Vehicle braking method, apparatus and system, electronic device, and readable medium

Abstract

A vehicle braking method, apparatus and system, an electronic device, and a readable medium. The vehicle braking method comprises: in response to a vehicle entering a braking state, a controller in a braking system of the vehicle controls a pre-configured hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force for the vehicle; and in response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and controls a pre-configured electronic parking brake system to provide a second rear wheel braking force for the vehicle, wherein in the braking process of the vehicle, the sum of the reduced force of the front wheel braking force and the reduced force of the first rear wheel braking force is equal to the second rear wheel braking force. The pitching phenomenon in the vehicle braking process is alleviated, the reduction in vehicle deceleration is avoided, thereby achieving an imperceptible stop.

Description

Vehicle braking method, device, system, electronic device and readable medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on March 14, 2024, with application number 202410293632.5 and invention name “A vehicle braking method, device, system, electronic device and readable medium”. The entire contents of the above application are incorporated into this application by reference. Technical Field

[0003] The present application relates to, but is not limited to, the field of vehicle technology, and in particular to a vehicle braking method, a vehicle braking device, a vehicle braking system, an electronic device, and a computer-readable medium. Background Art

[0004] Existing technologies, to mitigate the nodding phenomenon during braking and achieve seamless parking, typically reduce braking force to release suspension stress earlier. However, as braking force decreases, the user still notices a decrease in vehicle deceleration, preventing truly seamless parking. Technical Solutions

[0005] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0006] The present application provides a vehicle braking method, device, system, electronic device and computer-readable medium to solve the problem that when reducing the braking force to alleviate the vehicle nodding phenomenon and thus achieving a strategy of senseless parking, the user can still perceive the reduction in vehicle deceleration during the process of weakening the braking force, and truly senseless parking cannot be achieved.

[0007] The present application discloses a vehicle braking method, comprising:

[0008] In response to the vehicle entering a braking state, a controller in the braking system of the vehicle controls a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force to the vehicle; and

[0009] In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and controls a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the reduction in the front wheel braking force and the force of the reduction in the first rear wheel braking force is equal to the second rear wheel braking force.

[0010] Optionally, the vehicle further includes a front suspension; and when the hydraulic braking system reduces the front wheel braking force, the force applied to the front suspension is reduced.

[0011] Optionally, the hydraulic brake system includes a brake pedal, brake fluid, and a brake; and the step of controlling the preset hydraulic brake system to provide the vehicle with a front wheel braking force and a first rear wheel braking force includes:

[0012] In response to a user's stepping operation on the brake pedal, the controller controls the hydraulic brake system to provide a preset pressure to the brake fluid; and

[0013] The controller controls the brake fluid having the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force to the vehicle.

[0014] Optionally, the method further includes:

[0015] The controller determines the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and

[0016] The controller determines the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

[0017] Optionally, after the step of controlling the hydraulic brake system to reduce the front wheel braking force and the first rear wheel braking force, the step further includes:

[0018] The controller calculates a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and calculates a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced; and

[0019] The controller calculates a sum of the first reduction value and the second reduction value, and uses the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0020] Optionally, the step of controlling a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle includes:

[0021] The controller controls the electronic parking brake system to provide the second rear wheel braking force to be provided to the vehicle.

[0022] Optionally, the hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0023] The present application also discloses a vehicle braking device, comprising:

[0024] a braking force providing station, configured to, in response to the vehicle entering a braking state, cause a controller in the braking system of the vehicle to control a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force to the vehicle; and

[0025] A braking force reduction station is configured to control, in response to the vehicle satisfying a preset braking condition, the controller to control the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and to control a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the front wheel braking force reduction and the force of the first rear wheel braking force reduction is equal to the second rear wheel braking force.

[0026] Optionally, the vehicle further includes a front suspension; and when the hydraulic braking system reduces the front wheel braking force, the force applied to the front suspension is reduced.

[0027] Optionally, the hydraulic braking system includes a brake pedal, brake fluid, and a brake; and the braking force providing station includes:

[0028] a pressure providing section, configured to control the hydraulic brake system by the controller to provide a preset pressure to the brake fluid in response to a user's stepping operation on the brake pedal; and

[0029] The brake fluid control section is configured to enable the controller to control the brake fluid with the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force for the vehicle.

[0030] Optionally, the device further comprises:

[0031] a front wheel braking force determination station configured to cause the controller to determine the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and

[0032] The first rear wheel braking force determination station is configured to enable the controller to determine the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

[0033] Optionally, the device further comprises:

[0034] a first calculation station configured to cause the controller to calculate a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and to calculate a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced; and

[0035] The second calculation station is configured to cause the controller to calculate a sum of the first reduction value and the second reduction value, and use the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0036] Optionally, the braking force reduction station comprises:

[0037] The second rear wheel braking force providing section is configured to enable the controller to control the electronic parking brake system to provide the vehicle with the second rear wheel braking force to be provided.

