Adaptive brake control method and apparatus, and medium and electronic device

Abstract

The present application relates to the technical field of vehicle braking. Disclosed are an adaptive brake control method and apparatus, and a medium and an electronic device. The method comprises: if a main brake system of a vehicle fails, acquiring a road surface adhesion coefficient of a road surface on which the vehicle travels; on the basis of the road surface adhesion coefficient, adaptively adjusting a target dynamic-static transition vehicle speed threshold of an electronic parking system of the vehicle; if a parking request instruction sent by the vehicle is received, acquiring a traveling speed of the vehicle; and on the basis of the traveling speed and the target dynamic-static transition vehicle speed threshold, performing static braking or dynamic-static transition braking on the vehicle. The method provided by the present application can prevent the instability of a vehicle caused by oversteering and can improve the comfort, thereby achieving the best braking effect of the vehicle.

Description

Adaptive braking control method, device, medium, and electronic equipment Technical Field

[0001] The present application relates to the field of vehicle braking technology, and in particular, to an adaptive braking control method, device, medium, and electronic equipment. Background Art

[0002] When a vehicle's main braking system fails, the vehicle cannot be braked by the wire control system. Dynamic braking using the EPB (Electronic Parking Brake) system is required to reduce the vehicle's speed to a certain speed threshold, at which point the EPB (Electronic Parking Brake) dynamic braking transitions to static braking. However, existing methods typically set the speed threshold to a fixed value. This makes it easy for the vehicle to brake too late or too early, and it is impossible to find a speed threshold that matches the current road section to transition between dynamic and static braking. This can easily result in the vehicle's braking performance failing to achieve optimal control. For example, if static braking is initiated too late, the braking distance of the vehicle is prolonged, posing a safety risk. Alternatively, if static braking is initiated too early, the rear wheel slip rate is excessive, leading to instability such as tailspin.

[0003] Summary of the Invention

[0004] The present application provides an adaptive braking control method, device, medium, and electronic device, which can perform static braking or dynamic-static conversion braking on the entire vehicle by obtaining the driving speed and the target dynamic-static conversion speed threshold, so that the braking distance of the entire vehicle is adaptively adjusted according to the road adhesion coefficient, thereby achieving the best control effect for the braking distance of the entire vehicle, while preventing the problem of vehicle tailspin caused by excessive slip rate of the rear wheels.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to one aspect of an embodiment of the present application, an adaptive braking control method is provided, the method comprising:

[0007] If the main braking system of the vehicle fails, obtain the road adhesion coefficient of the road on which the vehicle is traveling;

[0008] Adaptively adjusting a target dynamic-static conversion speed threshold of an electronic parking system of the vehicle based on the road adhesion coefficient;

[0009] If a parking request command is received from the vehicle, the vehicle speed is obtained;

[0010] Performing static braking or dynamic-static conversion braking on the vehicle based on the driving speed and the target dynamic-static conversion speed threshold;

[0011] Among them, dynamic-static conversion braking is a braking method that switches between dynamic braking and static braking.

[0012] In one embodiment of the present application, based on the aforementioned solution, the target dynamic-static conversion speed threshold is positively correlated with the road adhesion coefficient.

[0013] In one embodiment of the present application, based on the above solution, performing static braking or dynamic-static switching braking on the vehicle based on the driving speed and the target dynamic-static switching speed threshold includes:

[0014] If the vehicle speed is higher than the target dynamic-static conversion speed threshold, controlling the electronic parking system to perform dynamic braking on the vehicle to reduce the vehicle speed to a target speed corresponding to the target dynamic-static conversion speed threshold;

[0015] After the vehicle speed is reduced to the target speed, controlling the electronic parking system to perform static braking on the vehicle so as to reduce the vehicle speed from the target speed to 0;

[0016] If the driving speed is lower than the target dynamic-static conversion speed threshold, the electronic parking system is controlled to perform static braking on the entire vehicle to reduce the driving speed to 0.

