Vehicle braking method, electronic device, and storage medium

Abstract

A vehicle braking method, an electronic device, a vehicle, a computer-readable storage medium, and a program product. The method comprises: receiving a braking request of a vehicle in a floating state, and on the basis of brake pedal travel, controlling at least one wheel of the vehicle to rotate in a reverse direction, so that the vehicle can obtain a large deceleration in water, thereby implementing floating braking of the vehicle. The present disclosure solves the problem in the prior art that when a vehicle is in a floating state, deceleration can only be achieved by means of the resistance of water, and a sufficient deceleration cannot be generated.

Description

Vehicle braking method, electronic device and storage medium

[0001] The present application claims priority to Chinese Patent Application No. 202411101921.7, filed on August 12, 2024, the contents of which are incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicles, and in particular to a vehicle braking method, an electronic device and a storage medium. BACKGROUND

[0003] The wading state and the floating state of the vehicle refer to the state that the vehicle can move at a certain speed when wading or floating in water. For example, when the wading depth is high, the vehicle improves the wading passability by raising the suspension, timely connecting the control of the engine, the electronic waterproof valve and other systems, and improving the wading passability of the vehicle. SUMMARY

[0004] The present disclosure provides a vehicle braking method, an electronic device and a storage medium, which solves the problem that in the related art, when the vehicle is in the floating state, only the resistance of the water can be relied on to achieve deceleration, and a large enough deceleration cannot be generated. By controlling the reverse rotation of at least one wheel of the vehicle, a large deceleration can be obtained in the water, and the floating braking can be completed.

[0005] In a first aspect, a vehicle braking method is provided, which includes: receiving a braking request of a vehicle in a floating state, and controlling reverse rotation of at least one wheel of the vehicle based on a brake pedal stroke to achieve floating braking of the vehicle.

[0006] In a second aspect, a vehicle braking device is provided, which includes: a communication unit and a processing unit; the communication unit is configured to receive a braking request of a vehicle in a floating state, and the processing unit is configured to control reverse rotation of at least one wheel of the vehicle based on a brake pedal stroke to achieve floating braking of the vehicle.

[0007] In a third aspect, an electronic device is provided, which includes: a processor and a communication interface; the communication interface and the processor are coupled, and the processor is configured to run a computer program or instructions to implement the vehicle braking method described above.

[0008] In a fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores instructions, which, when executed on a terminal, cause the terminal to perform the vehicle braking method described above.

[0009] In a fifth aspect, a computer program product containing instructions is provided, which, when executed on a computer, causes the computer to perform the vehicle braking method described above.

[0010] In a sixth aspect, a chip is provided, the chip comprising a processor and a communication interface, the communication interface and the processor coupled, the processor configured to run a computer program or instructions to implement the vehicle braking method described above.

[0011] In a seventh aspect, a vehicle braking system is provided, comprising: a vehicle controller and a vehicle, the vehicle controller configured to perform the vehicle braking method described above.

[0012] In an eighth aspect, a vehicle is provided, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle braking method described above. BRIEF DESCRIPTION OF DRAWINGS

[0013] FIG. 1 is a flowchart of a vehicle braking method according to the related art;

[0014] FIG. 2 is a flowchart of another vehicle braking method according to the related art;

[0015] FIG. 3 is an architectural diagram of a vehicle braking system according to some embodiments;

[0016] FIG. 4 is an architectural diagram of another vehicle braking system according to some embodiments;

[0017] FIG. 5 is a block diagram of hardware of an electronic device according to some embodiments;

[0018] FIG. 6 is a flowchart of a vehicle braking method according to some embodiments;

[0019] FIG. 7 is a flowchart of another vehicle braking method according to some embodiments;

[0020] FIG. 8 is a flowchart of yet another vehicle braking method according to some embodiments;

[0021] FIG. 9 is a flowchart of yet another vehicle braking method according to some embodiments;

[0022] FIG. 10 is a flowchart of yet another vehicle braking method according to some embodiments;

[0023] FIG. 11 is a flowchart of yet another vehicle braking method according to some embodiments;

[0024] FIG. 12 is a flowchart of yet another vehicle braking method according to some embodiments;

[0025] FIG. 13 is a flowchart of yet another vehicle braking method according to some embodiments;

[0026] FIG. 14 is a flowchart of yet another vehicle braking method according to some embodiments;

[0027] FIG. 15 is a block diagram of a vehicle braking device according to some embodiments. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0029] The terms "first" and "second" and the like in the description of the present disclosure and the drawings are used to distinguish different objects or different processing of the same object, rather than to describe a specific order of the objects.

[0030] In addition, the terms "comprising" and "having" and any variations thereof mentioned in the description of the present disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but also includes other steps or units not listed or other steps or units inherent to the process, method, product or device.

[0031] It should be noted that in some embodiments of the present disclosure, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0032] In the description of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0033] In the following, the terms related to some embodiments of the present disclosure are explained to facilitate the reader's understanding.

[0034] (1) Wading driving mode

[0035] The wading driving mode is an auxiliary driving function in a wading road condition, which is suitable for a road surface with water. When the wading depth is high, the vehicle improves the wading passability by raising the suspension and timely taking over the control of the engine, electronic waterproof valve and other systems.

[0036] In addition, when the system monitors that the vehicle is in a floating water state, it will automatically enter the floating water driving mode.

[0037] (2) Wading detection function

[0038] The wading detection function is a function of detecting the depth of water near the vehicle in real time through a wading height sensor to assist the driver to safely pass through a wading section.

[0039] (3) Floating driving mode

[0040] The floating driving mode is suitable for emergency escape of the vehicle in the floating state. When the vehicle in the wading driving mode accidentally enters the deep water area, the system will automatically enter the floating driving mode when it is detected that the vehicle is in the floating state. The instrument of the vehicle will prompt "floating driving has started", and the vehicle will timely take over the control of some systems to ensure the safety of the vehicle.

[0041] At this time, the driver can control the vehicle speed and direction through the gear, accelerator pedal, brake pedal and steering wheel, and the display screen will display the current power, current speed, current draft depth and maximum water level height line in real time. When the water level approaches the warning line, the central control screen and the instrument will issue corresponding warning information to remind the driver to drive carefully and leave the water area as soon as possible.

[0042] (4) Draft depth

[0043] The draft depth is different from the water level height. The water level height refers to the distance from the water surface to the water bottom, while the draft depth refers to the height from the water surface to the actual wheel bottom. The draft depth is an important parameter for the vehicle to determine whether it can enter the floating driving mode in the wading driving mode.

[0044] (5) Brake dynamic control system in floating mode (FBDC)

[0045] The brake dynamic control system in floating mode is mainly used to improve the stability of the vehicle when braking in the floating driving mode, so that the vehicle travels in the direction intended by the driver, which is an active safety control system.

[0046] (6) Brake pedal stroke

[0047] The brake pedal stroke is generally the sum of the stroke caused by the oil absorption of the brake, the expansion of the brake hose, the stroke consumption of the brake master cylinder, the knocking of the disc brake, and the amount of air mixed in the system.

[0048] The above explains the terms related to some embodiments of the present disclosure to facilitate the understanding of the reader.

[0049] At present, only some vehicle models in the industry are equipped with the wading driving mode, but there is no floating driving mode for vehicles in the floating state.

[0050] In the wading driving mode, the vehicle is in contact with the ground, and there is adhesion between the wheels and the ground. At this time, the vehicle can pressurize the wheels in response to the brake operation of the driver on the brake pedal, thereby achieving the braking effect of the vehicle.

[0051] However, when the vehicle leaves the ground and is in a floating state in water, since there is no adhesion between the wheels and the ground, if the brake pedal is stepped on at this time, the hydraulic braking of the wheels makes the wheels lock, and then the vehicle can only rely on the resistance of water to achieve deceleration, and cannot generate a large enough deceleration, so the required braking distance is long, resulting in poor maneuverability and stability of the vehicle in the floating state. And the current braking scheme of the vehicle in the floating state does not have steering performance and poor braking effect, which cannot guarantee the driving safety of the vehicle in the floating state and has poor obstacle avoidance ability.

