Vehicle control method and system, and vehicle and storage medium

Abstract

Provided are a vehicle control method and system, and a vehicle and a storage medium. The vehicle control method comprises: in response to the fact that a vehicle enables a comfort stop function, acquiring a longitudinal acceleration and a requested braking force of the vehicle; on the basis of the longitudinal acceleration, determining a parking braking force of the vehicle; in response to the fact that the parking braking force is greater than the requested braking force, acquiring a current vehicle speed; and in response to the fact that the current vehicle speed is less than a first preset vehicle speed threshold value, outputting a first control signal to control the vehicle, wherein the first control signal is used for controlling a hydraulic braking force of the vehicle to ramp down according to a preset slope and controlling an electric-motor braking force to replace the hydraulic braking force according to the preset slope. By replacing the hydraulic braking force with the electric-motor braking force, the vehicle can be stably parked, and thus the problem of vehicle jerking when the vehicle is braked for parking can be solved.

Description

Vehicle control method, system, vehicle and storage medium

[0001] Cross-reference

[0002] This disclosure claims priority to the Chinese patent application filed with the China Patent Office on November 29, 2023, with application number 2023116090134 and application name “Vehicle Control Method, System, Vehicle and Storage Medium,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present disclosure belongs to the field of intelligent driving technology, and specifically relates to a vehicle control method, system, vehicle, and storage medium. Background Art

[0004] With the popularization of vehicles, vehicles have gradually become mobile enabling equipment that humans rely on highly after mobile phones. The demand for vehicle usage scenarios is becoming more and more diverse. People need to perform activities that require extremely high comfort in the car, such as drinking coffee, reading newspapers, writing, and working on computers. These scenarios put forward higher requirements for comfort during vehicle driving. It is hoped that the vehicle will not experience any vehicle shaking that the driver may perceive during parking. However, during vehicle operation, the body and chassis are connected by elastic elements. When the vehicle is parked, there will inevitably be slight forward and backward shaking. In addition, the withdrawal of hydraulic braking force during deceleration cannot be completely smoothly transitioned to 0 because the hydraulic brake withdrawal is linear. This causes the vehicle to shake when it stops. Without special control strategies, the shaking of the vehicle when parking can only be reduced to a limited extent and cannot be fundamentally solved. This problem is more obvious for SUVs or MPVs with a higher center of mass.

[0005] To address this issue, the current mainstream control strategy is a comfortable braking stop based on hydraulic braking. This strategy identifies whether the driver desires a comfortable stop. When the driver decelerates by pressing the brake pedal, the braking force required for parking is calculated based on the current road slope before the vehicle stops. If the driver's required braking force is greater than the required braking force, the driver's braking force is reduced by pressure relief or the brake assist is changed during low-speed braking, directly responding to the driver's request with a smaller braking force. This achieves a relatively comfortable and smooth deceleration stop with a smaller braking force before stopping. However, due to the slow adjustment accuracy and response speed of hydraulic braking, this control method produces a vibration that can be noticed by passengers during the initial adjustment process. Moreover, the vibration is still present when the vehicle is parked through hydraulic control.

[0006] Summary of the Invention

[0007] The embodiments of the present disclosure provide a vehicle control method, system, vehicle, and storage medium to at least solve the technical problem in the prior art of vehicle shaking when the vehicle brakes to a stop.

[0008] According to a first aspect of an embodiment of the present disclosure, a vehicle control method is provided, comprising: in response to the vehicle initiating a comfort braking parking function, obtaining the longitudinal acceleration and requested braking force of the vehicle, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; determining the parking braking force of the vehicle based on the longitudinal acceleration, wherein the parking braking force is set to represent the minimum braking force required to decelerate the vehicle to a stop at the current moment; in response to the parking braking force being greater than the requested braking force, obtaining the current vehicle speed; in response to the current vehicle speed being less than a first preset vehicle speed threshold, outputting a first control signal to control the vehicle, wherein the first control signal is set to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force to replace the hydraulic braking force according to the preset slope.

[0009] Optionally, the vehicle control method also includes: obtaining the historical speed of the vehicle when the brake pedal is depressed; in response to the historical speed being less than a second preset speed threshold, outputting a second control signal to control the vehicle, wherein the second preset speed threshold is less than the first preset speed threshold, and the second control signal is set to control the vehicle to use electric motor force to respond to a braking request.