[0038] Optionally, the hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0039] The embodiment of the present application further discloses a vehicle braking system, comprising at least a controller, an electronic parking brake system, and a hydraulic brake system, wherein the controller is communicatively connected to the electronic parking brake system and the hydraulic brake system respectively;

[0040] The controller is configured to control the hydraulic brake system to provide a front wheel braking force and a first rear wheel braking force to the vehicle in response to the vehicle entering a braking state; and

[0041] In response to the controller being configured to control the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force in response to the vehicle satisfying a preset braking condition, and to control the electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force by which the front wheel braking force is reduced and the force by which the first rear wheel braking force is reduced is equal to the second rear wheel braking force.

[0042] Optionally, the vehicle further includes a front suspension; and when the hydraulic braking system reduces the front wheel braking force, the force applied to the front suspension is reduced.

[0043] Optionally, the hydraulic brake system includes a brake pedal, brake fluid and a brake;

[0044] The controller is configured to control the hydraulic brake system to provide a preset pressure to the brake fluid in response to a user's stepping operation on the brake pedal; and

[0045] The controller is configured to control the brake fluid having the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force to the vehicle.

[0046] Optionally, the controller is configured to determine the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and

[0047] The controller is configured to determine the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

[0048] Optionally, the controller is configured to calculate a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and calculate a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced; and

[0049] The controller is configured to calculate a sum of the first reduction value and the second reduction value, and use the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0050] Optionally, the controller is configured to control the electronic parking brake system to provide the second rear wheel braking force to be provided to the vehicle.

[0051] Optionally, the hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0052] The present application also discloses an electronic device, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0053] The memory is used to store computer instructions; and

[0054] The processor is used to implement the method described in the embodiment of the present application when executing computer instructions stored in the memory.

[0055] The present application also discloses one or more computer-readable media having instructions stored thereon, which, when executed by one or more processors, enable the processors to perform the methods described in the embodiments of the present application.

[0056] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description. Beneficial effects

[0057] This application includes the following advantages:

[0058] In the present application, in response to a vehicle entering a braking state, a controller in the vehicle's braking system controls a preset hydraulic braking system to provide the vehicle with front wheel braking force and a first rear wheel braking force. In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, thereby reducing the front wheel braking force of the vehicle, alleviating the forward shift of the center of gravity during the vehicle braking process, and allowing the potential energy of the spring of the vehicle's front suspension to be released in advance, thereby alleviating the nodding phenomenon of the vehicle during braking. While the front wheel braking force and the first rear wheel braking force are reduced, the controller controls a preset electronic parking brake system to provide the vehicle with a second rear wheel braking force. During the vehicle's braking process, the sum of the reduced front wheel braking force and the reduced first rear wheel braking force is equal to the second rear wheel braking force, and the vehicle's braking force remains unchanged, thereby avoiding a reduction in vehicle deceleration caused by the reduction in vehicle braking force and achieving a senseless parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 is a flowchart of a vehicle braking method provided in an embodiment of the present application;

[0060] FIG2A is a schematic diagram of the forces acting on the front suspension of a vehicle in a stationary state provided by an embodiment of the present application;

[0061] FIG2B is a schematic diagram of the forces acting on the front suspension of a vehicle before the braking force is redistributed according to an embodiment of the present application;

[0062] FIG3 is a schematic diagram of the braking force of a vehicle provided in an embodiment of the present application;

[0063] FIG4 is a schematic diagram of redistribution of vehicle braking force provided in an embodiment of the present application;

[0064] FIG5 is a structural block diagram of a vehicle braking device provided in an embodiment of the present application;

[0065] FIG6 is a structural block diagram of a vehicle braking system provided in an embodiment of the present application;

[0066] FIG7 is a block diagram of an electronic device provided in an embodiment of the present application;

[0067] FIG8 is a schematic diagram of a computer-readable medium provided in an embodiment of the present application.

[0068] Implementation Methods of the Application

[0069] The present application will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0070] To facilitate understanding of the technical solutions and technical effects of the embodiments of the present application, the prior art of the present application will be briefly described below.

[0071] Vehicles typically include a suspension and braking system. The suspension, typically consisting of front and rear suspensions, is used to transmit forces and torque between the wheels and the vehicle frame. It also cushions impacts from uneven roads, reducing the resulting vibrations and ensuring a smooth ride.

[0072] Commonly used vehicle braking systems include mechanical hydraulic braking systems, integrated electronic hydraulic braking systems, and electronic parking brake systems. The electronic parking brake system is typically used after the vehicle is stopped to prevent it from moving, and is typically used to provide rear-wheel braking force.

[0073] A mechanical hydraulic brake system primarily consists of a brake pedal, vacuum booster, master cylinder, brake fluid, and brakes. The operating principle of the mechanical hydraulic brake system is as follows: in response to the user pressing the brake pedal, the vacuum booster facilitates the application of pressurized brake fluid in the master cylinder into the brakes. Subsequently, the vehicle's brakes activate, applying braking force to the front and rear wheels, thereby slowing the vehicle down or even stopping it.

[0074] The braking system used by the user in response to a vehicle's operation is a mechanical hydraulic braking system. When the user presses the brake pedal, part of the vehicle's kinetic energy is converted into potential energy by compressing the front suspension springs. The greater the force and speed of the user's application of the brake pedal, the greater the braking force and the potential energy of the front suspension springs. If the user does not release the brake pedal, the potential energy of the compressed front suspension springs is released only after the vehicle stops, causing the vehicle to nod.