[0017] In one embodiment of the present application, based on the above solution, controlling the electronic parking system to perform dynamic braking on the vehicle includes:

[0018] The electronic caliper of the electronic parking system is controlled to perform a preset first clamping action and the motor of the electronic parking system is controlled to release the braking force of the rear wheels of the entire vehicle, so as to dynamically brake the entire vehicle.

[0019] In one embodiment of the present application, based on the above solution, controlling the electronic parking system to perform static braking on the entire vehicle includes:

[0020] The electronic caliper is controlled to perform a preset second clamping action to statically brake the rear wheel, so as to reduce the vehicle speed to 0.

[0021] In one embodiment of the present application, based on the above solution, the method further includes:

[0022] If the main braking system is normal and the parking request instruction is received, obtaining the vehicle speed;

[0023] The vehicle is subjected to main braking deceleration and / or static braking based on the driving speed and a preset static conversion speed threshold.

[0024] In one embodiment of the present application, based on the above solution, performing main braking deceleration and / or static braking on the vehicle based on the driving speed and the preset static conversion speed threshold includes:

[0025] If the vehicle speed is higher than the static switching speed threshold, controlling the main braking system to perform main braking deceleration on the vehicle so as to reduce the vehicle speed to a static switching speed corresponding to the static switching speed threshold;

[0026] After the driving speed is reduced to the static switching speed, controlling the electronic parking system to perform static braking on the entire vehicle, so that the driving speed is reduced from the static switching speed to 0;

[0027] If the driving speed is lower than the static conversion speed threshold, the electronic parking system is controlled to perform static braking on the entire vehicle to reduce the driving speed to 0.

[0028] According to one aspect of an embodiment of the present application, an adaptive braking control device is provided, which includes a first acquisition unit, configured to acquire a road adhesion coefficient of the vehicle's driving road if the vehicle's main braking system fails; an adjustment unit, configured to adaptively adjust a target dynamic-static conversion speed threshold of the vehicle's electronic parking system based on the road adhesion coefficient; a second acquisition unit, configured to acquire the vehicle's driving speed if a parking request instruction is received from the vehicle; and a braking unit, configured to perform static braking or dynamic-static conversion braking on the vehicle based on the driving speed and the target dynamic-static conversion speed threshold.

[0029] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the adaptive braking control method as described in the above embodiment is implemented.

[0030] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; and a memory configured to store executable instructions of the processors, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the adaptive braking control method as described in the above embodiments.

[0031] In the technical solution of the embodiment of the present application, after the main braking system of the vehicle fails, the target dynamic-static conversion speed threshold of the vehicle's electronic parking system can be adaptively adjusted based on the road adhesion coefficient, so that the vehicle can adjust the target dynamic-static conversion speed threshold accordingly according to the road adhesion coefficient of the current road surface. Then, static braking or dynamic-static conversion braking (dynamic braking first and then static braking) is performed on the vehicle based on the obtained driving speed, so that the braking distance of the vehicle can be adaptively adjusted according to the road adhesion coefficient, and the braking effect of the vehicle can be optimized based on the adjusted braking distance of the vehicle.

[0032] The method provided by the present application can not only prevent the vehicle from reducing its speed to the target dynamic-static conversion speed threshold too early and then performing static braking, which causes the rear wheel slip rate to be too high and leads to the vehicle's tail-swinging instability, but also prevent the vehicle from reducing its speed to the target dynamic-static conversion speed threshold too late and then performing static braking, which causes the braking distance of the vehicle to be too long and leads to safety risks for the vehicle.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0035] FIG1 is a flow chart of an adaptive braking control method according to an embodiment of the present application;

[0036] FIG2 is a flow chart illustrating static braking or dynamic-static conversion braking of a vehicle based on the vehicle speed and the target dynamic-static conversion speed threshold according to an embodiment of the present application;

[0037] FIG3 is a block diagram of an adaptive braking control device according to an embodiment of the present application;

[0038] FIG4 is a schematic diagram of a system structure of an electronic device according to an embodiment of the present application;

[0039] FIG5 is a schematic diagram showing adaptive adjustment of the target dynamic-static conversion speed threshold according to the road adhesion system according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0041] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0042] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or micro-controller node devices.