[0052] In the related art, when the vehicle is in a floating state, there are many challenges in controlling the vehicle, especially in terms of braking control. At present, the technical design of most vehicles mainly includes the following two ways:

[0053] Way 1: As shown in FIG. 1, the vehicle speed and throttle depth are obtained, and the vehicle demand torque is obtained according to the vehicle speed and throttle depth. Then, the vehicle demand torque is distributed to the four driving motors to make the four driving motors output torque.

[0054] For example, when it is determined that the vehicle enters the floating mode, the actual yaw angular velocity of the vehicle is obtained, and the output torque of the four driving motors is corrected according to the actual yaw angular velocity.

[0055] In the floating mode, the output torque of the four driving motors can be corrected in real time according to the actual yaw angular velocity to adjust the torque output of each wheel to suppress the yaw motion of the vehicle and maintain the stable driving of the vehicle. The way 1 only ensures the balance of the vehicle through the yaw angular velocity of the vehicle in the floating mode.

[0056] Way 2: As shown in FIG. 2, the wading depth of the vehicle is obtained, and it is determined that the wheels of the vehicle are in a floating state when the wading depth of the vehicle is greater than a target depth threshold, the actual suspension height of the vehicle is greater than a target height threshold, and the slip ratio of all wheels is greater than a preset slip ratio threshold.

[0057] For example, the first driving strategy when the wheels of the vehicle are in a floating state is obtained, and at least one of forward rotation or reverse rotation of the wheels of the vehicle is driven according to the first driving strategy and the control instruction.

[0058] In the case where the wading depth of the vehicle is less than or equal to the target depth threshold, the actual suspension height of the vehicle does not exceed the target height threshold, and the slip ratio of any wheel is less than or equal to the preset slip ratio threshold, it is determined that the wheels of the vehicle are not in a floating state.

[0059] For example, a second driving strategy when the wheels of the vehicle are in the floating water state is acquired, and at least one of forward rotation or reverse rotation of the wheels of the vehicle is driven according to the second driving strategy and the control instruction.

[0060] The manner 2 can determine whether the vehicle is in the floating water state according to the wading depth, the actual suspension height of the vehicle, and the slip rate of the wheels, and control the vehicle to realize the floating water braking by adopting the first driving strategy or the second driving strategy, but the above technical solution only realizes corresponding strategy braking in the wading state or the floating water state, and does not solve the problems that the current braking scheme of the vehicle in the floating water state does not have steering performance and the braking effect is poor, and the driving safety of the vehicle in the floating water working condition cannot be guaranteed, and the obstacle avoidance capability is poor.

[0061] In view of this, some embodiments of the present disclosure provide a vehicle braking method, which comprises: receiving a braking request of a vehicle in a floating water state, and controlling at least one wheel of the vehicle to rotate reversely based on a brake pedal stroke to realize floating water braking of the vehicle.

[0062] The above technical solution can make the vehicle obtain a larger deceleration in water by controlling at least one wheel of the vehicle to rotate reversely, solve the problem that when the vehicle leaves the ground and is in the floating water state in water, the vehicle can only rely on the resistance of water to realize deceleration and cannot generate a large enough deceleration, and the required braking distance is long, and can complete the floating water braking in a shorter braking distance to improve the operability of the vehicle in the floating water state.

[0063] The embodiments of some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0064] As shown in FIG. 3, the vehicle braking system comprises a vehicle 301 and a vehicle controller 302.

[0065] For example, the vehicle 301 is connected with the vehicle controller 302. The above connection mode can be wired connection or wireless connection, which is not limited in the present disclosure. The vehicle controller 302 can be configured in the vehicle 301, or can be a separate device, which is not limited in the present disclosure.

[0066] Next, the vehicle 301 will be introduced.

[0067] In some embodiments, the vehicle 301 comprises a motor, wheels, a suspension, a steering wheel, a brake pedal and the like. The vehicle 301 is configured with a braking system. The braking system is configured to apply a braking force to the wheels of the vehicle according to a normally set pedal feel curve in response to a brake pedal stroke.

[0068] For example, the vehicle 301 can comprise a motor, and the motor is on the same drive shaft and corresponds to two wheels.

[0069] For example, the vehicle 301 can be a two-wheel drive vehicle, and two drive wheels are controlled by one motor, and the motor is on one drive shaft. When the drive shaft is the front axle, the vehicle 301 is a front-wheel drive vehicle; when the drive shaft is the rear axle, the vehicle 301 is a rear-wheel drive vehicle.

[0070] For example, the vehicle 301 can include at least two motors, and each motor corresponds to at least one wheel.

[0071] For example, when the vehicle 301 includes two motors, each motor can correspond to one wheel, or each motor can correspond to two wheels, or one motor can correspond to one wheel and the other motor can correspond to two wheels; when the vehicle 301 includes three motors, one motor can correspond to two wheels, and the other two motors can each correspond to one wheel.

[0072] For example, when the vehicle 301 includes two motors, the two motors can be on one drive shaft, and each motor corresponds to one wheel, i.e., the vehicle 301 is a front-wheel drive vehicle or a rear-wheel drive vehicle, and two drive wheels can be independently controlled.

[0073] For example, the vehicle 301 can include four motors, and each motor corresponds to one wheel. The vehicle 301 is a four-wheel drive vehicle (and each wheel is independently driven).

[0074] For example, the vehicle 301 can be a four-wheel drive vehicle, and each of the four drive wheels (front left FL wheel, front right FR wheel, rear left RL wheel, and rear right RR wheel) of the vehicle is provided with a corresponding suspension to form an active suspension system.

[0075] For example, the vehicle 301 includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the vehicle braking method.

[0076] Next, the vehicle controller 302 is introduced.

[0077] In some embodiments, the vehicle controller 302 is configured with a wading driving mode and a floating driving mode. When it is detected that the vehicle is in a wading state, the vehicle is controlled to enter the wading driving mode; when it is detected that the vehicle is in a floating state, the vehicle is controlled to enter the floating driving mode.

[0078] In some embodiments, the vehicle controller 302 is configured with a strong braking mode and a weak braking mode. In the strong braking mode, the vehicle 301 is controlled to reverse rotate all wheels or part of wheels of the front axle of the vehicle 301 and all wheels or part of wheels of the rear axle of the vehicle 301, or the braking system is controlled to apply a braking force to all wheels of the vehicle 301, so as to achieve the effect of vehicle floating braking.

[0079] In the weak braking mode, the vehicle 301 is braked by the braking system in a way that all or part of the wheels of the front axle of the vehicle 301 are braked and the wheels of the rear axle of the vehicle 301 are rotated in the opposite direction, so as to achieve the effect of water floating braking of the vehicle.

[0080] In some embodiments, the vehicle control unit 302 is configured with a left front wheel motor control unit (FL_MCU). The FL_MCU controls the left front wheel motor (FL motor) according to the target torque of the FL motor and the actual torque of the FL motor.

[0081] Similarly, the vehicle control unit 302 is also configured with a left rear wheel motor control unit (FR_MCU) to control the left rear wheel motor (FR motor), a right front wheel motor control unit (RL_MCU) to control the right front wheel motor (RL motor), and a right rear wheel motor control unit (RR_MCU) to control the right rear wheel motor (RR motor).

[0082] For example, when the vehicle 301 enters the water floating driving mode, the vehicle control unit 302 is configured to determine the target torque based on the brake pedal stroke, and control the motor to reverse or rotate forward or reduce the speed based on the target torque.

[0083] For example, the vehicle control unit 302 is also configured to determine whether the vehicle is in a water floating state according to the water wading depth of the vehicle from the water wading height sensor.

[0084] For example, the vehicle control unit 302 is also configured to receive the brake pedal stroke detected by the brake pedal stroke sensor.

[0085] For example, the vehicle control unit 302 is also configured to receive the steering wheel angle detected by the steering wheel angle sensor.

