjust the pressure of the first brake wheel cylinder of the front wheel of the target vehicle to be greater than the pressure of the second brake wheel cylinder of the rear wheel of the target vehicle in response to the target vehicle's driving state being a lateral movement state, so that the braking force of the front wheel of the target vehicle is equal to the braking force of the rear wheel of the target vehicle.

9. An electronic device, characterized in that, include: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the braking control method for vehicle lateral movement as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the braking control method for vehicle lateral movement as described in any one of claims 1 to 7.

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