[0010] Optionally, determining the parking braking force of the vehicle based on the longitudinal acceleration includes: determining the current road slope based on the longitudinal acceleration and a first preset formula; and determining the parking braking force of the vehicle based on the road slope and a second preset formula.

[0011] Optionally, after outputting a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, the method further includes: obtaining the stopping time of the vehicle; in response to the stopping time being greater than a preset time threshold, outputting a third control signal to control the vehicle, wherein the third control signal is configured to control the vehicle to exit the electric braking force and replace the electric braking force with hydraulic braking force.

[0012] Optionally, the vehicle control method further includes: obtaining a function control instruction, wherein the function control instruction is configured to control the start and stop of a comfort braking function; and controlling the vehicle to start the comfort braking function according to the function control instruction.

[0013] Optionally, the vehicle control method also includes: obtaining pre-judgment data, wherein the pre-judgment data includes road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force; determining a judgment result based on the pre-judgment data and preset pre-judgment conditions; in response to the judgment result indicating that the pre-judgment data does not meet the preset pre-judgment conditions, controlling the vehicle to disable the comfort braking parking function.

[0014] Optionally, the preset pre-determination conditions include at least one of the following: road surface data indicates that the road surface is a drivable road surface and the road surface slope is less than a preset slope threshold, the brake pedal stroke change rate is less than a preset change rate threshold and the brake pedal stroke is less than a first preset stroke threshold, the current hydraulic braking force is within a preset hydraulic braking force range, and the accelerator pedal stroke is less than a second preset stroke threshold.

[0015] According to a second aspect of an embodiment of the present disclosure, there is further provided a vehicle control system, comprising:

[0016] The first acquisition module is configured to obtain the vehicle's longitudinal acceleration and requested braking force in response to the vehicle starting the comfort braking parking function, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; the determination module is configured to determine the vehicle's parking braking force based on the longitudinal acceleration, wherein the parking braking force is configured to represent the minimum braking force required for the vehicle to decelerate to a stop at the current moment; the second acquisition module is configured to obtain the current vehicle speed in response to the parking braking force being greater than the requested braking force; the control module is configured to output a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, wherein the first control signal is configured to control the vehicle's hydraulic braking force to exit according to a preset slope, and the electric braking force to replace the hydraulic braking force according to a preset slope.

[0017] Optionally, the second acquisition module is further configured to: acquire the historical vehicle speed when the brake pedal is depressed; the control module is further configured to: output a second control signal to control the vehicle in response to the historical vehicle speed being less than a second preset speed threshold, wherein the second preset speed threshold is less than the first preset speed threshold, and the second control signal is configured to control the vehicle to use electric motor force to respond to a braking request.

[0018] Optionally, the determination module is further configured to: determine the current road slope according to the longitudinal acceleration and a first preset formula; and determine the parking braking force of the vehicle according to the road slope and a second preset formula.

[0019] Optionally, the second acquisition module is further configured to: obtain the stopping time of the vehicle; the control module is further configured to: output a third control signal to control the vehicle in response to the stopping time being greater than a preset time threshold, wherein the third control signal is configured to control the vehicle to exit the electric braking force and use hydraulic braking force instead of the electric braking force.

[0020] Optionally, the control module is further configured to: obtain a function control instruction, wherein the function control instruction is configured to control the start and stop of a comfort braking function; and control the vehicle to start the comfort braking function according to the function control instruction.

[0021] Optionally, the control module is further configured to: obtain pre-judgment data, wherein the pre-judgment data includes road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force; determine a judgment result based on the pre-judgment data and preset pre-judgment conditions; in response to the judgment result indicating that the pre-judgment data does not meet the preset pre-judgment conditions, control the vehicle to disable the comfort braking parking function.

[0022] Optionally, the preset pre-determination conditions in the control module include at least one of the following: the road surface data indicates that the road surface is a drivable road surface and the road surface slope is less than a preset slope threshold, the brake pedal stroke change rate is less than a preset change rate threshold and the brake pedal stroke is less than a first preset stroke threshold, the current hydraulic braking force is within a preset hydraulic braking force range, and the accelerator pedal stroke is less than a second preset stroke threshold.

[0023] According to a third aspect of an embodiment of the present disclosure, a vehicle is also provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method described in any embodiment of the first aspect above.

[0024] According to a fourth aspect of an embodiment of the present disclosure, a non-volatile storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute the vehicle control method described in any embodiment of the first aspect when running on a computer or processor.