[0043] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0044] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0045] The following is a detailed description of the implementation details of the technical solution of the embodiment of the present application:

[0046] First of all, it should be noted that the adaptive braking control scheme proposed in this application can be applied to the relevant technical fields of vehicle braking. The method provided in this application can adaptively adjust the target dynamic-static conversion speed threshold of the electronic parking system of the vehicle through the road adhesion coefficient after the main braking system of the vehicle fails, so that the vehicle can adjust the target dynamic-static conversion speed threshold according to the road adhesion coefficient of the current driving road surface. Then, static braking or dynamic-static conversion braking is performed on the vehicle according to the obtained driving speed, which can make the braking distance of the vehicle adaptively adjusted according to the road adhesion coefficient, and then optimize the braking effect of the vehicle according to the adjusted braking distance of the vehicle.

[0047] In this application, dynamic-static switching braking refers to a braking method that switches between dynamic braking and static braking. The order of these two braking methods is: dynamic braking first, then static braking. The purpose of dynamic braking first is to control wheel slip by first adjusting the braking force of the rear wheels through dynamic braking (i.e., by dynamically clamping and releasing the rear wheels), and then perform static braking at lower vehicle speeds. This prevents vehicle instability such as tailspinning and improves driving safety. However, if static braking is applied directly at high speeds without dynamic braking, the vehicle may lock and tailspin, potentially leading to serious accidents. Therefore, this application first uses dynamic braking to achieve a safe and significant deceleration, and then uses static braking to clamp and lock the rear wheels, allowing the vehicle to brake and decelerate smoothly.

[0048] The method provided by the present application can not only prevent the vehicle from reducing its speed to the target dynamic-static conversion speed threshold too early and then performing static braking, which causes the rear wheel slip rate to be too high and leads to the vehicle's tail-swinging instability, but also prevent the vehicle from reducing its speed to the target dynamic-static conversion speed threshold too late and then performing static braking, which causes the braking distance of the vehicle to be too long and leads to safety risks for the vehicle.

[0049] According to one aspect of the present application, an adaptive braking control method is provided. FIG1 is a flow chart of the adaptive braking control method according to an embodiment of the present application. The adaptive braking control method includes at least steps 110 to 140, which are described in detail as follows:

[0050] In step 110 , if the main braking system of the vehicle fails, the road adhesion coefficient of the road on which the vehicle is traveling is obtained.

[0051] Specifically, the method provided in the present application can adaptively adjust the target dynamic-static conversion speed threshold of the electronic parking system by obtaining the road adhesion coefficient of the vehicle's driving road after the vehicle's main braking system fails. That is, it determines the speed at which the vehicle is dynamically braked. Different target dynamic-static conversion speed thresholds correspond to different braking distances. In order to achieve a better braking distance effect, the target dynamic-static conversion speed threshold needs to be accurately set.

[0052] In step 120 , a target dynamic-static conversion speed threshold of the electronic parking system of the vehicle is adaptively adjusted based on the road adhesion coefficient.

[0053] In one embodiment of the present application, the target dynamic-static conversion speed threshold is positively correlated with the road adhesion coefficient.

[0054] Specifically, as shown in Figure 5, the road adhesion coefficient varies from 0 to 1, and the target dynamic-static conversion speed threshold corresponds to the road adhesion coefficient varying from a lower speed V2 to a higher speed V1. The target dynamic-static conversion speed threshold can be adaptively adjusted, meaning that the higher the road adhesion coefficient, the higher the target dynamic-static conversion speed threshold should be set. This is because, on roads with a higher road adhesion coefficient, by setting a higher target dynamic-static conversion speed threshold, the vehicle can fully utilize the road adhesion for braking when the vehicle speed drops to the target dynamic-static conversion speed threshold, shortening the braking distance. On roads with a lower road adhesion coefficient, a lower target dynamic-static conversion speed threshold can be set, allowing the vehicle speed to be lower during static braking. By dynamically clamping and releasing the rear wheel braking force, the wheel slip rate is controlled, preventing excessive wheel slip, thereby avoiding vehicle instability such as tailspin and improving low-adhesion driving safety.