[0075] To mitigate vehicle nodding during braking and achieve seamless stopping, vehicles typically use integrated electronic hydraulic braking systems. These systems are developed based on mechanical hydraulic braking systems and offer improved NVH performance compared to mechanical hydraulic systems. NVH stands for noise, vibration, and harshness, and is a key indicator of vehicle ride comfort.

[0076] The integrated electronic hydraulic braking system primarily consists of an electronic brake pedal, an electronic controller, a master cylinder, brake fluid, and brakes. This system decouples the user's pressure on the brake pedal from the vehicle's braking force. It converts the pressure on the brake pedal into an electrical signal and transmits it to the electronic controller. The electronic controller controls the integrated electronic hydraulic braking system to pressurize the brake fluid based on the electrical signal, allowing the pressurized fluid to enter the brakes and provide braking force. Furthermore, when the user presses the brake pedal, the electronic controller reduces the braking force during braking, mitigating the forward shift of the vehicle's center of gravity and prematurely releasing the potential energy of the front suspension springs, thus reducing the vehicle's nodding effect during braking. However, the user still notices the reduction in deceleration during braking force, preventing truly seamless parking.

[0077] Based on this, one of the key points of the embodiments of the present application is that during vehicle braking, in response to the vehicle meeting preset braking conditions, the controller controls the reduction of the front and rear wheel braking forces provided by the integrated electronic hydraulic braking system or mechanical hydraulic braking system, thereby alleviating the phenomenon of forward center of gravity shift during vehicle braking and the vehicle nodding phenomenon during braking. At the same time, the controller controls the electronic parking brake system to provide rear wheel braking force to the vehicle, ensuring that during vehicle braking, the sum of the reduced front wheel braking force and the reduced first rear wheel braking force is equal to the second rear wheel braking force, and the vehicle's braking force remains unchanged. This solves the user's perception of less vehicle deceleration due to the reduced vehicle braking force and achieves seamless parking.

[0078] 1 , a flowchart of a vehicle braking method provided in an embodiment of the present application is shown, which may specifically include the following steps:

[0079] Step 101: In response to a vehicle entering a braking state, a controller in a braking system of the vehicle controls a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force for the vehicle.

[0080] In an embodiment of the present application, a vehicle's braking system may include a controller, an electronic parking brake system, and a hydraulic brake system. The controller is communicatively connected to the electronic parking brake system and the hydraulic brake system, respectively. The vehicle's braking force includes a front wheel braking force, a first rear wheel braking force, and a second rear wheel braking force. The hydraulic brake system is used to provide the front wheel braking force and the first rear wheel braking force for the vehicle, and the electronic parking brake system is used to provide the second rear wheel braking force for the vehicle.

[0081] In an embodiment of the present application, when the vehicle enters a braking state, the controller can control the hydraulic brake system to provide the vehicle with front wheel braking force and first rear wheel braking force to decelerate the vehicle. The hydraulic brake system can be a mechanical hydraulic brake system or an integrated electronic hydraulic brake system. If the hydraulic brake system is a mechanical hydraulic brake system, the controller is respectively connected to the mechanical hydraulic brake system and the electronic parking brake system. If the hydraulic brake system is an integrated electronic hydraulic brake system, the controller is an electronic controller in the integrated electronic hydraulic brake system, and the electronic controller is connected to the integrated electronic hydraulic brake system and the electronic parking brake system.

[0082] A hydraulic braking system typically includes a brake pedal. When the user presses the brake pedal, the vehicle enters the braking state. The hydraulic braking system converts the pressure of the brake pedal into an electrical signal and transmits the signal to a controller. Based on the electrical signal, the controller controls the hydraulic braking system to apply braking force to the front wheels and the first rear wheel. These forces, combined with the front and first rear wheel braking forces, cause the vehicle to decelerate.

[0083] Step 102: When the vehicle meets a preset braking condition, the controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and controls the preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the front wheel braking force reduction and the force of the first rear wheel braking force reduction is equal to the second rear wheel braking force.

[0084] In an embodiment of the present application, the vehicle begins to decelerate under the action of the front wheel braking force and the first rear wheel braking force provided by the hydraulic braking system. In response to the vehicle meeting a preset braking condition, the controller can change the distribution of the vehicle's braking force between the front and rear wheels to achieve a senseless parking. The preset braking condition can be determined based on the vehicle's driving safety during the process of redistributing the braking force and whether the user requires a senseless parking. Specifically, the braking condition can include the vehicle's speed being lower than a preset speed, the electronic parking brake system functioning normally, the vehicle's deceleration being lower than a preset deceleration, the vehicle's lateral acceleration being lower than a preset lateral acceleration, the vehicle's body yaw angular velocity being lower than a preset body yaw angular velocity, and the rate of change of deceleration being lower than a preset rate of change of deceleration during the process of the hydraulic braking system providing braking force to the vehicle.

[0085] In this embodiment of the present application, in response to the vehicle meeting a preset braking condition, the controller controls the hydraulic brake system to reduce the vehicle's front wheel braking force and the first rear wheel braking force. Simultaneously, to ensure that the vehicle's deceleration remains constant, the controller controls the electronic parking brake system to apply the second rear wheel braking force. During this process, the sum of the reduction in front wheel braking force and the reduction in the first rear wheel braking force equals the second rear wheel braking force, and the vehicle's braking force remains constant.