[0025] In an embodiment of the present disclosure, in response to the vehicle activating a comfort brake parking function, the longitudinal acceleration and requested braking force of the vehicle are obtained, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; the parking braking force of the vehicle is determined based on the longitudinal acceleration, wherein the parking braking force is set to represent the minimum braking force required to decelerate the vehicle to a stop at the current moment; in response to the parking braking force being greater than the requested braking force, the current vehicle speed is obtained; in response to the current vehicle speed being less than a first preset vehicle speed threshold, a first control signal is output to control the vehicle, wherein the first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force to replace the hydraulic braking force according to a preset slope. The present disclosure utilizes the electric braking force to replace the hydraulic braking force when certain conditions are met. Due to the characteristics of the electric braking force with high response speed and high response accuracy, the use of the electric braking force to replace the hydraulic braking force can achieve a smooth vehicle parking, thereby resolving the technical problem of vehicle shaking during vehicle braking and parking in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are provided to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0027] FIG1 is a flow chart of a vehicle control method according to one embodiment of the present disclosure;

[0028] FIG2 is a flow chart of a vehicle control method according to one embodiment of the present disclosure;

[0029] FIG3 is a structural block diagram of a vehicle control system according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are set to distinguish similar objects, and are not necessarily set to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] According to an embodiment of the present disclosure, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] The method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device, or the cloud. Taking an electronic device as an example, the electronic device may include one or more processors and a memory configured to store data. Optionally, the electronic device may also include a communication device configured to have a communication function and a display device. It will be understood by those skilled in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than those described in the above structural description, or have a configuration different from that described in the above structural description.

[0034] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0035] The memory may be configured to store a computer program, such as a computer program corresponding to the vehicle control method in the embodiment of the present disclosure, and the processor implements the above-mentioned vehicle control method by running the computer program stored in the memory. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely located relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0036] The communication device is configured to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is configured to be connected to a mobile device such as a mobile phone or a tablet, and instructions can be sent to the electronic device through the mobile device.

[0037] The display device may be a touchscreen-type liquid crystal display (LCD) or a touch display (also referred to as a "touch screen" or "touch display"). The LCD may enable a user to interact with a user interface of the electronic device. In some embodiments, the electronic device may include a graphical user interface (GUI), and a user may interact with the GUI by touching a touch-sensitive surface with a finger and / or performing gestures. Executable instructions configured to perform the aforementioned human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0038] FIG1 is a flow chart of a vehicle control method according to one embodiment of the present disclosure. As shown in FIG1 , the method includes the following steps:

[0039] Step S101 : in response to the vehicle starting a comfort braking parking function, obtaining the longitudinal acceleration and requested braking force of the vehicle.

[0040] The requested braking force is the braking force generated by the driver stepping on the brake pedal.

[0041] Specifically, the Comfort Braking function minimizes vehicle movement during braking, resulting in a smoother braking process. After activating this function, the vehicle's longitudinal acceleration and requested braking force are calculated for subsequent steps.

[0042] It is understood that the longitudinal acceleration and requested braking force of the vehicle may be acquired by the main controller of the vehicle.

[0043] Step S102: Determine the parking braking force of the vehicle according to the longitudinal acceleration.

[0044] The parking braking force is set to represent the minimum braking force required for the vehicle to decelerate to a stop at the current moment.

[0045] Specifically, after the longitudinal acceleration of the vehicle is obtained, the minimum braking force required to decelerate the vehicle to a stop under the current longitudinal acceleration can be determined according to a preset braking force calculation formula.

[0046] It should be noted that the parking brake force of a vehicle can be obtained by multiplying the vehicle's weight and the vehicle's longitudinal acceleration.

[0047] Step S103 : acquiring the current vehicle speed in response to the parking braking force being greater than the requested braking force.

[0048] Specifically, after obtaining the parking braking force, it is determined whether the vehicle parking braking force is greater than the requested braking force. If the parking braking force is greater than the requested braking force, the current vehicle speed is obtained and set as calculation in subsequent steps.

[0049] It should be noted that if the parking braking force is less than or equal to the requested braking force, it indicates that the vehicle does not require the comfort braking parking function in the current state.

[0050] Step S104 : In response to the current vehicle speed being less than a first preset vehicle speed threshold, outputting a first control signal to control the vehicle.

[0051] The first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force replaces the hydraulic braking force according to a preset slope.