[0086] For example, the vehicle control unit 302 is also configured to receive the vehicle speed detected by the wheel speed sensor, and is also configured to receive the vehicle speed detected by the wheel speed sensor combined with the position detected by the global positioning system.

[0087] For example, the vehicle control unit 302 is also configured to receive the longitudinal acceleration of the vehicle from the yaw rate sensor. For example, the yaw rate sensor can be integrated in the vehicle control unit.

[0088] For example, the vehicle control unit 302 is also configured to receive the road surface image collected by the camera perception module.

[0089] The following describes other devices or units in the vehicle braking system.

[0090] In some embodiments, as shown in FIG. 4, the vehicle braking system can further include a braking dynamic control system, a wading depth sensor, a yaw rate sensor, a global positioning system (GPS), a brake pedal stroke sensor, a steering wheel angle sensor, a camera perception module.

[0091] For example, the vehicle controller is connected with the braking dynamic control system. The braking dynamic control system is connected with the vehicle controller 302. The wading depth sensor is connected with the vehicle controller 302. The yaw rate sensor is connected with the vehicle controller 302. The global positioning system is connected with the vehicle controller 302. The brake pedal stroke sensor is connected with the vehicle controller 302. The steering wheel angle sensor is connected with the vehicle controller 302. The camera perception module is connected with the vehicle controller 302.

[0092] For example, the yaw rate sensor can be integrated in the vehicle controller. The wading depth sensor can be an ultrasonic radar.

[0093] For example, the number of camera perception modules can be two, which can be respectively arranged at the front end and the rear end of the vehicle 301.

[0094] When implemented by hardware, each module in the vehicle controller 302 can be integrated on the hardware structure of the electronic device 500 as shown in FIG. 5 to be implemented. For example, as shown in FIG. 5, the basic hardware structure of the electronic device is introduced.

[0095] As shown in FIG. 5, the electronic device 500 includes at least one processor 501, a communication line 502, a memory 503, and at least one communication interface 504.

[0096] For example, the processor 501, the memory 503 and the communication interface 504 can be connected through the communication line 502.

[0097] The processor 501 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement some embodiments of the present disclosure, such as one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0098] The communication line 502 can include a channel for transmitting information between the above-mentioned components.

[0099] The communication interface 504 is configured to communicate with other devices or communication networks, and can use any transceiver-like mechanism, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0100] The memory 503 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), or other type of dynamic storage device that can store information and instructions for execution by the processor 501, and can be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0101] In some embodiments, the memory 503 can exist independently of the processor 501, i.e., the memory 503 can be an external memory of the processor 501, and the memory 503 can be connected to the processor 501 through the communication line 502 for storing execution instructions or application program codes and controlled by the processor 501 to execute, so as to realize the vehicle braking method provided by the embodiments of the present disclosure.

[0102] In some embodiments, the memory 503 can also be integrated with the processor 501, i.e., the memory 503 can be an internal memory of the processor 501, for example, the memory 503 can be a cache for temporarily storing some data and instruction information, etc.

[0103] In some embodiments, the processor 501 can include one or more CPUs, such as CPU0 and CPU1 in FIG. 5.

[0104] In some embodiments, the electronic device can include multiple processors, such as the processor 501 and the processor 507 in FIG. 5.

[0105] In some embodiments, the electronic device can further include an output device 505 and an input device 506.

[0106] It should be noted that the embodiments of the present disclosure can be mutually borrowed or referred to each other, for example, the same or similar steps, method embodiments, system embodiments and device embodiments can be mutually referred to, and the present disclosure does not limit this.

[0107] In some embodiments, as shown in FIG. 6, the method comprises the following S601-S602.

[0108] S601, receiving a brake request of a vehicle in a floating water state.

[0109] In some embodiments, in response to the brake operation of the driver stepping on the brake pedal, the brake request corresponding to the brake operation is determined when the vehicle is in the floating water state.

[0110] For example, when the vehicle is converted from the wading state to the floating water state, correspondingly, the vehicle is switched from the wading driving mode to the floating water driving mode. The vehicle receives the brake request of the vehicle in the floating water state in the floating water driving mode, and performs S602.

[0111] However, if the vehicle receives the brake request of the vehicle in the floating water state in the wading driving mode, and applies a brake force to the wheels of the vehicle through the brake system based on the brake pedal stroke corresponding to the brake request, the brake of the vehicle in the wading state is completed.

[0112] For example, the wading driving mode corresponds to the wading state. The floating water driving mode corresponds to the floating water state.

[0113] S602, based on the brake pedal stroke, controlling at least one wheel of the vehicle to reverse rotation to realize floating water braking of the vehicle.

[0114] In some embodiments, as shown in step S701 in FIG. 7, the implementation process of S602 can be: based on the brake pedal stroke, controlling at least one wheel of the vehicle to reverse rotation, when the brake pedal stroke is less than a preset value.

[0115] For example, based on the brake pedal stroke, a first target brake torque is determined, and the motor is controlled to output the first target brake torque to control at least one wheel of the vehicle to reverse rotation to realize floating water braking of the vehicle, when the brake pedal stroke is less than a preset value.

[0116] For example, for the process of determining the first target brake torque based on the brake pedal stroke when the brake pedal stroke is less than the preset value, refer to the embodiments shown in S1201-S1202 below, which will not be repeated here.

[0117] In some embodiments, as shown in S702 in FIG. 7, the implementation process of S602 can be: based on the brake pedal stroke and the steering wheel steering angle, controlling at least one wheel of the vehicle to reverse rotation.

[0118] As follows, as shown in FIG. 8, the process of controlling at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke and the steering wheel steering angle is introduced through case 1 and case 2.

[0119] For example, case 1 is introduced for the case that the steering wheel steering angle is not zero; and case 2 is introduced for the case that the steering wheel steering angle is zero.

[0120] Case 1, as shown in FIG. 8, the implementation process of S602 can be: in the case that the steering wheel steering angle is not zero, based on the brake pedal stroke and the steering wheel steering angle, controlling the steering outside wheel to rotate forward and the steering inside wheel to reverse rotation, so as to realize the steering of the vehicle in the floating water braking process.

[0121] In some embodiments, in the case that the steering wheel steering angle represents that the vehicle turns right, the steering outside wheel includes at least one of the front wheel or the rear wheel on the left side of the vehicle, and the steering inside wheel includes at least one of the front wheel or the rear wheel on the right side of the vehicle.

[0122] That is, in the case that the steering wheel steering angle represents that the vehicle turns right, based on the brake pedal stroke and the steering angle, controlling at least one of the front wheel or the rear wheel on the left side to rotate forward (for example, gradually rotate forward or reduce the rotation speed), and controlling at least one of the front wheel or the rear wheel on the right side to reverse rotation.

[0123] For example, in the case that the steering wheel steering angle represents that the vehicle turns right, the vehicle controller determines a first torque applied to at least one of the front wheel or the rear wheel on the left side of the vehicle and a second torque applied to at least one of the front wheel or the rear wheel on the right side of the vehicle based on the brake pedal stroke.

[0124] Further, based on the first torque, the motor drives the vehicle to control at least one of the front wheel or the rear wheel on the left side to gradually rotate forward or reduce the rotation speed; and based on the second torque, the motor drives the vehicle to control at least one of the front wheel or the rear wheel on the right side to reverse rotation.

[0125] For example, the brake pedal stroke is positively correlated with the torque.

[0126] In some embodiments, in the case that the steering wheel steering angle represents that the vehicle turns left, the steering outside wheel includes at least one of the front wheel or the rear wheel on the right side of the vehicle, and the steering inside wheel includes at least one of the front wheel or the rear wheel on the left side of the vehicle.

[0127] For example, in a case where the steering wheel steering angle represents left turning of the vehicle, the vehicle control unit controls at least one of the front wheels or the rear wheels on the right side of the vehicle to rotate forward (for example, to gradually rotate forward or to reduce the rotation speed) and controls at least one of the front wheels or the rear wheels on the left side of the vehicle to rotate in reverse based on the brake pedal stroke and the steering wheel angle.

