Brake control method and device, electronic equipment and storage medium

Abstract

The invention provides a braking control method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle braking. The brake control method comprises the steps that when a brake signal is detected, a target brake pressure curve is generated, and the target brake pressure curve comprises brake pressure curves corresponding to a pressure building stage, a pressure maintaining stage and a pressure releasing stage respectively; and the front wheel brake pressure of the vehicle is controlled according to the target brake pressure curve. According to the method, the pedal operation rule that an experienced driver quickly treads and raises and lifts in the braking process can be converted into an objective control model which can be stably executed by an electronic control system, a basis is provided for subsequent refinement and self-adaptive control, and therefore conditions are created for improvement of braking comfort on the premise of not depending on additional hardware.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and more specifically, to a braking control method, device, electronic device, and storage medium. Background Technology

[0002] When a vehicle brakes and decelerates, due to inertia, the longitudinal load of the vehicle will be significantly transferred, and the vehicle's center of gravity will move forward, causing the front suspension to compress and the rear suspension to extend. This results in a braking dive phenomenon, where the front of the vehicle sinks and the rear rises. This phenomenon is particularly noticeable during low-to-medium speed braking, especially at the end of braking when the vehicle is about to stop. Braking dive not only reduces the vehicle's ride comfort, causing passengers to experience a noticeable pitching and swaying sensation and discomfort, and can exacerbate motion sickness in urban conditions with frequent start-stop cycles, but it also affects the vehicle's posture stability and subjective handling quality during braking.

[0003] In related technologies, braking pitch suppression can rely on costly hardware systems, such as controlling vehicle attitude through active suspension systems. However, such systems are usually complex in structure, expensive, and have high requirements for the vehicle's hardware platform. Alternatively, it can rely on the driver's personal experience. However, this method depends on the driver's experience and subjective judgment, and has strong individual differences, making it difficult for ordinary drivers to accurately master and stably reproduce. Summary of the Invention

[0004] The problem addressed by this invention is how to effectively suppress braking head-dive at a low cost.

[0005] To address the above problems, the present invention provides a braking control method, device, electronic device, and storage medium.

[0006] In a first aspect, the present invention provides a braking control method, comprising: When a braking signal is detected, a target braking pressure curve is generated, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage, and the pressure release stage, respectively. The front wheel braking pressure of the vehicle is controlled according to the target braking pressure curve.

[0007] Optionally, the generation of the target braking pressure curve includes: When the braking signal is detected and the vehicle speed is greater than or equal to a preset threshold, a first target braking pressure curve corresponding to the pressure build-up stage is generated, in which the braking pressure increases with time in the first target braking pressure curve. When the vehicle speed decreases to less than the preset threshold, a second target braking pressure curve corresponding to the pressure holding phase is generated, and the braking pressure in the second target braking pressure curve remains constant over time. When the pressure holding phase is maintained for a preset duration, a third target braking pressure curve corresponding to the pressure release phase is generated, in which the braking pressure decreases over time.

[0008] Optionally, generating the third target braking pressure curve corresponding to the pressure release phase includes: The front wheel braking pressure during the pressure holding phase is used as the initial pressure, and the initial pressure is reduced to zero according to a preset slope.

[0009] Optionally, the braking control method further includes: when the target braking pressure curve is in the pressure release phase, adjusting the preset slope according to the vehicle's pitch angular velocity.

[0010] Optionally, adjusting the preset slope based on the vehicle's pitch angular velocity includes: When the pitch rate is positive, the preset slope is increased, wherein a positive pitch rate indicates that the vehicle has a nose-diving tendency; When the pitch angular velocity is negative, the preset slope is reduced, wherein the negative pitch angular velocity indicates that the vehicle has a tendency to pitch backward.

[0011] Optionally, controlling the front wheel braking pressure of the vehicle according to the target braking pressure curve includes: When the target braking pressure curve is in the pressure building stage, the front wheel braking pressure is pressurized according to the first target braking pressure curve so that the front wheel braking pressure is gradually built up to the corresponding target pressure value. When the target braking pressure curve is in the pressure holding phase, the front wheel braking pressure is controlled to maintain the pressure value corresponding to the pressure holding phase according to the second target braking pressure curve. When the target braking pressure curve is in the pressure release stage, the front wheel braking pressure is reduced according to the third target braking pressure curve so that the front wheel braking pressure gradually decreases.

[0012] Optionally, the braking control method further includes: when the braking signal is detected, controlling the vehicle's motor to perform regenerative braking, so that the braking force generated by the vehicle's motor braking meets at least part of the braking demand.