[0055] In step 130 , if a parking request instruction is received from the vehicle, the vehicle speed is obtained.

[0056] Specifically, when a parking request instruction is received from the vehicle, the main braking state becomes invalid. First, the vehicle's speed must be obtained, and then the corresponding EPB (electronic parking brake system) braking is performed according to the vehicle's speed, including dynamic-static conversion braking and static braking. Dynamic-static conversion braking includes dynamic braking and static braking. Dynamic braking controls the wheel slip rate by dynamically clamping and releasing the braking force of the rear wheels through EPB, avoiding rear wheel locking at medium and high speeds, and ensuring vehicle stability. Static braking refers to applying brakes to the rear wheels by directly clamping the EPB motor at low speeds, controlling the vehicle to decelerate to a stop, and switching to the parking state after stopping. Corresponding braking operations can be performed according to different driving speeds to ensure optimal braking performance.

[0057] In step 140 , static braking or dynamic-static conversion braking is performed on the vehicle based on the driving speed and the target dynamic-static conversion speed threshold.

[0058] In one embodiment of the present application, referring to FIG2 , step 140 may be performed according to steps S1-S3:

[0059] Step S1: If the vehicle speed is higher than the target dynamic-static conversion speed threshold, the electronic parking system is controlled to perform dynamic braking on the vehicle to reduce the vehicle speed to a target speed corresponding to the target dynamic-static conversion speed threshold.

[0060] Step S2: After the vehicle speed is reduced to the target speed, the electronic parking system is controlled to perform static braking on the vehicle, so that the vehicle speed is reduced from the target speed to 0.

[0061] Step S3: If the driving speed is lower than the target dynamic-static conversion speed threshold, the electronic parking system is controlled to perform static braking on the entire vehicle to reduce the driving speed to 0.

[0062] In one embodiment of the present application, controlling the electronic parking system to perform dynamic braking on the vehicle includes:

[0063] The electronic caliper of the electronic parking system is controlled to perform a preset first clamping action and the motor of the electronic parking system is controlled to release the braking force of the rear wheels of the entire vehicle, so as to dynamically brake the entire vehicle.

[0064] In one embodiment of the present application, controlling the electronic parking system to perform static braking on the vehicle includes:

[0065] The electronic caliper is controlled to perform a preset second clamping action to statically brake the rear wheel, so as to reduce the vehicle speed to 0.

[0066] Specifically, when the main braking system fails, the current road adhesion coefficient is obtained and the target dynamic-static conversion speed threshold is adaptively adjusted according to the current road adhesion coefficient. The vehicle is decelerated by dynamic braking using the EPB (electronic parking brake system). When the vehicle speed is decelerated to the target dynamic-static conversion speed threshold, the rear wheels are statically braked, and the vehicle is controlled to continue to decelerate until it stops and then parked. At this time, the braking distance of the entire vehicle is the optimal braking distance, and static braking will not be performed too early or too late, thereby preventing the vehicle from drifting and becoming unstable, so that the braking effect of the entire vehicle is optimal when the main braking system fails. Among them, the road adhesion coefficient is calculated by the EPB (electronic parking brake system) module based on the vehicle's status information. The status information includes the vehicle's wheel speed signal, braking force, etc. The current road adhesion coefficient is predicted by a calculation model. The vehicle's wheel speed signal is the wheel speed of the two rear wheels of the entire vehicle.