[0128] For example, in a case where the steering wheel steering angle represents left turning of the vehicle, the vehicle control unit determines a first torque to be applied to at least one of the front wheels or the rear wheels on the left side of the vehicle and a second torque to be applied to at least one of the front wheels or the rear wheels on the right side of the vehicle based on the brake pedal stroke, respectively.

[0129] Further, the vehicle control unit controls the motor to drive the vehicle to control at least one of the front wheels or the rear wheels on the left side of the vehicle to rotate in reverse based on the first torque and to control at least one of the front wheels or the rear wheels on the right side of the vehicle to gradually rotate forward or to reduce the rotation speed based on the second torque.

[0130] In a case 2, as illustrated in FIG. 8, the implementation process of S602 can further include: in a case where the steering wheel steering angle is zero, controlling all the wheels or part of the wheels of the vehicle to rotate in reverse based on the brake pedal stroke.

[0131] In some embodiments, in a case where the steering wheel steering angle is zero, controlling the wheels associated with the brake strategy to rotate in reverse based on the brake pedal stroke and the brake strategy.

[0132] For example, the brake strategy includes a first brake strategy or a second brake strategy. The wheels associated with the first brake strategy are all the wheels of the vehicle. The wheels associated with the second brake strategy are part of the wheels of the vehicle.

[0133] For example, the wheels associated with the second brake strategy are the rear wheels of the vehicle.

[0134] For example, in response to the driver selecting the brake mode, in a strong brake mode, the vehicle achieves the effect of hydroplaning by controlling all the wheels or part of the wheels of the front axle of the vehicle and all the wheels or part of the wheels of the rear axle of the vehicle to rotate in reverse or by the brake system applying a braking force to the wheels of the vehicle according to the relationship between the brake pedal stroke and the preset value.

[0135] In a weak brake mode, the vehicle achieves the effect of hydroplaning by the brake system applying a braking force to all the wheels or part of the wheels of the front axle of the vehicle and rotating all the wheels or part of the wheels of the rear axle of the vehicle in reverse.

[0136] For example, the brake mode is a strong brake mode or a weak brake mode.

[0137] In some embodiments, when the steering wheel is not turned and the vehicle is driven in a target direction, the vehicle control unit determines a target torque applied to all or part of the wheels of the vehicle based on the brake pedal stroke. Then, the motor is controlled to drive all or part of the wheels of the vehicle in reverse rotation based on the target torque.

[0138] It can be understood that by driving the wheels in reverse rotation, the water flow can be disturbed by the wheels, and then the resistance of the water flow disturbed by the wheels can be used to make the vehicle reach a certain deceleration, so as to achieve the effect of braking.

[0139] For example, a second target braking torque is determined based on the brake pedal stroke and the steering wheel turning angle, and the motor is controlled to output the second target braking torque to control at least one wheel of the vehicle to rotate in reverse, as shown in the embodiment of S1203-S1204, which will not be described here.

[0140] In some embodiments, as shown in S703 of FIG. 7, the implementation process of S602 can be: when the brake pedal stroke is less than a preset value, at least one wheel of the vehicle is controlled to rotate in reverse based on the brake pedal stroke and the steering wheel turning angle.

[0141] It should be noted that when the brake pedal stroke is less than a preset value, the braking system of the vehicle does not apply braking force to the wheels of the vehicle.

[0142] In some embodiments, as shown in FIG. 9, when the vehicle enters the floating water driving mode (such as step S901), the brake pedal is stepped down, and the brake pedal stroke is less than a preset value (for example, X mm) (such as step S902), the braking system of the vehicle is not built up (such as step S903, that is, no braking force is applied to the wheels of the vehicle). The turning angle of the steering wheel is determined (such as step S904, for example, the steering wheel is not turned (i.e., the steering wheel turning angle is zero) or the steering wheel is turned (i.e., the steering wheel turning angle is not zero)).

[0143] The method satisfies one of the following: when the steering wheel turning angle is not zero (for example, right turning or left turning), the wheels on the outside of the turning are controlled to rotate in reverse based on the brake pedal stroke and the steering wheel turning angle to realize the turning of the vehicle during the floating water braking process; or when the steering wheel turning angle is not zero (for example, right turning or left turning), the wheels on the inside of the turning are controlled to rotate in forward based on the brake pedal stroke and the steering wheel turning angle to realize the turning of the vehicle during the floating water braking process.

[0144] For example, in the case that the brake pedal stroke is less than the preset value and the steering wheel steering angle represents right turning of the vehicle (as in step S905), based on the brake pedal stroke and the steering wheel angle, at least one of the front wheels or the rear wheels on the left side is controlled to rotate reversely and at least one of the front wheels or the rear wheels on the right side is controlled to rotate forwardly (as in step S906).

[0145] For another example, in the case that the brake pedal stroke is less than the preset value and the steering wheel steering angle represents left turning of the vehicle (as in step S905), based on the brake pedal stroke and the steering wheel angle, at least one of the front wheels or the rear wheels on the right side is controlled to rotate reversely and at least one of the front wheels or the rear wheels on the left side is controlled to rotate forwardly (as in step S907).

[0146] It is to be further understood that, in the process of controlling the rotation of the wheels based on the brake pedal stroke (as in step S912) and the steering wheel angle (as in step S911), the vehicle controller obtains a target torque according to a system setting curve based on the brake pedal stroke and the steering wheel angle (as in step S913) (as in step S914). Then the motor controls the rotation of the wheels based on the target torque (as in step S915).

[0147] In some embodiments, in the case that the brake pedal stroke is less than the preset value and the steering wheel steering angle is zero, based on the brake pedal stroke, all the wheels or part of the wheels of the vehicle are controlled to rotate reversely (as in step S908).

[0148] In addition, after S601, the floating water braking of the vehicle can also be achieved by the following way: based on the brake pedal stroke and the yaw rate of the vehicle, at least one of the wheels of the vehicle is controlled to rotate reversely to achieve the floating water braking of the vehicle.

[0149] In addition, in the case that the brake pedal stroke is greater than the preset value, based on the brake pedal stroke, the brake system applies a braking force to the wheels of the vehicle.

[0150] For example, in the case that the brake pedal stroke is greater than the preset value, based on the brake pedal stroke, the brake system applies a braking force to the wheels of the vehicle according to a normally set pedal feeling curve, so that the vehicle is in a locked state in the floating water state and will eventually stop or drift depending on the resistance of the water flow.

[0151] Based on the above technical solutions, the vehicle braking method provided by some embodiments of the present disclosure receives a braking request of a vehicle in a floating water state, controls at least one of the wheels of the vehicle to rotate reversely based on the brake pedal stroke, and achieves the floating water braking of the vehicle.

[0152] The above technical solution can make the vehicle obtain a larger deceleration in water by controlling the reverse rotation of at least one wheel of the vehicle, solve the problem that when the vehicle is in a floating state in water, the vehicle can only rely on the resistance of water to realize deceleration and cannot generate a large enough deceleration, and the required braking distance is long, and can complete floating braking in a shorter braking distance to improve the operability of the vehicle in the floating state.

[0153] It can be understood that the above technical solution can optimize the braking and deceleration function of the vehicle in the floating state, and also shorten the braking distance of the vehicle in the floating state and improve the steering performance and obstacle avoidance capability.

[0154] Moreover, compared with the current vehicle in the floating state, the vehicle can only respond to the gear, accelerator pedal, and steering wheel of the vehicle controlled by the driver, the form speed and direction, and respond to the driver's operation of stepping on the brake pedal, and the vehicle appears wheel lock.

[0155] The above technical solution can realize the braking and deceleration effect of the vehicle in the floating mode by optimizing the control strategy of the braking system and the motor driving strategy of the vehicle controller.

[0156] In addition, the above technical solution completely utilizes the basic control device of the vehicle and the pipeline valve body of the electric control brake booster system, and does not increase new other devices, and has the effects of small change, low cost, and easy implementation.

[0157] In some embodiments, as shown in FIGS. 6 and 10, the process that the vehicle controller realizes the same driving direction as the driving direction intended to be manipulated by the driver can be implemented through the following S1001-S1003.