[0086] In an embodiment of the present application, an English-speaking vehicle enters a braking state, and a controller in the vehicle's braking system controls the hydraulic braking system to provide the vehicle with front-wheel braking force and a first rear-wheel braking force. In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front-wheel braking force and the first rear-wheel braking force, thereby reducing the front-wheel braking force of the vehicle, alleviating the forward shift of the center of gravity during the vehicle's braking process, and prematurely releasing the potential energy of the springs in the vehicle's front suspension, thereby alleviating the vehicle's nodding phenomenon during braking. While the front-wheel braking force and the first rear-wheel braking force are reduced, the controller controls the electronic parking brake system to provide the vehicle with a second rear-wheel braking force. During the vehicle's braking process, the sum of the reduced front-wheel braking force and the reduced first rear-wheel braking force equals the second rear-wheel braking force, and the vehicle's braking force remains unchanged. This avoids the user's perception of a reduced deceleration caused by the reduction in the vehicle's braking force, thus achieving seamless parking.

[0087] Furthermore, in any of the above embodiments, the vehicle further includes a front suspension; and when the hydraulic braking system reduces the front wheel braking force, the force applied to the front suspension is reduced.

[0088] In an embodiment of the present application, the vehicle further includes a front suspension, and the force applied to the front suspension of the vehicle is positively correlated with the front wheel braking force of the vehicle.

[0089] During vehicle braking, in response to the vehicle entering a braking state, the controller controls the hydraulic braking system to apply front wheel braking force and a first rear wheel braking force. During this process, the vehicle's center of gravity shifts forward, compressing the springs of the vehicle's front suspension. The greater the front wheel braking force, the greater the degree of compression of the front suspension springs, the greater the potential energy of the front suspension springs, and the greater the force applied to the front suspension, resulting in a more pronounced nodding phenomenon when the vehicle stops.

[0090] In an embodiment of the present application, in response to the vehicle meeting a preset braking condition, the front wheel braking force and the rear wheel braking force of the vehicle are redistributed. The controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and at the same time controls the electronic parking brake system to provide the vehicle with a second rear wheel braking force. During the reduction of the front wheel braking force, the force on the front suspension of the vehicle is reduced, the phenomenon of the vehicle's center of gravity moving forward is alleviated, the degree of compression of the spring of the vehicle's front suspension is reduced, and the potential energy of the spring of the vehicle's front suspension is released in advance, alleviating the nodding phenomenon during the vehicle's braking process. At the same time, the electronic parking brake system is controlled to provide the vehicle with a second rear wheel braking force to ensure that the braking force during the vehicle's braking process remains unchanged, avoiding a reduction in the vehicle's deceleration and achieving a senseless parking.

[0091] As an example of the present application, FIG2A shows a schematic diagram of the force on the front suspension of a vehicle in a stationary state provided by an embodiment of the present application, and FIG2B shows a schematic diagram of the force on the front suspension of a vehicle before the braking force is redistributed provided by an embodiment of the present application. Wherein, G is the gravity of the vehicle, a is the distance between the front axle of the vehicle and the center of mass of the vehicle, b is the distance between the rear axle of the vehicle and the center of mass of the vehicle, L is the wheelbase of the vehicle, and F Z1 is the vehicle front axle load, F Z2 is the vehicle rear axle load, F SUS is the force on the front suspension of the vehicle, F X is the driving force of the vehicle, F FA is the front wheel braking force of the vehicle, F RA is the first rear wheel braking force of the vehicle, θ is the vehicle's kingpin caster angle, which refers to the angle between the kingpin axis (i.e., the steering axis) in the longitudinal plane of the vehicle and the vertical line of the ground.

[0092] If the vehicle is at rest, the force on the front suspension is F SUS The calculation formula is: SUS =F Z1 *Cosθ.

[0093] If the vehicle is in the braking state before the braking force is redistributed, the vehicle's driving force F X Equal to the vehicle's braking force, the relationship between the vehicle's driving force and the vehicle's braking force is: F X =F FA+F RA .

[0094] Force F on the vehicle's front suspension SUS The calculation formula is: SUS =F FA *Sinθ+F Z1 *Cosθ.

[0095] Among them, F FA *Sinθ is the component of the vehicle's front wheel braking force in the direction of the front suspension. The force F on the vehicle's front suspension is SUS The front wheel braking force F FA Positive correlation.

[0096] As an example of the present application, FIG3 shows a schematic diagram of the braking force of a vehicle provided by an embodiment of the present application. In which G is the gravity of the vehicle, a is the distance between the front axle of the vehicle and the center of mass of the vehicle, b is the distance between the rear axle of the vehicle and the center of mass of the vehicle, L is the wheelbase of the vehicle, F Z1 is the vehicle front axle load, F Z2 is the vehicle rear axle load, F SUS is the force on the front suspension of the vehicle, F X is the driving force of the vehicle, and θ is the caster angle of the vehicle.