[0013] In a second aspect, the present invention provides a braking control device, comprising: The first module is used to generate a target braking pressure curve when a braking signal is detected, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage and the pressure release stage respectively. The second module is used to control the front wheel braking pressure of the vehicle according to the target braking pressure curve.

[0014] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the braking control method as described in the first aspect when executing the computer program.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the braking control method as described in the first aspect.

[0016] The beneficial effects of the braking control method of the present invention are as follows: by abstracting the vehicle braking process into a target braking pressure curve consisting of a pressure build-up stage, a pressure holding stage, and a pressure release stage, and controlling the braking pressure of the vehicle's front wheels based on this target braking pressure curve, the pedal operation patterns of experienced drivers during braking, which involve rapid pressing and releasing, can be transformed into an objective control model that can be stably executed by the electronic control system. This provides a foundation for subsequent refined and adaptive control, thereby creating conditions for improving braking comfort without relying on additional hardware. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of the braking control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the process for generating the target braking pressure curve according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating the adjustment of the preset slope according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the process for controlling the braking pressure of the front wheels of a vehicle according to an embodiment of the present invention; Figure 5 This is a system architecture diagram of the braking control device according to an embodiment of the present invention; Figure 6 This is a system architecture diagram of an electronic device according to an embodiment of the present invention; Figure 7 This is a control logic diagram of the braking control method according to an embodiment of the present invention; Figure 8 This is a comparison chart of the joint simulation effects of embodiments of the present invention. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention 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 the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] It should be understood that the various steps described in the method embodiments of the present invention 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 the present invention is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0022] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a braking control method, comprising: S100: When a braking signal is detected, a target braking pressure curve is generated, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage, and the pressure release stage, respectively.

[0024] Specifically, when the vehicle controller detects a braking signal during vehicle operation, the vehicle controller generates a target braking pressure curve, which includes braking pressure curves corresponding to the pressure build-up phase, pressure holding phase, and pressure release phase, respectively.

[0025] Among them, combined Figure 7 As shown, the braking control method in this embodiment is executed by the vehicle controller. The vehicle controller is connected to the brake pedal sensor, wheel speed sensor, inertial measurement unit (IMU), onebox brake-by-wire hydraulic actuator (main brake actuator module integrating ESC hydraulic function) and drive motor control unit via the vehicle bus. The brake pedal sensor is used to output braking signals, which may include brake pedal travel signal, brake pedal force signal or brake master cylinder pressure signal. The wheel speed sensor is used to acquire vehicle speed information. The inertial measurement unit is used to acquire the pitch angular velocity of the vehicle body. The onebox brake-by-wire hydraulic actuator is used to control the pressure increase, pressure maintenance and pressure reduction of the front wheel braking pressure. The drive motor control unit is used to perform regenerative braking and energy recovery.

[0026] Among them, combined Figure 8 As shown, the maximum pitch angle of traditional braking is 16.45 degrees, while the maximum pitch angle of intelligent control in this embodiment is 5.84 degrees, with a pitch suppression effect of 64.5%, thus effectively suppressing braking pitch.

[0027] S200: Control the front wheel braking pressure of the vehicle according to the target braking pressure curve.

[0028] Specifically, the vehicle controller controls the front wheel braking pressure of the vehicle according to the target braking pressure curve to achieve vehicle deceleration or stopping. The braking process is divided into multiple stages for control, simulating the action of an experienced driver who "quickly applies braking force to start the vehicle decelerating, and at the moment the vehicle is about to stop, quickly and slightly releases the brake pedal to release part of the front wheel braking force." This helps to improve braking smoothness while ensuring braking efficiency.

[0029] In this embodiment, by abstracting the vehicle braking process into a target braking pressure curve consisting of a pressure build-up phase, a pressure holding phase, and a pressure release phase, and controlling the braking pressure of the vehicle's front wheels based on this target braking pressure curve, the pedal operation patterns of experienced drivers during braking, characterized by rapid pressing and releasing, can be transformed into an objective control model that can be stably executed by the electronic control system. This provides a foundation for subsequent refined and adaptive control, thereby creating conditions for improving braking comfort without relying on additional hardware.

[0030] Optionally, the generation of the target braking pressure curve includes: S110: When the braking signal is detected and the vehicle speed is greater than or equal to a preset threshold, a first target braking pressure curve corresponding to the pressure build-up stage is generated, wherein the braking pressure in the first target braking pressure curve increases with time.