[0158] S1001, determining the driving direction intended to be manipulated by the driver based on the steering angle of the steering wheel and the wheel speed of the four wheels of the vehicle.

[0159] In some embodiments, as shown in FIG. 11, the steering angle of the steering wheel and the wheel speed of the four wheels are obtained (such as step S1101). Further, the driving direction (D1) intended to be manipulated by the driver is determined based on the steering angle of the steering wheel and the wheel speed of the four wheels of the vehicle (such as step S1102).

[0160] For example, based on the steering angle of the steering wheel and the wheel speed of the four wheels of the vehicle, it can be determined that the driving direction intended to be manipulated by the driver is left turning 15°.

[0161] S1002, determining the actual driving direction of the vehicle based on the yaw rate and lateral acceleration of the vehicle.

[0162] In some embodiments, as shown in FIG. 11, the yaw rate and lateral acceleration of the vehicle are obtained (as step S1103). Further, based on the yaw rate and lateral acceleration of the vehicle, the actual driving direction (D2) of the vehicle is determined (as step S1104).

[0163] For example, based on the yaw rate and lateral acceleration of the vehicle, it can be determined that the actual driving direction of the vehicle is left turn 14°.

[0164] S1003, based on the driving direction manipulated by the driver's intention and the actual driving direction of the vehicle, adjusting the wheel speed of the wheels of the vehicle.

[0165] It should be noted that by adjusting the wheel speed of the wheels of the vehicle, the driving direction manipulated by the driver's intention can be made the same as the actual driving direction of the vehicle.

[0166] In some embodiments, the implementation process of S1003 can be: based on the driving direction manipulated by the driver's intention and the actual driving direction of the vehicle, adjusting the torque applied to the wheels by the vehicle controller to adjust the wheel speed of the wheels of the vehicle.

[0167] In some embodiments, in the case where the vehicle understeering is determined based on the driving direction manipulated by the driver's intention and the actual driving direction of the vehicle, at least one of increasing the torque applied to the front wheels on the outside of the steering or reducing the torque applied to the rear wheels on the inside of the steering is performed by the vehicle controller.

[0168] For example, the determination that the vehicle understeering based on the driving direction manipulated by the driver's intention and the actual driving direction of the vehicle can be achieved by the following process: as shown in FIG. 11, in the case where the driving direction manipulated by the driver's intention (D1) is greater than the actual driving direction (D2) (as step S1105), it is determined that the vehicle is understeering (as step S1106), and the brake dynamic system in the floating water driving mode is activated. In response to the instruction issued by the brake dynamic system in the floating water driving mode, at least one of increasing the torque applied to the front wheels on the outside of the steering or reducing the torque applied to the rear wheels on the inside of the steering is performed by the vehicle controller (as step S1108).

[0169] It should be noted that the brake dynamic system in the floating water driving mode can monitor the state of the vehicle in real time when the vehicle floating water is in the floating water state, and control the vehicle controller to adjust the motor torque as needed to change the vehicle yaw moment, so that the vehicle travels in the driving direction manipulated by the driver's intention.

[0170] In some embodiments, in the case where the vehicle oversteering is determined based on the driving direction manipulated by the driver's intention and the actual driving direction of the vehicle, at least one of increasing the torque applied to the rear wheels on the inside of the steering or reducing the torque applied to the front wheels on the outside of the steering is performed by the vehicle controller.

[0171] For example, determining that the vehicle is over-steering based on the driving direction of the driver's intended steering and the actual driving direction of the vehicle can be achieved by the following process: as shown in FIG. 11, in the case where the driving direction of the driver's intended steering (D1) is less than the actual driving direction (D2) (as step S1105), it is determined that the vehicle is over-steering (as step S1106), and the brake dynamic system in the floating driving mode is activated. In response to the instruction issued by the brake dynamic system in the floating driving mode, at least one of increasing the torque applied to the rear wheel inside the steering or reducing the torque applied to the front wheel outside the steering is implemented by the vehicle controller (as step S1107).

[0172] For example, determining that the vehicle is normally steering based on the driving direction of the driver's intended steering and the actual driving direction of the vehicle can be achieved by the following process: as shown in FIG. 11, in the case where the driving direction of the driver's intended steering is equal to the actual driving direction (as step S1105), it is determined that the vehicle is normally steering, and the brake dynamic system in the floating driving mode is not activated (as step S1109).

[0173] It should be noted that the embodiments shown in S1001-S1003 are not limited to being implemented after S602, and the embodiments shown in S1001-S1003 can also be implemented before S602 or before S601, and the present disclosure does not limit this.

[0174] Based on the above technical solution, the driving direction of the driver's intended steering is determined based on the steering wheel steering angle and the wheel speed of the four wheels of the vehicle. The actual driving direction of the vehicle is determined based on the yaw rate and lateral acceleration of the vehicle. The wheel speed of the wheels of the vehicle is adjusted based on the driving direction of the driver's intended steering and the actual driving direction of the vehicle. The above technical solution can control the vehicle to avoid over-steering or under-steering during braking according to the steering wheel steering angle and body yaw rate during braking, thereby improving the operability of the vehicle in the floating water state.

[0175] Furthermore, in the above technical solution, the vehicle controller can be jointly controlled with the brake dynamic control system to control the braking force of a single wheel and a single axle, and the steering of the vehicle during braking can be controlled according to the steering wheel steering angle during braking, thereby improving the obstacle avoidance capability of the vehicle in the floating water state.

[0176] In some embodiments, as shown in FIG. 7 and FIG. 12, the process of controlling the reverse rotation of at least one wheel of the vehicle based on the brake pedal stroke in the case where the brake pedal stroke is less than a preset value in S701 can be achieved by the following S1201-S1202.

[0177] S1201, determining a first target braking torque based on the brake pedal stroke.

[0178] For example, the brake pedal stroke can be detected by a brake pedal stroke sensor, or can be determined according to the brake degree described above.

[0179] In some embodiments, the implementation process of S1201 can be: obtaining the vehicle speed of the vehicle; determining the first target brake torque according to the brake pedal stroke and the vehicle speed.

[0180] For example, the vehicle speed can be detected by a vehicle speed sensor, or can be obtained by combining the wheel speed detected by a wheel speed sensor and the position detected by a global positioning system.

[0181] In some embodiments, the first target brake torque is determined according to the brake pedal stroke and the vehicle speed in combination with a first preset relationship.

[0182] For example, the first preset relationship is a preset correspondence between the brake pedal stroke, the vehicle speed, and the torque; or, the first preset relationship is a preset correspondence between the interval data of the brake pedal stroke and the vehicle speed, and the torque.

[0183] For example, the first preset relationship described above can be obtained by experiment in advance, and can be stored in the form of a table. In the experiment, the vehicle is in a floating state, and after the brake pedal stroke, the vehicle speed, and the steering wheel angle are determined, they remain unchanged, the time for deceleration and stopping under different target torques is obtained, and the target torque that meets the requirement that the time is less than or equal to the target time and meets other requirements such as economic requirements is stored in the table.

[0184] Then, one of the brake pedal stroke and the vehicle speed is changed (which can be changed within the corresponding interval), and the foregoing process is continued until a table covering various floating conditions is obtained to meet the stopping requirements of the floating conditions. To reduce the table lookup time and the size of the table, the data in the table can be converted, for example, the correspondence between the points (brake pedal stroke and vehicle speed) and the points (target torque) in the table can be converted into the correspondence between the intervals (brake pedal stroke and vehicle speed) and the points (target torque).

[0185] After obtaining the table, the table can be stored. Then, when the vehicle is in a floating state during actual driving, after the brake pedal stroke exceeds the target depth threshold, the first target brake torque can be obtained by looking up the table according to the brake pedal stroke and the vehicle speed.

[0186] For example, determining the first target brake torque according to the brake pedal stroke and the vehicle speed can be implemented by: inputting the brake pedal stroke and the vehicle speed into a pre-established model to obtain the first target brake torque.