[0067] The target dynamic-static conversion speed threshold is adaptively adjusted according to the road adhesion coefficient. The higher the road adhesion coefficient, the higher the target dynamic-static conversion speed threshold. The vehicle switches from dynamic braking to static braking at a relatively high speed, making full use of the road adhesion for braking and shortening the braking distance. The lower the road adhesion coefficient, the lower the target dynamic-static conversion speed threshold. The vehicle switches from dynamic braking to static braking at a relatively low speed. The rear wheel braking force is adjusted by dynamic clamping and release to control the wheel slip rate, so that the vehicle remains stable on low-adhesion roads at relatively high speeds, avoiding instability problems such as vehicle tailspinning.

[0068] For high-adhesion-coefficient road surfaces (road adhesion coefficient between 0.7-1), the target dynamic-static conversion speed threshold is set to 8-10 km / h; for medium-adhesion-coefficient road surfaces (road adhesion coefficient between 0.3-0.7), the target dynamic-static conversion speed threshold is set to 6 km / h; for low-adhesion-coefficient road surfaces (road adhesion coefficient between 0-0.3), the target dynamic-static conversion speed threshold is set to 2 km / h.

[0069] In one embodiment of the present application, the method further includes:

[0070] If the main braking system is normal and the parking request instruction is received, obtaining the vehicle speed;

[0071] The vehicle is subjected to main braking deceleration and / or static braking based on the driving speed and a preset static conversion speed threshold.

[0072] In one embodiment of the present application, performing main braking deceleration and / or static braking on the vehicle based on the driving speed and a preset static conversion speed threshold includes:

[0073] If the vehicle speed is higher than the static switching speed threshold, controlling the main braking system to perform main braking deceleration on the vehicle so as to reduce the vehicle speed to a static switching speed corresponding to the static switching speed threshold;

[0074] After the driving speed is reduced to the static switching speed, controlling the electronic parking system to perform static braking on the entire vehicle, so that the driving speed is reduced from the static switching speed to 0;

[0075] If the driving speed is lower than the static conversion speed threshold, the electronic parking system is controlled to perform static braking on the entire vehicle to reduce the driving speed to 0.

[0076] Specifically, the present application not only provides optimal braking when the main brake system fails, but also enables corresponding static braking conversion when the main brake system is normal. A normal main brake system means that the vehicle's brake-by-wire system is in a complete vehicle state, and the driver can decelerate by stepping on the brake pedal. When the driving speed exceeds the static conversion speed threshold, the main brake system is controlled to perform main braking deceleration on the vehicle to reduce the driving speed to the static switching speed corresponding to the static conversion speed threshold. After the driving speed has reduced to the static switching speed, the electronic parking system is controlled to perform static braking on the vehicle to reduce the driving speed from the static switching speed to 0.

[0077] Furthermore, the static shift speed threshold 1 is set relatively low, perhaps 2-4 kph (kilometers per hour), and can be determined based on actual needs. This prevents the driver from accidentally operating the EPB (Electronic Parking Brake) switch when the vehicle speed falls below the static shift speed threshold, causing the EPB (Electronic Parking Brake) static brake to be triggered, resulting in strong vehicle movement that affects the driver's driving comfort and may even cause panic.

[0078] When the main brake system is functioning normally, brake-by-wire braking utilizes the main brake to achieve rapid deceleration in response to the driver's braking request, without the EPB (Electronic Parking Brake) dynamic braking intervening to decelerate the vehicle. When the EPB (Electronic Parking Brake) is activated when the vehicle is parked and shifted into P gear, or when the driver operates the EPB switch to park the vehicle, the EPB (Electronic Parking Brake) static braking is used to hold the vehicle in place. If the driver activates dynamic braking, the main brake applies dynamic braking when the vehicle speed exceeds the static transition speed threshold. When the speed falls below the static transition speed threshold, the EPB (Electronic Parking Brake) static braking intervenes, decelerating the vehicle to zero speed before the vehicle is parked.