[0031] Specifically, in combination Figure 2 and Figure 8 As shown, when the vehicle controller detects a braking signal and the vehicle speed is greater than or equal to a preset threshold (e.g., 15 km / h), it determines that the vehicle is in the initial braking stage and generates a first target braking pressure curve corresponding to the pressure build-up stage to guide the establishment of front wheel braking pressure.

[0032] S120: When the vehicle speed decreases to less than the preset threshold, a second target braking pressure curve corresponding to the pressure holding phase is generated, and the braking pressure in the second target braking pressure curve remains unchanged over time.

[0033] Specifically, in combination Figure 2 and Figure 8 As shown, when the vehicle speed decreases to less than a preset threshold, the vehicle controller determines that the vehicle has entered the final stage of braking and generates a second target braking pressure curve corresponding to the pressure holding stage, so that the front wheel braking pressure remains stable during this stage.

[0034] S130: When the pressure holding phase is maintained for a preset duration, a third target braking pressure curve corresponding to the pressure release phase is generated, in which the braking pressure decreases over time.

[0035] Specifically, in combination Figure 2 and Figure 8 As shown, when the pressure holding phase is maintained for a preset duration (e.g., 0.2 seconds), the vehicle controller generates a third target braking pressure curve corresponding to the pressure release phase, which is used to guide the gradual release of the front wheel braking pressure. In this way, the braking pressure curves of different phases can be dynamically switched according to the changes in vehicle speed, so as to realize the phased control of the braking process.

[0036] In this optional embodiment, the braking process is clearly divided into a pressure build-up stage, a pressure holding stage, and a pressure release stage based on the change in vehicle speed relative to a preset threshold. This allows the target braking pressure curve to dynamically match the vehicle's braking conditions, which helps to ensure braking performance in the early stages of braking and reserves control space for attitude optimization in the late stages of braking. This achieves a fine division of the braking process from the perspective of control timing and provides a reasonable control window for subsequently suppressing braking pitching.

[0037] Optionally, generating the third target braking pressure curve corresponding to the pressure release phase includes: The front wheel braking pressure during the pressure holding phase is used as the initial pressure, and the initial pressure is reduced to zero according to a preset slope.

[0038] Specifically, the vehicle controller uses the front wheel braking pressure during the pressure holding phase as the initial pressure, and gradually reduces the initial pressure according to a preset slope during the pressure release phase, so that the front wheel braking pressure decreases smoothly over time until it is reduced to zero or the preset target pressure value. This can avoid sudden changes in braking pressure and thus improve the smoothness of the vehicle at the end of braking.

[0039] In this optional embodiment, the front wheel braking pressure during the pressure holding phase is used as the initial pressure during the pressure release phase, and the braking pressure is gradually reduced according to a preset slope. This can significantly reduce the impact of sudden changes in braking force at the end of braking on the vehicle attitude, providing a basis for suppressing vehicle body roll from a mechanical perspective, and helping to improve the smoothness and ride comfort at the end of braking.

[0040] Optionally, the braking control method further includes: when the target braking pressure curve is in the pressure release phase, adjusting the preset slope according to the vehicle's pitch angular velocity.

[0041] Specifically, when the target braking pressure curve is in the pressure release phase, the vehicle controller further acquires the vehicle's pitch angular velocity and adjusts the preset slope according to the pitch angular velocity, so that the front wheel braking pressure release process can be adaptively adjusted according to the real-time attitude changes of the vehicle, thereby suppressing the tendency of the vehicle to pitch or roll backward during the braking process.

[0042] In this optional embodiment, the vehicle pitch rate is introduced as a feedback signal during the pressure release phase, and the pressure release slope is adjusted accordingly. This makes the brake pressure release process no longer dependent on fixed parameters, but can be adjusted according to the real-time attitude changes of the vehicle. This upgrades the brake control from open-loop control to closed-loop control, which can effectively cope with uncertainties such as changes in vehicle load and road conditions, and improve the stability and robustness of the brake dive suppression effect.

[0043] Optionally, adjusting the preset slope based on the vehicle's pitch angular velocity includes: S131: When the pitch angular velocity is positive, increase the preset slope, wherein the positive pitch angular velocity indicates that the vehicle has a nose-diving tendency.

[0044] Specifically, in combination Figure 3 As shown, when the vehicle's pitch rate is detected to be positive, it indicates that the vehicle still has a tendency to pitch down. The vehicle controller increases the preset slope to accelerate the release rate of the front wheel braking pressure, thereby more actively suppressing the pitching phenomenon.