[0097] During the redistribution of the vehicle's braking force, the front wheel braking force is reduced, the rear wheel braking force is increased, and the vehicle's braking force remains unchanged. The rear wheel braking force after redistribution includes the reduced first rear wheel braking force and the newly added second rear wheel braking force. FA The front wheel braking force after the vehicle braking force is redistributed, F RA The first rear wheel braking force before redistribution of vehicle braking force, F EBD F is the increase in rear wheel braking force after vehicle braking force is redistributed. EBD is the difference between the newly added second rear wheel braking force and the reduced first rear wheel braking force, F EBD It is also the reduction in the braking force of the vehicle's front wheels after the vehicle's braking force is redistributed.

[0098] After the vehicle's braking force is redistributed, the relationship between the vehicle's driving force and the vehicle's braking force is: X =F FA +F RA +F EBD .

[0099] Change in force on the vehicle's front suspension ΔF SUS The calculation formula is: ΔF SUS =F EBD *Sinθ.

[0100] During the redistribution of the vehicle's braking force, the vehicle's braking force remains unchanged, avoiding a reduction in the vehicle's deceleration; accordingly, during the vehicle's braking process, the greater the reduction in the front wheel braking force, the greater the reduction in the force on the vehicle's front suspension, which helps to reduce the forward shift of the vehicle's center of gravity and thereby alleviate the vehicle's nodding phenomenon.

[0101] Furthermore, in any of the above embodiments, the hydraulic brake system includes a brake pedal, brake fluid, and a brake; step 101 includes:

[0102] Sub-step S11, in response to a user stepping on the brake pedal, the controller controls the hydraulic brake system to provide a preset pressure to the brake fluid; and

[0103] In sub-step S12 , the controller controls the brake fluid with the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force to the vehicle.

[0104] In an embodiment of the present application, a hydraulic brake system may include a brake pedal, a master cylinder, brake fluid, and a brake. In response to a user's application of the brake pedal, the hydraulic brake system converts the intensity of the user's application of the brake pedal into an electrical signal and transmits the electrical signal to a controller. The harder the user applies the brake pedal, the stronger the electrical signal; the faster the user applies the brake pedal, the higher the frequency of the electrical signal. Based on the electrical signal, the controller controls the hydraulic brake system to apply a preset pressure to the brake fluid. The greater the intensity or frequency of the electrical signal, the greater the pressure applied to the brake fluid by the hydraulic brake system.

[0105] The controller controls the hydraulic brake system to supply brake fluid with a preset pressure to the brakes, so that the brakes provide front wheel braking force and a first rear wheel braking force to the vehicle. The greater the brake fluid pressure, the greater the front wheel braking force and the first rear wheel braking force.

[0106] In an embodiment of the present application, the controller controls the hydraulic braking system to provide pressure to the brake fluid based on the user's stepping operation on the brake pedal, and controls the pressurized brake fluid to enter the brake through the hydraulic braking system to provide braking force for the vehicle, thereby realizing user control over vehicle braking.

[0107] Furthermore, in any of the above embodiments, the method further includes:

[0108] In sub-step S21, the controller determines the front wheel braking force based on the pressure and a front axle braking performance parameter of the vehicle; and

[0109] In sub-step S22 , the controller determines the first rear wheel braking force based on the pressure and a rear axle braking performance parameter of the vehicle.

[0110] In an embodiment of the present application, in response to a user's depressing operation on the brake pedal, a controller controls the hydraulic braking system to provide a preset pressure to the brake fluid, and controls the pressurized brake fluid to enter the brake through the hydraulic braking system to provide the vehicle with front wheel braking force and a first rear wheel braking force. The vehicle's front wheel braking force is determined based on the brake fluid pressure and the vehicle's front axle braking performance parameters, and the vehicle's first rear wheel braking force is determined based on the brake fluid pressure and the vehicle's rear axle braking performance parameters. The vehicle's braking performance parameters are parameters that measure the vehicle's braking performance, and primarily include parameters such as braking distance, braking force, and braking time.

[0111] In a specific example, the front wheel braking force F FA The calculation formula is: FA =P*CP_FA.

[0112] Where P is the pressure of the brake fluid, CP_FA is the front axle braking performance parameter of the vehicle;

[0113] The first rear wheel braking force F of the vehicle RA The calculation formula is: RA =P*CP_RA.

[0114] Among them, CP_RA is the rear axle braking performance parameter of the vehicle.

[0115] Furthermore, in any of the above embodiments, after step 102, the following steps are further included:

[0116] Sub-step S31, the controller calculates a first reduction value of the front wheel braking force during a process of reducing the front wheel braking force, and calculates a second reduction value of the first rear wheel braking force during a process of reducing the first rear wheel braking force; and

[0117] In sub-step S32 , the controller calculates the sum of the first reduction value and the second reduction value, and uses the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0118] In this embodiment of the present application, in response to a user's depressing of the brake pedal, the controller may control the hydraulic braking system to provide a preset pressure to the brake fluid, and control the pressurized brake fluid to enter the brakes through the hydraulic braking system to provide front wheel braking force and a first rear wheel braking force to the vehicle. In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the brake fluid pressure to reduce the front wheel braking force and the first rear wheel braking force of the vehicle.