[0187] In this mode, the corresponding relationship between different brake pedal strokes, different vehicle speeds and different steering wheel angles and the target torque can be obtained through the aforementioned table lookup experiment, and then the corresponding relationship is modeled, and the obtained model can be a ternary (i.e., brake pedal stroke, vehicle speed and steering wheel angle) function. In use, the vehicle controller can call the ternary function to obtain the first target brake torque according to the brake pedal stroke and the vehicle speed.

[0188] In some embodiments, the longitudinal acceleration of the vehicle is obtained; and the first target brake torque is determined according to the brake pedal stroke, the vehicle speed and the longitudinal acceleration.

[0189] For example, the longitudinal acceleration of the vehicle can be collected by a yaw rate sensor. Then, the first target brake torque is obtained according to the brake pedal stroke, the vehicle speed and the longitudinal acceleration.

[0190] The way of obtaining the first target brake torque can refer to the way of obtaining the first target brake torque according to the brake pedal stroke and the vehicle speed as described above, such as table lookup, using a pre-established model, etc., which will not be described here.

[0191] For example, the yaw rate sensor can be integrated in the vehicle controller.

[0192] S1202, control the motor to output the first target brake torque to control at least one wheel of the vehicle to reverse rotation.

[0193] It can be understood that after the first target brake torque is obtained, the motor of the vehicle can be controlled to reverse according to the first target brake torque to drive the wheels of the vehicle to reverse, thereby realizing the floating water braking function.

[0194] In some embodiments, in the case where the vehicle includes one motor, the motor is on the same drive shaft, and corresponds to two wheels, the implementation process of S1202 of controlling at least one wheel of the vehicle to reverse rotation can be: controlling the motor to drive the corresponding two wheels to reverse according to the first target brake torque.

[0195] In this implementation mode, the vehicle is a two-wheel drive vehicle, and the two drive wheels are controlled by the same motor, and the motor is on the same drive shaft. When the drive shaft is the front axle, the vehicle is a front-wheel drive vehicle, and the motor can be controlled to drive the two front wheels to reverse according to the first target brake torque to realize the braking in the floating water state; when the drive shaft is the rear axle, the vehicle is a rear-wheel drive vehicle, and the motor can be controlled to drive the two rear wheels to reverse according to the first target brake torque to realize the braking in the floating water state.

[0196] In some embodiments, when the vehicle includes at least two motors, each motor corresponding to at least one wheel (for example, when including two motors, each motor can correspond to one wheel, each motor can correspond to two wheels, one motor can correspond to one wheel and the other motor can correspond to two wheels; when including three motors, one motor can correspond to two wheels, and the other two motors can each correspond to one wheel), and the first target braking torque includes at least two sub-braking torques, the process of controlling at least one wheel of the vehicle to reverse in S1202 can further include: controlling each motor corresponding to each sub-braking torque to reverse.

[0197] For example, the first target braking torque is the sum of the at least two sub-braking torques.

[0198] In some embodiments, the vehicle includes two motors, the two motors are on the same drive shaft, each motor corresponds to one wheel, that is, the vehicle is a front-wheel drive vehicle or a rear-wheel drive vehicle, and the two drive wheels can be independently controlled, and the first target braking torque includes two sub-braking torques. At this time, each motor corresponding to each sub-braking torque can be controlled to reverse, for example, the second target braking torque is the sum of the two sub-braking torques.

[0199] In some embodiments, when the vehicle includes four motors, each motor corresponding to one wheel, the process of controlling at least one wheel of the vehicle to reverse in S1202 can further include: when the first target braking torque does not exceed the sum of the maximum output torques of the two motors on the same end of the vehicle, controlling the two motors on the first end of the vehicle to reverse according to the second target braking torque; when the first target braking torque exceeds the sum of the maximum output torques of the two motors on the same end of the vehicle, controlling all four motors to reverse according to the second target braking torque.

[0200] In this implementation, the vehicle is a four-wheel drive vehicle (and each wheel is independently driven). The first end can be the front end or the rear end, one of which can be selected by default for control, or can be automatically selected at random, or can be selected by the user.

[0201] Based on the above technical solution, the first target braking torque is determined based on the brake pedal stroke. The motor outputs the first target braking torque to control at least one wheel of the vehicle to reverse. The above technical solution can control the wheel to reverse as intended by the driver based on the brake pedal stroke, thereby disturbing the water flow to obtain a larger deceleration.

[0202] In some embodiments, as shown in FIGS. 7 and 12, the process of controlling at least one wheel of the vehicle to reverse in S702 based on the brake pedal stroke and the steering wheel steering angle can be implemented by S1203-S1204.

[0203] S1203, determining the second target brake torque based on the brake pedal stroke and the steering wheel steering angle.

[0204] For example, the brake pedal stroke can be detected by a brake pedal stroke sensor or determined according to the brake degree described above; the steering wheel steering angle can be detected by a steering wheel steering angle sensor provided by a steering system.

[0205] In some embodiments, the implementation process of S1203 can be: obtaining the vehicle speed; determining the second target brake torque according to the brake pedal stroke, the steering wheel steering angle, and the vehicle speed.

[0206] For example, the vehicle speed can be detected by a vehicle speed sensor or obtained by combining the wheel speed detected by a wheel speed sensor with the position detected by a global positioning system.

[0207] In some embodiments, the second target brake torque is determined according to the brake pedal stroke, the steering wheel steering angle, and the vehicle speed in combination with a second preset relationship.

[0208] For example, the second preset relationship is a preset correspondence between the brake pedal stroke, the steering wheel steering angle, and the vehicle speed and the torque; or, the second preset relationship is a preset correspondence between the interval data of the brake pedal stroke, the steering wheel steering angle, and the vehicle speed and the torque.

[0209] For example, the second preset relationship described above can be obtained by experiment in advance and can be stored in the form of a table. In the experiment, the vehicle is in a floating state, and after the brake pedal stroke, the vehicle speed, and the steering wheel steering angle are determined, they remain unchanged, the time for deceleration and stopping under different target torques is obtained, and the target torque that meets the requirement that the time is less than or equal to the target time and meets other requirements such as economy requirement is stored in the table.

[0210] Then, one of the brake pedal stroke, the vehicle speed, and the steering wheel steering angle is changed (which can be changed within the corresponding interval), and the foregoing process is continued until a table covering various floating conditions is obtained to meet the stopping requirements of the floating conditions. To reduce the table lookup time and the table size, the data in the table can be converted, for example, the correspondence between the points (brake pedal stroke, vehicle speed, and steering wheel steering angle) and the points (target torque) in the table can be converted into the correspondence between the intervals (brake pedal stroke, vehicle speed, and steering wheel steering angle) and the points (target torque).

[0211] After obtaining the table, the table can be stored. Then, when the vehicle is in a floating state and the brake pedal stroke exceeds the target depth threshold in actual driving, the second target brake torque can be obtained by looking up the table according to the brake pedal stroke, the vehicle speed, and the steering wheel steering angle.

[0212] For example, the second target brake torque can be determined according to the brake pedal stroke, the steering wheel steering angle, and the vehicle speed, by inputting the brake pedal stroke, the vehicle speed, and the steering wheel angle into a pre-established model to obtain the second target brake torque.

[0213] In this manner, the corresponding relationship between the target torque and different brake pedal strokes, different vehicle speeds, and different steering wheel angles can be obtained through the aforementioned table lookup experiment, and then the corresponding relationship is modeled to obtain a ternary (i.e., brake pedal stroke, vehicle speed, and steering wheel angle) function. In use, the vehicle control unit can call the ternary function to obtain the second target brake torque according to the brake pedal stroke, the vehicle speed, and the steering wheel angle.

[0214] In some embodiments, the longitudinal acceleration of the vehicle is obtained; and the second target brake torque is determined according to the brake pedal stroke, the steering wheel steering angle, the vehicle speed, and the longitudinal acceleration.