[0079] The method provided in this application can perform different braking operations on the entire vehicle according to the state of the main braking system (normal / failed). When the main braking system is normal, a smaller target dynamic-static conversion speed threshold is set to prevent the driver from mistakenly triggering static braking and causing the vehicle to move, thereby improving comfort. When the main braking system fails, a higher target dynamic-static conversion speed threshold is set on a road with a high adhesion coefficient so that static braking can be performed at a higher speed, thereby fully utilizing the adhesion of the road surface for braking and shortening the braking distance; a lower target dynamic-static conversion speed threshold is set on a road with a low adhesion coefficient so that the wheel slip rate is first controlled by dynamic braking, that is, by dynamically clamping and releasing the braking force of the rear wheel, and then static braking is performed at a lower speed, thereby avoiding instability problems such as tailspinning and improving the driving safety of the vehicle with low adhesion.

[0080] In summary, after the vehicle's main braking system fails, the target dynamic-static transition speed threshold of the vehicle's electronic parking system can be adaptively adjusted using the road adhesion coefficient, allowing the vehicle to adjust the target dynamic-static transition speed threshold accordingly based on the road adhesion coefficient of the current road surface. Static braking or dynamic-static transition braking (dynamic braking first, then static braking) can then be performed on the vehicle based on the acquired driving speed, enabling the vehicle's braking distance to be adaptively adjusted based on the road adhesion coefficient, and optimizing the braking effect of the vehicle based on the adjusted braking distance.

[0081] The method provided by the present application can not only prevent the vehicle from being decelerated to the target dynamic-static conversion speed threshold too early and then statically braked, which causes the rear wheel slip rate to be too high and leads to the vehicle's tail-swinging instability, but also prevent the vehicle from being decelerated to the target dynamic-static conversion speed threshold too late and then statically braked, which causes the braking distance of the vehicle to be too long and leads to safety risks for the vehicle.

[0082] Figure 3 is a block diagram of an adaptive braking control device 300 according to an embodiment of the present application. According to an adaptive braking control device 300 of an embodiment of the present application, the device 300 includes: a first acquisition unit 301, an adjustment unit 302, a second acquisition unit 303, and a braking unit 304.

[0083] The first obtaining unit 301 is configured to obtain a road adhesion coefficient of a road surface on which the vehicle is traveling if a main braking system of the vehicle fails.

[0084] The adjustment unit 302 is configured to adaptively adjust a target dynamic-static conversion speed threshold of an electronic parking system of the vehicle based on the road adhesion coefficient.

[0085] The second acquiring unit 303 is configured to acquire the driving speed of the vehicle upon receiving a parking request instruction sent by the vehicle.

[0086] The braking unit 304 is configured to perform static braking or dynamic-static conversion braking on the vehicle based on the driving speed and the target dynamic-static conversion speed threshold.

[0087] As another aspect, the present application further provides a computer-readable storage medium having stored thereon a program product capable of implementing the methods provided above in this specification. In some possible implementations, various aspects of the present application may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is used to cause the terminal device to perform the steps described in the "Example Method" section above in accordance with various exemplary embodiments of the present application.

[0088] According to an embodiment of the present application, a program product for implementing the above method can be a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0089] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0090] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0091] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0092] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0093] As another aspect, the present application also provides an electronic device capable of implementing the above method.

[0094] Those skilled in the art will appreciate that various aspects of the present application can be implemented as systems, methods, or program products. Therefore, various aspects of the present application can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "system."

[0095] The electronic device 400 according to this embodiment of the present application is described below with reference to Figure 4. The electronic device 400 shown in Figure 4 is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0096] As shown in Figure 4, electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, the aforementioned at least one processing unit 410, the aforementioned at least one storage unit 420, and a bus 430 connecting various system components (including storage unit 420 and processing unit 410).

[0097] The storage unit stores program code, which can be executed by the processing unit 410, so that the processing unit 410 performs the steps described in the above "Example Method" section of this specification according to various exemplary embodiments of the present application.