[0119] The controller may determine the values ​​of the vehicle's front wheel braking force before and after the reduction based on the brake fluid pressure and the vehicle's front axle braking effectiveness parameter, and determine a first reduction value of the front wheel braking force based on the values ​​of the front wheel braking force before and after the reduction. The controller may also determine the values ​​of the vehicle's first rear wheel braking force before and after the reduction based on the brake fluid pressure and the vehicle's rear axle braking effectiveness parameter, and determine a second reduction value of the vehicle's first rear wheel braking force based on the values ​​of the first rear wheel braking force before and after the reduction.

[0120] The controller calculates the sum of the first reduction value and the second reduction value, and uses the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided by the electronic parking brake system, thereby ensuring that the braking force of the vehicle remains unchanged during the vehicle braking process, avoiding the user's feeling of a decrease in vehicle deceleration caused by a decrease in vehicle braking force, and achieving seamless parking.

[0121] Furthermore, in any of the above embodiments, step 102 includes:

[0122] In sub-step S41 , the controller controls the electronic parking brake system to provide the second rear wheel braking force to be provided to the vehicle.

[0123] In an embodiment of the present application, a controller controls the hydraulic braking system to provide front-wheel braking force and a first rear-wheel braking force to the vehicle. In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front-wheel braking force and the first rear-wheel braking force, while simultaneously calculating a first reduction value of the front-wheel braking force during the reduction process and a second reduction value of the first rear-wheel braking force during the reduction process. The sum of the first and second reduction values ​​is used as the second rear-wheel braking force to be provided by the electronic parking brake system. The controller controls the electronic parking brake system to provide the second rear-wheel braking force to be provided, thereby ensuring that the vehicle's braking force remains unchanged during the braking process, avoiding the user's perception of a reduction in vehicle deceleration. Furthermore, the reduction in the front-wheel braking force alleviates the vehicle's nodding phenomenon, achieving seamless parking.

[0124] Furthermore, in any of the above embodiments, the hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0125] In the embodiment of the present application, the hydraulic brake system also includes an anti-lock brake system. The main function of the anti-lock brake system is to prevent the wheels from locking during the vehicle braking process, thereby increasing driving safety.

[0126] In an embodiment of the present application, during the vehicle braking process, in order to achieve a senseless parking, it is necessary to redistribute the front wheel braking force and the rear wheel braking force of the vehicle to alleviate the nodding phenomenon of the vehicle. In order to ensure the driving safety of the vehicle during the redistribution of the front wheel braking force and the rear wheel braking force, the vehicle needs to meet the preset braking conditions. The braking conditions of the vehicle include at least one of the vehicle speed being lower than the preset speed, the vehicle deceleration being lower than the preset deceleration, the vehicle lateral acceleration being lower than the preset lateral acceleration, and the vehicle body yaw angular velocity being lower than the preset body yaw angular velocity. The lateral acceleration and the body yaw angular velocity of the vehicle can be obtained by an IMU (Inertial measurement unit). The preset speed of the vehicle can be 8km / h (kilometers per hour), 10km / h, 12km / h, etc., the preset deceleration of the vehicle can be 0.1g, 0.2g, 0.3g, etc., and the preset lateral acceleration of the vehicle can be 0.1g, 0.2g, 0.3g, etc. The unit of g is 9.8m / s 2 (meters per square second). The preset vehicle body yaw rate can be 2 rad / s (radians per second), 3 rad / s, 4 rad / s, etc., and is not limited in this embodiment of the present application. The vehicle's braking condition may also include the anti-lock braking system being inactive. If the anti-lock braking system is activated, redistributing the vehicle's braking force may affect the vehicle's driving safety.

[0127] The preset braking condition also includes: the vehicle's deceleration change rate during the process of providing the front wheel braking force and the first rear wheel braking force is lower than the preset deceleration change rate. The preset deceleration change rate of the vehicle can be 5m / s 3 (meters / cubic second), 10m / s 3 , 15m / s 3 If the rate of change in deceleration during the application of front wheel braking force and first rear wheel braking force exceeds the preset rate of change in deceleration, this means that the user has applied a strong force and speed to the brake pedal, indicating that the user needs to stop the vehicle quickly rather than automatically. Therefore, the controller will not redistribute the braking force.

[0128] The preset braking conditions also include: the electronic parking brake system is functioning properly. The normal operation of the electronic parking brake system ensures that the controller can effectively control the electronic parking brake system to provide the vehicle with a second rear wheel braking force, thereby ensuring a smooth and seamless parking process.

[0129] 4, a schematic diagram of redistribution of vehicle braking force provided in an embodiment of the present application is shown. The horizontal axis in FIG4 represents vehicle speed, and the vertical axis represents vehicle braking force. X The controller controls the hydraulic brake system to provide the vehicle with a sum of the front wheel braking force and the first rear wheel braking force, F EBD Indicates that the controller controls the electronic parking brake system to provide the vehicle with a second rear wheel braking force. If the vehicle meets the preset braking conditions, the vehicle speed is V0. The controller controls the hydraulic brake system to reduce the vehicle's front wheel braking force and the first rear wheel braking force, and controls the electronic parking brake system to provide the vehicle with a second rear wheel braking force. When the vehicle speed drops to 0, the sum of the reduction in the front wheel braking force and the first rear wheel braking force is ΔF X , ΔF X The braking force is the same as the second rear wheel braking force of the vehicle, which alleviates the nodding phenomenon of the vehicle and avoids the reduction of the vehicle's deceleration, achieving senseless parking.