[0215] For example, the longitudinal acceleration of the vehicle can be obtained by a yaw rate sensor. Then, the second target brake torque is obtained according to the brake pedal stroke, the vehicle speed, the longitudinal acceleration, and the steering wheel angle. The manner of obtaining the second target brake torque can refer to the manner of obtaining the second target brake torque according to the brake pedal stroke, the vehicle speed, and the steering wheel angle as described above, such as table lookup, use of a pre-established model, and the like, which will not be described herein again.

[0216] For example, the yaw rate sensor can be integrated in the vehicle control unit.

[0217] S1204, controlling the motor to output the second target brake torque to control at least one wheel of the vehicle to reverse rotation.

[0218] It can be understood that after the second target brake torque is obtained, the motor of the vehicle can be controlled to reverse rotation according to the second target brake torque to drive the wheels of the vehicle to reverse rotation, thereby realizing the floating water braking function.

[0219] In some embodiments, in the case where the vehicle includes one motor, the motor is on the same drive shaft, and corresponds to two wheels, the implementation process of controlling at least one wheel of the vehicle to reverse rotation in S1204 can be: controlling the motor to drive the corresponding two wheels to reverse rotation according to the second target brake torque.

[0220] In this implementation manner, the vehicle is a two-wheel drive vehicle, and the two drive wheels are controlled by the same motor, and the motor is on the same drive shaft. When the drive shaft is the front axle, the vehicle is a front-wheel drive vehicle, and the motor can be controlled to drive the two front wheels to reverse rotation according to the second target brake torque to realize the braking in the floating water state; when the drive shaft is the rear axle, the vehicle is a rear-wheel drive vehicle, and the motor can be controlled to drive the two rear wheels to reverse rotation according to the second target brake torque to realize the braking in the floating water state.

[0221] In some embodiments, when the vehicle includes at least two motors, each motor corresponding to at least one wheel (for example, when including two motors, each motor can correspond to one wheel, each motor can correspond to two wheels, one motor can correspond to one wheel and the other motor can correspond to two wheels; when including three motors, one motor can correspond to two wheels and the other two motors can each correspond to one wheel), and the second target braking torque includes at least two sub-braking torques, the implementation process of controlling at least one wheel of the vehicle to reverse in S1204 can also be: controlling each motor corresponding to each sub-braking torque to reverse.

[0222] For example, the second target braking torque is the sum of the at least two sub-braking torques.

[0223] In some embodiments, the vehicle includes two motors, the two motors are on the same drive shaft, each motor corresponds to one wheel, that is, the vehicle is a front-wheel drive vehicle or a rear-wheel drive vehicle, and the two drive wheels can be independently controlled, and the second target braking torque includes two sub-braking torques. At this time, each motor corresponding to each sub-braking torque can be controlled to reverse, for example, the second target braking torque is the sum of the two sub-braking torques.

[0224] In some embodiments, when the vehicle includes four motors, each motor corresponding to one wheel, the implementation process of controlling at least one wheel of the vehicle to reverse in S1204 can also be: when the second target braking torque does not exceed the sum of the maximum output torques of the two motors at the same end of the vehicle, controlling the two motors at the first end of the vehicle to reverse according to the second target braking torque; when the second target braking torque exceeds the sum of the maximum output torques of the two motors at the same end of the vehicle, controlling the four motors to reverse according to the second target braking torque.

[0225] In this implementation, the vehicle is a four-wheel drive vehicle (and each wheel is independently driven). The first end can be the front end or the rear end, one of them can be selected by default for control, or can be automatically selected randomly, or can be selected by the user.

[0226] For example, the second target braking torque can include two sub-braking torques or four sub-braking torques. Hereinafter, the process of controlling the motor to reverse in the case that the second target braking torque includes two sub-braking torques is introduced through case 1. The process of controlling the motor to reverse in the case that the second target braking torque includes four sub-braking torques is introduced through case 2.

[0227] Case 1, when the second target braking torque does not exceed the sum of the maximum output torques of the two motors at the same end, the second target braking torque includes two sub-braking torques, at this time, the two motors at the first end corresponding to each sub-braking torque can be controlled to reverse according to the sub-braking torque.

[0228] For example, the second target braking torque is the sum of the two sub-braking torques.

[0229] Case 2, when the second target braking torque exceeds the sum of the maximum output torques of the two motors at the same end, the second target braking torque includes four sub-braking torques, at this time, the motor corresponding to each sub-braking torque can be controlled to reverse according to the sub-braking torque.

[0230] For example, the second target braking torque is the sum of the four sub-braking torques.

[0231] When controlling the motor to reverse, on the one hand, the vehicle controller can send the FL motor target torque (the target torque of the left front wheel in-wheel motor) to the FL MCU (left front wheel in-wheel motor control unit) to control the FL motor according to the FL motor target torque and the FL motor actual torque.

[0232] On the other hand, the FL MCU can feed back the FL motor actual torque to the vehicle controller, and the vehicle controller can generate a control signal according to the FL motor target torque and the FL motor actual torque to control the FL motor through the FL MCU. Similarly, the vehicle controller can control the right front wheel in-wheel motor, the left rear wheel in-wheel motor and the right rear wheel in-wheel motor, so that the vehicle can realize the floating water braking function and meet the braking expectation of the driver. Moreover, the deceleration generated by the in-wheel motor reverse in the floating water state is significantly higher than that generated by the brake hydraulic wheel lock, which can greatly reduce the collision risk of the vehicle floating water driving.

[0233] In some embodiments, the implementation process of controlling at least one wheel of the vehicle to reverse in S1204 can also be: controlling the motor output torque according to a target torque growth rate until the second target braking torque is reached.

[0234] For example, after obtaining the second target braking torque, the second target braking torque is also subjected to torque smoothing processing. For example, the motor output torque can be controlled according to a target torque growth rate until the second target braking torque is reached. For example, the target torque growth rate can be set as needed to achieve the smoothing of the second target braking torque.

[0235] It can be understood that through the torque smoothing processing, the increase rate of the target torque can be limited to avoid producing an adverse ride and reducing the service life of the transmission system.

[0236] Based on the above technical solution, the second target brake torque is determined based on the brake request corresponding brake pedal stroke and steering wheel steering angle. The motor outputs the second target brake torque to control at least one wheel of the vehicle to reverse rotation. The above technical solution controls the motor to output the second target brake torque, so that the vehicle can realize the brake request corresponding to the brake pedal stroke, so that the motor controls the wheel to reverse rotation as the driver intends, thereby disturbing the water flow to obtain a larger deceleration.

[0237] In some embodiments, as shown in FIGS. 6 and 13, the process of determining that the vehicle is in a floating water state can be implemented by the following S1301.

[0238] S1301, determining that the vehicle is in a floating water state according to one or a combination of the road surface type of the road surface on which the vehicle is located, the water wading depth of the vehicle, and the actual suspension height of the vehicle.

[0239] In some embodiments, the implementation process of S1301 can be: when the water wading depth of the vehicle exceeds the target depth threshold, it is determined that the vehicle is in a floating water state.

[0240] For example, the target depth threshold is determined based on one or a combination of the mass, volume of the vehicle, and the density of the medium (such as ordinary water, turbid water, seawater, etc.).

[0241] For example, the target depth threshold can be obtained through a vehicle floating experiment. It should be understood that when at least one of the mass, volume of the vehicle, and the density of the medium is certain, the floating position of the vehicle in the water (i.e. the water wading depth) is also certain. In the experiment, the vehicle can be placed in different water levels to obtain multiple floating positions (such as can be obtained when the vehicle is stable), and then the multiple floating positions can be statistically analyzed, such as taking the average, so that the target depth threshold corresponding to the floating of the vehicle can be determined, which can be a value less than the average value, and the difference from the average value is small, and the difference is less than a target difference threshold (which can be a value close to 0).

[0242] For example, the water wading depth is determined based on the installation height of the water wading height sensor itself and the detected height.

[0243] For example, the detected height is the distance between the water wading height sensor and the water surface.