[0052] Specifically, when the acquired current vehicle speed is less than a first preset vehicle speed threshold, a first control signal is output to control the hydraulic braking force of the vehicle to exit according to a preset slope, and to control the electric braking force to replace the hydraulic braking force according to a preset slope.

[0053] It should be noted that the preset slope is obtained by calibration of the actual vehicle.

[0054] In an embodiment of the present disclosure, in response to the vehicle activating a comfort brake parking function, the longitudinal acceleration and requested braking force of the vehicle are obtained, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; the parking braking force of the vehicle is determined based on the longitudinal acceleration, wherein the parking braking force is set to represent the minimum braking force required to decelerate the vehicle to a stop at the current moment; in response to the parking braking force being greater than the requested braking force, the current vehicle speed is obtained; in response to the current vehicle speed being less than a first preset vehicle speed threshold, a first control signal is output to control the vehicle, wherein the first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force to replace the hydraulic braking force according to a preset slope. The present disclosure utilizes the electric braking force to replace the hydraulic braking force when certain conditions are met. Due to the characteristics of the electric braking force with high response speed and high response accuracy, the use of the electric braking force to replace the hydraulic braking force can achieve a smooth vehicle parking, thereby resolving the technical problem of vehicle shaking during vehicle braking and parking in the prior art.

[0055] Optionally, the vehicle control method also includes: obtaining the historical speed of the vehicle when the brake pedal is depressed; in response to the historical speed being less than a second preset speed threshold, outputting a second control signal to control the vehicle, wherein the second preset speed threshold is less than the first preset speed threshold, and the second control signal is set to control the vehicle to use electric motor force to respond to a braking request.

[0056] Specifically, when the vehicle's brake pedal is depressed, the historical vehicle speed at the time the pedal was depressed is recorded. If the historical vehicle speed is less than a second preset speed threshold, a second control signal is output to control the vehicle to directly use electric braking force to respond to the driver's braking request. In this situation, hydraulic braking force is not required.

[0057] Optionally, when the historical vehicle speed when the pedal is depressed is less than a third preset vehicle speed threshold, it is determined that the vehicle does not require intervention of the comfort braking parking function at this time.

[0058] It should be noted that the third preset speed threshold is lower than the second preset speed threshold. The first preset speed threshold, the second preset speed threshold and the third preset speed threshold can be empirically preset according to actual needs or obtained by calibration on an actual vehicle.

[0059] Optionally, in step S102, determining the parking braking force of the vehicle according to the longitudinal acceleration may include the following steps:

[0060] Step S1021, determining the current road slope based on the longitudinal acceleration and a first preset formula;

[0061] Step S1022: Determine the parking braking force of the vehicle according to the road slope and a second preset formula.

[0062] Specifically, the process of determining the parking braking force of the vehicle is as follows: first, the road slope of the current road on which the vehicle is traveling is determined based on the longitudinal acceleration and a first preset formula; after the road slope is determined, the parking braking force of the vehicle is determined based on the road slope and a second preset formula.

[0063] For example, the current road slope = arcsin (longitudinal acceleration / gravity acceleration), and the vehicle parking braking force = vehicle weight * sine value of the current road slope.

[0064] Optionally, after outputting a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, the method further includes the following steps:

[0065] Step S105: Acquire the vehicle's stop time.

[0066] Step S106 , in response to the stop time being greater than a preset time threshold, outputting a third control signal to control the vehicle, wherein the third control signal is configured to control the vehicle to exit the electric braking force and replace the electric braking force with hydraulic braking force.

[0067] Specifically, after the vehicle stops, the stopping time of the vehicle is obtained. When the stopping time is greater than a preset time threshold, a third control signal is output to control the vehicle to exit the electric brake force, and hydraulic braking force is used instead of the electric brake force to ensure that the vehicle does not slide down the slope at the current slope.

[0068] It should be noted that if electric braking force is used instead of hydraulic braking force before the vehicle stops, the step of using hydraulic braking force instead of electric braking force needs to be performed after the vehicle stops. If electric braking force is not used before the vehicle stops, steps S105 and S106 do not need to be performed.

[0069] Optionally, the vehicle control method further includes: obtaining a function control instruction, wherein the function control instruction is configured to control the start and stop of a comfort braking function; and controlling the vehicle to start the comfort braking function according to the function control instruction.