[0130] It should be noted that for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the order of the actions described, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0131] 5 , a structural block diagram of a vehicle braking device provided in an embodiment of the present application is shown, which may specifically include the following stations:

[0132] a braking force providing station 501, configured to, in response to a vehicle entering a braking state, cause a controller in the braking system of the vehicle to control a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force for the vehicle; and

[0133] The braking force reduction station 502 is configured to control the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force in response to the vehicle meeting a preset braking condition, and to control the preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force by which the front wheel braking force is reduced and the force by which the first rear wheel braking force is reduced is equal to the second rear wheel braking force.

[0134] In an optional embodiment of the present application, the vehicle further includes a front suspension; and in the process of the hydraulic braking system reducing the front wheel braking force, the force applied to the front suspension is reduced.

[0135] In an optional embodiment of the present application, the hydraulic brake system includes a brake pedal, brake fluid, and a brake; the braking force providing station 501 includes:

[0136] a pressure providing section, configured to control the hydraulic brake system by the controller to provide a preset pressure to the brake fluid in response to a user's stepping operation on the brake pedal; and

[0137] The brake fluid control section is configured to enable the controller to control the brake fluid with the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force for the vehicle.

[0138] In an optional embodiment of the present application, the device further includes:

[0139] a front wheel braking force determination station configured to cause the controller to determine the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and

[0140] The first rear wheel braking force determination station is configured to enable the controller to determine the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

[0141] In an optional embodiment of the present application, the device further includes:

[0142] a first calculation station configured to cause the controller to calculate a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and to calculate a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced; and

[0143] The second calculation station is configured to cause the controller to calculate a sum of the first reduction value and the second reduction value, and use the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0144] In an optional embodiment of the present application, the braking force reduction station 502 includes:

[0145] The second rear wheel braking force providing section is configured to enable the controller to control the electronic parking brake system to provide the vehicle with the second rear wheel braking force to be provided.

[0146] In an optional embodiment of the present application, the hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0147] 6 , a structural block diagram of a vehicle braking system provided in an embodiment of the present application is shown, which includes at least a controller 601 , an electronic parking brake system 603 , and a hydraulic brake system 602 , wherein the controller 601 is communicatively connected to the electronic parking brake system 603 and the hydraulic brake system 602 , respectively.

[0148] The controller 601 is configured to control the hydraulic brake system 602 to provide a front wheel braking force and a first rear wheel braking force to the vehicle in response to the vehicle entering a braking state; and

[0149] The controller 601 is configured to control the hydraulic braking system 602 to reduce the front wheel braking force and the first rear wheel braking force in response to the vehicle satisfying a preset braking condition, and to control the electronic parking brake system 603 to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force by which the front wheel braking force is reduced and the force by which the first rear wheel braking force is reduced is equal to the second rear wheel braking force.

[0150] In an optional embodiment of the present application, the vehicle further includes a front suspension; and when the hydraulic braking system 602 reduces the front wheel braking force, the force applied to the front suspension is reduced.

[0151] In an optional embodiment of the present application, the hydraulic brake system 602 includes a brake pedal, brake fluid, and a brake;

[0152] The controller 601 is configured to control the hydraulic brake system 602 to provide a preset pressure to the brake fluid in response to a user's stepping operation on the brake pedal;

[0153] The controller 601 is configured to control the brake fluid with the pressure to enter the brake through the hydraulic brake system 602, so that the brake provides the front wheel braking force and the first rear wheel braking force for the vehicle.

[0154] In an optional embodiment of the present application, the controller 601 is configured to determine the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and

[0155] The controller 601 is configured to determine the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

[0156] In an optional embodiment of the present application, the controller 601 is configured to calculate a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and calculate a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced;

[0157] The controller 601 is configured to calculate a sum of the first reduction value and the second reduction value, and use the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0158] In an optional embodiment of the present application, the controller 601 is configured to control the electronic parking brake system 603 to provide the second rear wheel braking force to be provided to the vehicle.

[0159] In an optional embodiment of the present application, the hydraulic braking system 602 also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system 603 functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0160] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0161] In addition, an embodiment of the present application also provides an electronic device, as shown in Figure 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704.

[0162] Memory 703, configured to store computer instructions; and

[0163] The processor 701 is configured to execute the program stored in the memory 703, and implements the following steps:

[0164] In response to the vehicle entering a braking state, a controller in the braking system of the vehicle controls a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force for the vehicle;

[0165] In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and controls a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the reduction in the front wheel braking force and the force of the reduction in the first rear wheel braking force is equal to the second rear wheel braking force.

[0166] In an optional embodiment of the present application, the vehicle further includes a front suspension; and in the process of the hydraulic braking system reducing the front wheel braking force, the force applied to the front suspension is reduced.

[0167] In an optional embodiment of the present application, the hydraulic brake system includes a brake pedal, brake fluid, and a brake; and the step of controlling the preset hydraulic brake system to provide the vehicle with a front wheel braking force and a first rear wheel braking force includes:

[0168] In response to a user's stepping operation on the brake pedal, the controller controls the hydraulic brake system to provide a preset pressure to the brake fluid;

[0169] The controller controls the brake fluid having the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force to the vehicle.