[0098] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0099] The storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0100] Bus 430 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller node, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0101] The electronic device 400 can also communicate with one or more external devices 1200 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 via a bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0102] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0103] Furthermore, the above-mentioned figures are merely illustrative of the processes included in the methods according to exemplary embodiments of the present application and are not intended to be limiting. It is readily understood that the processes illustrated in the above-mentioned figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0104] It should be understood that the present application is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be performed without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An adaptive braking control method, characterized in that: The method comprises: If the main braking system of the vehicle fails, the road adhesion coefficient of the road on which the vehicle is traveling is obtained; Adaptively adjusting a target dynamic-static conversion vehicle speed threshold of an electronic parking system of the vehicle based on the road adhesion coefficient; If a parking request command sent by the vehicle is received, the driving speed of the vehicle is obtained; Performing static braking or dynamic-static conversion braking on the vehicle based on the driving speed and the target dynamic-static conversion speed threshold; Among them, dynamic-static conversion braking is a braking method that switches between dynamic braking and static braking.

2. The adaptive braking control method according to claim 1, characterized in that: The target dynamic-static conversion vehicle speed threshold is positively correlated with the road adhesion coefficient.

3. The adaptive braking control method according to claim 2, characterized in that: The performing static braking or dynamic-static conversion braking on the vehicle based on the driving speed and the target dynamic-static conversion speed threshold comprises: If the vehicle speed is higher than the target dynamic-static conversion speed threshold, the electronic parking system is controlled to perform dynamic braking on the vehicle so as to reduce the vehicle speed to a target speed corresponding to the target dynamic-static conversion speed threshold; After the driving speed is reduced to the target speed, controlling the electronic parking system to perform static braking on the entire vehicle, so that the driving speed is reduced from the target speed to 0; If the driving speed is lower than the target dynamic-static conversion speed threshold, the electronic parking system is controlled to perform static braking on the entire vehicle to reduce the driving speed to 0.

4. The adaptive braking control method according to claim 3, characterized in that: The controlling the electronic parking system to perform dynamic braking on the vehicle includes: The electronic caliper of the electronic parking system is controlled to perform a preset first clamping action and the motor of the electronic parking system is controlled to release the braking force of the rear wheels of the entire vehicle, so as to dynamically brake the entire vehicle.

5. The adaptive braking control method according to claim 4, characterized in that: The controlling the electronic parking system to perform static braking on the vehicle includes: The electronic caliper is controlled to perform a preset second clamping action to statically brake the rear wheel, so that the vehicle speed is reduced to 0.

6. The adaptive braking control method according to claim 1, characterized in that: The method further comprises: If the main braking system is normal and the parking request instruction is received, obtaining the driving speed of the entire vehicle; The vehicle is subjected to main braking deceleration and / or static braking based on the driving speed and a preset static conversion speed threshold.

7. The adaptive braking control method according to claim 6, characterized in that: The performing main braking deceleration and / or static braking on the vehicle based on the driving speed and the preset static conversion speed threshold comprises: If the vehicle speed is higher than the static switching speed threshold, the main braking system is controlled to perform main braking deceleration on the vehicle so as to reduce the vehicle speed to a static switching speed corresponding to the static switching speed threshold; After the driving speed is reduced to the static switching speed, controlling the electronic parking system to perform static braking on the entire vehicle, so that the driving speed is reduced from the static switching speed to 0; If the driving speed is lower than the static conversion speed threshold, the electronic parking system is controlled to perform static braking on the entire vehicle to reduce the driving speed to 0.

8. An adaptive braking control device, characterized in that: The device comprises: A first acquisition unit is configured to acquire a road adhesion coefficient of a road surface on which the vehicle is traveling if a main braking system of the vehicle fails; an adjustment unit configured to adaptively adjust a target dynamic-static conversion vehicle speed threshold of an electronic parking system of the vehicle based on the road adhesion coefficient; The second acquisition unit is configured to acquire the driving speed of the vehicle upon receiving a parking request instruction sent by the vehicle; The braking unit is configured to perform static braking or dynamic-static conversion braking on the entire vehicle based on the driving speed and the target dynamic-static conversion speed threshold.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device includes one or more processors and one or more memories, wherein the one or more memories store at least one program code, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the method as described in any one of claims 1 to 7.

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