[0070] For example, the comfort braking parking function provides a function switch on the driver's control interface. If the driver operates the function switch of the comfort braking parking function, the vehicle can obtain the function control instruction to start or shut down the braking parking function, and then can start or shut down the comfort braking parking function according to the function control instruction.

[0071] Optionally, the vehicle control method further includes:

[0072] Step a, obtaining pre-judgment data, wherein the pre-judgment data includes road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force;

[0073] Step b: determining the judgment result according to the pre-judgment data and the preset pre-judgment conditions.

[0074] Step c: in response to the determination result indicating that the pre-determination data does not meet the preset pre-determination condition, controlling the vehicle to disable the comfort braking parking function.

[0075] Specifically, the vehicle does not need to perform the comfort braking and parking function under some working conditions. Therefore, before the vehicle's comfort braking and parking function is started, it is necessary to obtain the pre-judgment data; then judge whether the pre-judgment meets the preset pre-judgment conditions. If the road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force all meet the preset pre-judgment conditions, the vehicle can start the comfort braking and parking function. If any one of the road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force does not meet the preset pre-judgment conditions, the vehicle is controlled to disable the comfort braking and parking function.

[0076] Optionally, the preset pre-determination conditions include at least one of the following: road surface data indicates that the road surface is a drivable road surface and the road surface slope is less than a preset slope threshold, the brake pedal stroke change rate is less than a preset change rate threshold and the brake pedal stroke is less than a first preset stroke threshold, the current hydraulic braking force is within a preset hydraulic braking force range, and the accelerator pedal stroke is less than a second preset stroke threshold.

[0077] Specifically, when the road surface data in the pre-judgment data indicates that the current road surface condition is a bad road or a poor road surface condition, it will affect the execution logic of the comfort braking and parking function. Therefore, the road surface data meets the preset pre-judgment conditions only when it indicates that the road surface is a drivable road surface; when the road surface data indicates that the slope of the current road surface is too large, it is not suitable to execute the comfort braking and parking function; if the rate of change of the brake pedal stroke is greater than the preset change rate threshold and the brake pedal stroke is greater than the first preset stroke threshold, then it will be determined that the current driver has an emergency braking demand, and the current braking cycle does not need to execute the comfort braking and parking function; if the current hydraulic braking force is no longer within the preset hydraulic braking force range, it indicates that the driver has a large deceleration demand or the driver himself is using a very small deceleration to decelerate the vehicle, and the intervention of the comfort braking and parking function is not required at this time; if the accelerator pedal signal received by the vehicle indicates that the accelerator pedal stroke is greater than the second preset stroke threshold, then the vehicle has an acceleration demand at this time and the intervention of the comfort braking and parking function is not required.

[0078] It should be noted that the second preset travel threshold is 0.

[0079] Optionally, referring to FIG. 2 , in some embodiments of the present disclosure, the vehicle control method includes the following steps:

[0080] First, it is determined whether the vehicle is currently traveling on a bad road and whether the current road slope exceeds the limit. If the road is bad and / or the current slope exceeds the limit, the vehicle is controlled to exit the comfort brake parking function. If the vehicle is currently traveling on a good road and the road slope does not exceed the limit, it is further determined whether the brake pedal travel and the pedaling speed exceed the limit.

[0081] If the brake pedal travel and / or pedaling speed exceeds the limit, the vehicle is controlled to exit the comfort brake parking function. If the brake pedal travel and pedaling speed do not exceed the limit, it is further determined whether the brake pressure exceeds the limit.

[0082] If the brake pressure exceeds the limit, the vehicle is controlled to exit the comfort brake parking function. If the brake pressure does not exceed the limit, the current road slope value is calculated;

[0083] After calculating the current road slope value, the required braking force required to park the vehicle on the current road surface is determined based on the road slope value;

[0084] Further determine whether the required braking force is less than the minimum braking force for parking the vehicle on the current road surface. If the required braking force is less than the minimum braking force for parking the vehicle on the current road surface, control the vehicle to exit the comfort braking parking function. If the required braking force is not less than the minimum braking force for parking the vehicle on the current road surface, further determine whether the current vehicle speed reaches the trigger speed. If not, control the vehicle to exit the comfort braking parking function. If so, control the vehicle's hydraulic braking force to exit and replace the hydraulic braking force with electric braking force. The electric braking force can smoothly reduce the current braking force to the minimum braking force required for parking the vehicle on the current road surface.

[0085] After the vehicle stops for a period of time (preset time), the electric braking force is withdrawn and the hydraulic braking force is supplemented.