[0170] In an optional embodiment of the present application, the method further includes:

[0171] The controller determines the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and

[0172] The controller determines the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

[0173] In an optional embodiment of the present application, after the step of controlling the hydraulic brake system to reduce the front wheel braking force and the first rear wheel braking force, the step further includes:

[0174] The controller calculates a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and calculates a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced; and

[0175] The controller calculates a sum of the first reduction value and the second reduction value, and uses the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

[0176] In an optional embodiment of the present application, the step of controlling a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle includes:

[0177] The controller controls the electronic parking brake system to provide the second rear wheel braking force to be provided to the vehicle.

[0178] In an optional embodiment of the present application, the hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

[0179] The communication bus mentioned in the terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0180] The communication interface is used for communication between the above terminal and other devices.

[0181] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0182] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0183] As shown in FIG8 , in another embodiment provided in the present application, a computer-readable medium 801 is further provided, in which instructions are stored. When the computer-readable medium is run on a computer, the computer executes the vehicle braking method described in the above embodiment.

[0184] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the vehicle braking method described in the above embodiment.

[0185] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable medium or transmitted from one computer-readable medium to another computer-readable medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0186] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0187] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0188] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the scope of protection of the present application.

Claims

1. A vehicle braking method, comprising: In response to the vehicle entering a braking state, a controller in the braking system of the vehicle controls a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force for the vehicle; and In response to the vehicle meeting a preset braking condition, the controller controls the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and controls a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the reduction in the front wheel braking force and the force of the reduction in the first rear wheel braking force is equal to the second rear wheel braking force.

2. The method according to claim 1, wherein The vehicle further includes a front suspension; and when the hydraulic brake system reduces the front wheel braking force, the force applied to the front suspension is reduced.

3. The method according to claim 1, wherein The hydraulic brake system includes a brake pedal, brake fluid, and a brake; the steps of controlling the preset hydraulic brake system to provide the front wheel braking force and the first rear wheel braking force for the vehicle include: In response to a user's stepping operation on the brake pedal, the controller controls the hydraulic brake system to provide a preset pressure to the brake fluid; and The controller controls the brake fluid having the pressure to enter the brake through the hydraulic brake system, so that the brake provides the front wheel braking force and the first rear wheel braking force to the vehicle.

4. The method according to claim 3, wherein: The method further comprises: The controller determines the front wheel braking force based on the pressure and a front axle braking effectiveness parameter of the vehicle; and The controller determines the first rear wheel braking force based on the pressure and a rear axle braking effectiveness parameter of the vehicle.

5. The method according to claim 1, wherein After the step of controlling the hydraulic brake system to reduce the front wheel braking force and the first rear wheel braking force, the following step further comprises: The controller calculates a first reduction value of the front wheel braking force during a process in which the front wheel braking force is reduced, and calculates a second reduction value of the first rear wheel braking force during a process in which the first rear wheel braking force is reduced; and The controller calculates a sum of the first reduction value and the second reduction value, and uses the sum of the first reduction value and the second reduction value as the second rear wheel braking force to be provided.

6. The method according to claim 5, wherein: The step of controlling a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle includes: The controller controls the electronic parking brake system to provide the second rear wheel braking force to be provided to the vehicle.

7. The method according to claim 1, wherein The hydraulic braking system also includes an anti-lock braking system; the preset braking conditions include at least one of the following: the speed of the vehicle is lower than a preset speed, the anti-lock braking system is not activated, the electronic parking brake system functions normally, the deceleration of the vehicle is lower than a preset deceleration, the lateral acceleration of the vehicle is lower than a preset lateral acceleration, the body yaw angular velocity of the vehicle is lower than a preset body yaw angular velocity, and the deceleration change rate of the vehicle during the process of providing the front wheel braking force and the first rear wheel braking force is lower than a preset deceleration change rate.

8. A vehicle braking device, wherein: include: a braking force providing station, configured to, in response to the vehicle entering a braking state, cause a controller in the braking system of the vehicle to control a preset hydraulic braking system to provide a front wheel braking force and a first rear wheel braking force to the vehicle; and A braking force reduction station is configured to control, in response to the vehicle satisfying a preset braking condition, the controller to control the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force, and to control a preset electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the front wheel braking force reduction and the force of the first rear wheel braking force reduction is equal to the second rear wheel braking force.

9. A vehicle braking system comprising at least a controller, an electronic parking brake system, and a hydraulic brake system, wherein the controller is communicatively connected to the electronic parking brake system and the hydraulic brake system respectively; The controller is configured to control the hydraulic brake system to provide a front wheel braking force and a first rear wheel braking force to the vehicle in response to the vehicle entering a braking state; and The controller is configured to control the hydraulic braking system to reduce the front wheel braking force and the first rear wheel braking force in response to the vehicle satisfying a preset braking condition, and to control the electronic parking brake system to provide a second rear wheel braking force for the vehicle; during the braking process of the vehicle, the sum of the force of the reduction in the front wheel braking force and the force of the reduction in the first rear wheel braking force is equal to the second rear wheel braking force.

10. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein: The processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used to store computer instructions; and The processor is configured to implement the method according to any one of claims 1 to 7 when executing computer instructions stored in the memory.

11. One or more computer-readable media having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method of any one of claims 1-7.

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