[0045] S132: When the pitch angular velocity is negative, reduce the preset slope, wherein the negative pitch angular velocity indicates that the vehicle has a tendency to pitch backward.

[0046] Specifically, in combination Figure 3 As shown, when the vehicle's pitch rate is detected to be negative, it indicates that the vehicle is tilting backward. The vehicle controller reduces the preset slope to slow down the release rate of the front wheel brake pressure and avoid causing an uncomfortable feeling of being thrown backward.

[0047] In this optional embodiment, the pressure release slope is adjusted to increase or decrease according to the positive or negative change of the vehicle's pitch angular velocity, so that the braking control can adopt differentiated control strategies for different attitude trends. When the vehicle's nodding tendency is still obvious, the braking pressure release is accelerated to enhance the suppression effect. When the vehicle has a backward tendency, the braking pressure release is slowed down to avoid uncomfortable recoil. Thus, while suppressing nodding, the ride comfort is taken into account, achieving more precise and humanized braking attitude control.

[0048] Optionally, controlling the front wheel braking pressure of the vehicle according to the target braking pressure curve includes: S210: When the target braking pressure curve is in the pressure building stage, the front wheel braking pressure is boosted according to the first target braking pressure curve so that the front wheel braking pressure is gradually built up to the corresponding target pressure value.

[0049] Specifically, in combination Figure 4 As shown, when the target braking pressure curve is in the pressure building stage, the vehicle controller performs pressure boosting control on the front wheel braking pressure according to the first target braking pressure curve, so that the front wheel braking pressure gradually builds up to the corresponding target pressure value to meet the driver's braking needs.

[0050] S220: When the target braking pressure curve is in the pressure holding phase, the front wheel braking pressure is controlled to maintain the pressure value corresponding to the pressure holding phase according to the second target braking pressure curve.

[0051] Specifically, in combination Figure 4 As shown, when the target braking pressure curve is in the pressure holding phase, the vehicle controller performs pressure holding control on the front wheel braking pressure according to the second target braking pressure curve, so that the front wheel braking pressure is maintained at the pressure value corresponding to the pressure holding phase.

[0052] S230: When the target braking pressure curve is in the pressure release stage, the front wheel braking pressure is reduced according to the third target braking pressure curve so that the front wheel braking pressure gradually decreases.

[0053] Specifically, in combination Figure 4As shown, when the target braking pressure curve is in the pressure release phase, the vehicle controller performs pressure reduction control on the front wheel braking pressure according to the third target braking pressure curve, so that the front wheel braking pressure gradually decreases (for example, the front wheel braking pressure decreases to zero in 0.3 seconds).

[0054] In this optional embodiment, pressure boosting, pressure holding, and pressure reduction controls are executed at different braking stages, so that the execution process of the front wheel braking pressure strictly corresponds to the target braking pressure curve. This fully leverages the advantages of the Onebox brake-by-wire system in precisely adjusting braking pressure, improves the response consistency and repeatability of braking pressure control, and makes the braking control effect no longer dependent on the driver's skill level, thereby achieving a braking experience that surpasses the stability of manual operation.

[0055] Optionally, the braking control method further includes: when the braking signal is detected, controlling the vehicle's motor to perform regenerative braking, so that the braking force generated by the vehicle's motor braking meets at least part of the braking demand.

[0056] Specifically, upon detecting a braking signal, the vehicle controller prioritizes controlling the vehicle's drive motor to perform regenerative braking. The braking force generated by the motor's regenerative braking is used to meet at least part of the braking demand, and the vehicle's kinetic energy is converted into electrical energy for storage. When the braking force generated by the motor's regenerative braking is insufficient to meet the current braking demand, the vehicle controller controls the hydraulic braking pressure of the vehicle's front wheels according to the target braking pressure curve to compensate for the insufficient motor braking. This ensures that the vehicle's total braking force is consistent with the driver's braking demand, thereby improving the vehicle's energy recovery efficiency while ensuring braking safety and continuous brake pedal feel.

[0057] In this optional embodiment, when a braking signal is detected, the vehicle motor is preferentially controlled to perform regenerative braking, so that the motor braking undertakes at least part of the braking demand and converts the vehicle's kinetic energy into electrical energy for recovery. On this basis, the insufficient part of the motor braking is compensated by hydraulic braking, so that the total braking force is always consistent with the driver's braking demand. Thus, while ensuring braking safety and continuous pedal feel, efficient coordination between regenerative braking and hydraulic braking is achieved, further improving the energy utilization efficiency and system integration of the whole vehicle.