[0086] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0087] This embodiment also provides a vehicle control system configured to implement the aforementioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0088] Figure 3 is a structural block diagram of a vehicle control system 200 according to one embodiment of the present disclosure. As shown in Figure 3, the vehicle control system 200 is taken as an example, including: a first acquisition module 201, configured to obtain the longitudinal acceleration and requested braking force of the vehicle in response to the vehicle starting the comfort braking parking function, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; a determination module 202, configured to determine the parking braking force of the vehicle based on the longitudinal acceleration, wherein the parking braking force is configured to represent the minimum braking force required for the vehicle to decelerate to a stop at the current moment; a second acquisition module 203, configured to obtain the current vehicle speed in response to the parking braking force being greater than the requested braking force; a control module 204, configured to output a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, wherein the first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force to replace the hydraulic braking force according to the preset slope.

[0089] Optionally, the second acquisition module 203 is further configured to: acquire the historical vehicle speed when the brake pedal is depressed; the control module 204 is further configured to: output a second control signal to control the vehicle in response to the historical vehicle speed being less than a second preset speed threshold, wherein the second preset speed threshold is less than the first preset speed threshold, and the second control signal is configured to control the vehicle to use electric motor force to respond to a braking request.

[0090] Optionally, the determination module 202 is further configured to: determine the current road slope according to the longitudinal acceleration and a first preset formula; and determine the parking braking force of the vehicle according to the road slope and a second preset formula.

[0091] Optionally, the second acquisition module 203 is further configured to: obtain the stopping time of the vehicle; the control module 204 is further configured to: output a third control signal to control the vehicle in response to the stopping time being greater than a preset time threshold, wherein the third control signal is configured to control the vehicle to exit the electric braking force and adopt hydraulic braking force instead of the electric braking force.

[0092] Optionally, the control module 204 is further configured to: obtain a function control instruction, wherein the function control instruction is configured to control the activation and deactivation of the comfort braking and parking function; and control the vehicle to activate the comfort braking and parking function according to the function control instruction.

[0093] Optionally, the control module 204 is further configured to: obtain pre-judgment data, wherein the pre-judgment data includes road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force; determine a judgment result based on the pre-judgment data and preset pre-judgment conditions; in response to the judgment result indicating that the pre-judgment data does not meet the preset pre-judgment conditions, control the vehicle to disable the comfort braking parking function.

[0094] Optionally, the preset pre-determination conditions in the control module 204 include at least one of the following: the road surface data indicates that the road surface is a drivable road surface and the road surface slope is less than a preset slope threshold, the brake pedal stroke change rate is less than a preset change rate threshold and the brake pedal stroke is less than a first preset stroke threshold, the current hydraulic braking force is within a preset hydraulic braking force range, and the accelerator pedal stroke is less than a second preset stroke threshold.

[0095] An embodiment of the present disclosure further provides a vehicle, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle control method described in any of the above embodiments.

[0096] Optionally, in this embodiment, the processor in the vehicle may be configured to run a computer program to perform the following steps:

[0097] Step S101 : in response to the vehicle starting a comfort braking parking function, obtaining the longitudinal acceleration and requested braking force of the vehicle.

[0098] Step S102: Determine the parking braking force of the vehicle according to the longitudinal acceleration.

[0099] Step S103 : In response to the parking braking force being greater than the requested braking force, obtaining the current vehicle speed.

[0100] Step S104 : In response to the current vehicle speed being less than a first preset vehicle speed threshold, outputting a first control signal to control the vehicle.

[0101] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0102] An embodiment of the present disclosure further provides a non-volatile storage medium, in which a computer program is stored. The computer program is configured to execute the vehicle control method described in any of the above embodiments when running on a computer or processor.

[0103] Optionally, in this embodiment, the computer program may be configured to store a computer program configured to perform the following steps:

[0104] Step S101 : in response to the vehicle starting a comfort braking parking function, obtaining the longitudinal acceleration and requested braking force of the vehicle.

[0105] Step S102: Determine the parking braking force of the vehicle according to the longitudinal acceleration.

[0106] Step S103 : In response to the parking braking force being greater than the requested braking force, obtaining the current vehicle speed.

[0107] Step S104 : In response to the current vehicle speed being less than a first preset vehicle speed threshold, outputting a first control signal to control the vehicle.

[0108] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0109] In the above embodiments of the present disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] In some embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the modules can be a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0111] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0112] In addition, the functional modules in the various embodiments of the present disclosure may be integrated into a single processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The integrated modules may be implemented in the form of hardware or software functional modules.

[0113] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0114] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection of the present disclosure. Industrial Applicability

[0115] The disclosed embodiments propose a vehicle control method, system, vehicle, and medium, which can use electric braking force instead of hydraulic braking force when certain conditions are met. Since electric braking force has the characteristics of high response speed and high response accuracy, using electric braking force instead of hydraulic braking force can enable the vehicle to stop smoothly, thereby solving the technical problem of vehicle shaking when the vehicle brakes to stop in the prior art.

Claims

1. A vehicle control method, comprising: In response to the vehicle starting the comfort brake parking function, acquiring the longitudinal acceleration and the requested braking force of the vehicle, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; Determining a parking brake force of the vehicle according to the longitudinal acceleration, wherein the parking brake force is set to represent a minimum braking force required for the vehicle to decelerate to a stop at a current moment; In response to the parking braking force being greater than the requested braking force, acquiring a current vehicle speed; In response to the current vehicle speed being less than a first preset vehicle speed threshold, a first control signal is output to control the vehicle, wherein the first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force replaces the hydraulic braking force according to the preset slope.

2. The vehicle control method according to claim 1, wherein: Also includes: Obtaining a historical speed of the vehicle when the brake pedal is depressed; In response to the historical vehicle speed being less than a second preset vehicle speed threshold, a second control signal is output to control the vehicle, wherein the second preset vehicle speed threshold is less than the first preset vehicle speed threshold, and the second control signal is configured to control the vehicle to use the electric machine force to respond to a braking request.

3. The vehicle control method according to claim 1, wherein: Determining the parking braking force of the vehicle according to the longitudinal acceleration includes: Determining a current road surface slope according to the longitudinal acceleration and a first preset formula; The parking braking force of the vehicle is determined according to the road surface slope and a second preset formula.

4. The vehicle control method according to claim 1, wherein: After outputting a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, the method further includes: Obtaining the stopping time of the vehicle; In response to the stop time being greater than a preset time threshold, a third control signal is output to control the vehicle, wherein the third control signal is configured to control the vehicle to exit the electric brake force and replace the electric brake force with the hydraulic brake force.

5. The vehicle control method according to claim 1, wherein: Also includes: Acquire a function control instruction, wherein the function control instruction is configured to control activation and deactivation of the comfort brake parking function; The vehicle is controlled to start a comfort braking parking function according to the function control instruction.

6. The vehicle control method according to claim 1, wherein: Also includes: Acquiring pre-judgment data, wherein the pre-judgment data includes road surface data, brake pedal signal, accelerator pedal signal, and current hydraulic braking force; Determining a determination result according to the pre-determination data and the preset pre-determination condition; In response to the determination result indicating that the pre-determination data does not satisfy the preset pre-determination condition, the vehicle is controlled to disable the comfort brake parking function.

7. The vehicle control method according to claim 6, wherein: The preset pre-determination condition includes at least one of the following: The road surface data indicates that the road surface is a drivable road surface and the road surface slope is less than a preset slope threshold, the travel change rate of the brake pedal is less than a preset change rate threshold and the travel of the brake pedal is less than a first preset travel threshold, the current hydraulic braking force is within a preset hydraulic braking force range, and the travel of the accelerator pedal is less than a second preset travel threshold.

8. A vehicle control system comprising: a first acquisition module, configured to acquire the longitudinal acceleration and requested braking force of the vehicle in response to the vehicle starting the comfort braking parking function, wherein the requested braking force is the braking force generated by the driver stepping on the brake pedal; a determination module, configured to determine a parking brake force of the vehicle according to the longitudinal acceleration, wherein the parking brake force is set to represent a minimum braking force required for the vehicle to decelerate to a stop at a current moment; a second acquisition module, configured to acquire a current vehicle speed in response to the parking braking force being greater than the requested braking force; A control module is configured to output a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, wherein the first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the electric braking force replaces the hydraulic braking force according to the preset slope.

9. A vehicle comprising a memory and a processor, wherein: The memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle control method described in any one of claims 1 to 7.

10. A non-volatile storage medium, wherein: The non-volatile storage medium stores a computer program, wherein the computer program is configured to execute the vehicle control method described in any one of claims 1 to 7 when running on a computer or a processor.

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