[0058] like Figure 5 As shown, an embodiment of the present invention provides a braking control device 500, comprising: The first module 510 is used to generate a target braking pressure curve when a braking signal is detected, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage and the pressure release stage respectively. The second module 520 is used to control the front wheel braking pressure of the vehicle according to the target braking pressure curve.

[0059] like Figure 6 As shown, an electronic device 600 provided in this embodiment of the invention includes a memory 620 and a processor 610; the memory 620 is used to store a computer program; the processor 610 is used to implement the braking control method as described above when the computer program is executed.

[0060] Alternatively, an electronic device 600 includes a memory 620 and a processor 610 coupled to the memory 620; the memory 620 is configured to store a computer program; and the processor 610 is configured to perform the following operations when the computer program is executed: When a braking signal is detected, a target braking pressure curve is generated, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage, and the pressure release stage, respectively. The front wheel braking pressure of the vehicle is controlled according to the target braking pressure curve.

[0061] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the braking control method described above.

[0062] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: When a braking signal is detected, a target braking pressure curve is generated, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage, and the pressure release stage, respectively. The front wheel braking pressure of the vehicle is controlled according to the target braking pressure curve.

[0063] Electronic device 600, which can serve as a server or client of the present invention, is described below as an example of a hardware device applicable to various aspects of the present invention. Electronic device 600 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 600 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0064] Electronic device 600 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0065] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0066] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A braking control method, characterized in that, include: When a braking signal is detected, a target braking pressure curve is generated, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage, and the pressure release stage, respectively. The front wheel braking pressure of the vehicle is controlled according to the target braking pressure curve.

2. The braking control method according to claim 1, characterized in that, The generated target braking pressure curve includes: When the braking signal is detected and the vehicle speed is greater than or equal to a preset threshold, a first target braking pressure curve corresponding to the pressure build-up stage is generated, in which the braking pressure increases with time in the first target braking pressure curve. When the vehicle speed decreases to less than the preset threshold, a second target braking pressure curve corresponding to the pressure holding phase is generated, and the braking pressure in the second target braking pressure curve remains constant over time. When the pressure holding phase is maintained for a preset duration, a third target braking pressure curve corresponding to the pressure release phase is generated, in which the braking pressure decreases over time.

3. The braking control method according to claim 2, characterized in that, The generation of the third target braking pressure curve corresponding to the pressure release phase includes: The front wheel braking pressure during the pressure holding phase is used as the initial pressure, and the initial pressure is reduced to zero according to a preset slope.

4. The braking control method according to claim 3, characterized in that, Also includes: When the target braking pressure curve is in the pressure release phase, the preset slope is adjusted according to the vehicle's pitch angular velocity.

5. The braking control method according to claim 3, characterized in that, The step of adjusting the preset slope based on the vehicle's pitch angular velocity includes: When the pitch rate is positive, the preset slope is increased, wherein a positive pitch rate indicates that the vehicle has a nose-diving tendency; When the pitch angular velocity is negative, the preset slope is reduced, wherein the negative pitch angular velocity indicates that the vehicle has a tendency to pitch backward.

6. The braking control method according to claim 2, characterized in that, The step of controlling the front wheel braking pressure of the vehicle according to the target braking pressure curve includes: When the target braking pressure curve is in the pressure building stage, the front wheel braking pressure is pressurized according to the first target braking pressure curve so that the front wheel braking pressure is gradually built up to the corresponding target pressure value. When the target braking pressure curve is in the pressure holding phase, the front wheel braking pressure is controlled to maintain the pressure value corresponding to the pressure holding phase according to the second target braking pressure curve. When the target braking pressure curve is in the pressure release stage, the front wheel braking pressure is reduced according to the third target braking pressure curve so that the front wheel braking pressure gradually decreases.

7. The braking control method according to claim 1, characterized in that, Also includes: When the braking signal is detected, the vehicle's motor is controlled to perform regenerative braking so that the braking force generated by the vehicle's motor braking meets at least part of the braking requirements.

8. A braking control device, characterized in that, include: The first module is used to generate a target braking pressure curve when a braking signal is detected, wherein the target braking pressure curve includes braking pressure curves corresponding to the pressure build-up stage, the pressure holding stage and the pressure release stage respectively. The second module is used to control the front wheel braking pressure of the vehicle according to the target braking pressure curve.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the braking control method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the braking control method as described in any one of claims 1 to 7.

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