[0244] For example, when the vehicle is wading, the wading height sensor (such as ultrasonic radar) can obtain the wading depth of the vehicle according to the installation height of the wading height sensor and the detected detection height from the water surface. For example, the wading height sensor is installed below the outside rearview mirror on both sides of the vehicle. By means of ultrasonic principle, the difference ΔT between the time T1 when the sound wave is emitted from the wading height sensor to the water surface and the time T2 when the sound wave is received can be calculated. According to ΔT, the height H1 of the wading height sensor from the water surface can be calculated, that is, H1 = c x ΔT / 2, wherein c is the speed of sound.

[0245] In combination with the installation height (i.e. the height of the wading height sensor from the ground) H2 of the wading height sensor, the wading depth H0 of the vehicle can be obtained, that is, H0 = H2-H1. For example, the installation height of the wading height sensor can also be calculated by calculation, and the principle is the same as that of calculating H1. The installation height of the wading height sensor can also be obtained by pre-measurement.

[0246] After the wading depth is calculated, the wading depth is sent to the vehicle controller by the wading height sensor, and the vehicle controller compares the wading depth with the target depth threshold.

[0247] If the wading depth does not exceed the target depth threshold, it indicates that there is little water on the current ground, the wheels will not leave the ground, and the vehicle can normally travel on land. If the wading depth exceeds the target depth threshold, it indicates that there is much water on the current ground, the wheels leave the ground and float in the water, and the vehicle cannot normally travel on the ground, that is, it is determined that the vehicle is in the floating water state. Therefore, according to the size relationship between the wading depth of the vehicle and the target depth threshold, it is determined whether the vehicle is in the floating water state.

[0248] In some embodiments, the implementation process of S1301 can also be: when the suspension of the vehicle is in a free-falling state (which can mean that the suspension is only subjected to the action of its own weight), and the actual suspension height of the suspension exceeds the target height threshold, it is determined that the vehicle is in the floating water state.

[0249] For example, when the suspension height of the vehicle exceeds the target height threshold, it indicates that the wheels have left the ground, the suspension of the vehicle is in a free-falling state due to its own weight, and the suspension height of the vehicle will increase compared with the suspension height on the ground.

[0250] For example, the suspension height of the vehicle can be sensed in real time by a Hall body height sensor installed on the chassis of the vehicle, and the sensed suspension height is sent to the vehicle controller. When the suspension height exceeds the target height threshold, the vehicle controller can determine that the vehicle is in the floating water state. When the suspension height of the vehicle does not exceed the target height threshold, it indicates that the wheels have not left the ground, and the suspension height of the vehicle has not changed due to the influence of the weight, that is, the vehicle is not in the floating water state.

[0251] In some embodiments, the implementation process of S1301 can also be that when at least two of the actual suspension heights of the four suspensions of the vehicle exceed the target height threshold, it is determined that the vehicle is in the floating water state.

[0252] For example, the vehicle can be a four-wheel drive vehicle, and each of the four drive wheels (front left FL wheel, front right FR wheel, rear left RL wheel, and rear right RR wheel) of the vehicle is provided with a corresponding suspension to form an active suspension system. To improve the accuracy of the judgment, the vehicle controller can determine that the vehicle is in the floating water state when at least two of the actual suspension heights of the four active suspensions exceed the target height threshold.

[0253] In some embodiments, the implementation process of S1301 can also be that when the road type is a water-involved section and the water-involved depth exceeds the target depth threshold, it is determined that the vehicle is in the floating water state.

[0254] For example, the road type can be obtained according to the road image collected by the camera perception module of the vehicle.

[0255] For example, to better improve the accuracy of the judgment, the road type and the water-involved depth of the vehicle can be judged at the same time. The number of camera perception modules can be two, which can be arranged at the front end and the rear end of the vehicle, respectively. When it is determined according to the road images collected by the two camera perception modules that the vehicle is in the water-involved section, the vehicle controller determines that the road type of the vehicle is water.

[0256] At the same time, when the water-involved depth exceeds the target depth threshold, the vehicle controller determines that the vehicle is in the floating water state. Thus, compared with the above-mentioned judgment only by the water-involved depth, judging whether the vehicle is in the floating water state by the road type and the water-involved depth of the vehicle can improve the accuracy and reliability of the judgment.

[0257] In some embodiments, the implementation process of S1301 can also be that when the road type is a water-involved section and the actual suspension height exceeds the target suspension height threshold, it is determined that the vehicle is in the floating water state.

[0258] It can be understood that, compared with the above-mentioned judgment only by the actual suspension height, judging whether the vehicle is in the floating water state by the road type and the actual suspension height of the vehicle can improve the accuracy and reliability of the judgment.

[0259] In some embodiments, the implementation process of S1301 can also be that when the road type is a water-involved section, the water-involved depth exceeds the target depth threshold, and the actual suspension height exceeds the target height threshold, it is determined that the vehicle is in the floating water state.

[0260] For example, when the wading depth exceeds the target depth threshold and the suspension height exceeds the target height threshold (e.g., all four suspension heights exceed the target height threshold), the vehicle controller determines that the vehicle is in a floating water state.

[0261] Compared with the above determination by one or two of the road surface type, the wading depth, and the actual suspension height, the determination by the road surface type, the wading depth, and the actual suspension height can further improve the accuracy and reliability of the determination.

[0262] It should be noted that in response to the operation of the driver actively switching the driving mode to the wading driving mode, the system monitors the vehicle speed and other signal monitoring items of the vehicle to determine whether the vehicle meets the prerequisite condition for starting the wading driving mode.

[0263] If not, the vehicle maintains the original driving mode (e.g., mountain driving mode, normal driving mode, etc.), and if the driver performs a braking operation (e.g., steps on the brake pedal), the braking system builds pressure according to the pre-set pedal feel curve in response to the braking operation, thereby achieving the effect of vehicle braking.

[0264] If yes, the vehicle enters the wading driving mode, and the vehicle is limited to X (system limited speed) km / h. In the wading driving mode, the wading detection function meets the corresponding condition to start, and the wading height sensor monitors the depth of the nearby water in real time. When it is detected that the vehicle is in a floating water state (e.g., the wading depth of the vehicle is greater than the target depth threshold, the actual suspension height of the vehicle exceeds the target height threshold, etc.), the vehicle automatically enters the floating water driving mode.

[0265] For example, the vehicle takes over the control of the engine, air conditioner, sunroof, window, etc., and the corresponding functions are turned on / off. At this time, in response to the braking operation of stepping on the brake pedal, the braking deceleration control and braking dynamic control in the floating water driving mode are responded to, so that the vehicle has a shorter braking distance and better obstacle avoidance ability during braking within a certain pedal stroke range.

[0266] It should be noted that the embodiments shown in S1301 are not limited to being implemented before S601. The embodiments shown in S1301 can also be implemented after S601, or after S602, or simultaneously with S601, or simultaneously with S602, and the present disclosure does not limit this.

[0267] Based on the above technical solution, one or a combination of the road surface type of the road surface on which the vehicle is located, the wading depth of the vehicle, and the actual suspension height of the vehicle is determined to determine whether the vehicle is in a floating water state, so that the vehicle can be switched from the wading driving mode to the floating water driving mode, and the vehicle can respond to the braking operation to achieve the braking in the floating water driving mode.

[0268] In some embodiments, as shown in FIG. 14, the water wading detection system in the vehicle monitors in real time whether the vehicle is out of the floating state (as step 1402) (as step 1401). If the vehicle remains in the floating state (as step 1403, i.e., the vehicle is in the floating driving mode), in response to receiving a braking request for the vehicle in the floating state, at least one wheel of the vehicle is controlled to reverse rotation (as step 1404) based on the brake pedal stroke corresponding to the braking request and the steering angle of the steering wheel, so as to realize the floating braking of the vehicle (as step 1405).

[0269] If the vehicle is converted from the floating state (as step 1406) to the water wading state (as step 1407, i.e., the vehicle is changed from the floating driving mode to the water wading driving mode), or in response to the driver actively changing the vehicle from the floating driving mode to the water wading driving mode (as step 1410), in response to receiving a braking request for the vehicle in the water wading state, the wheels of the vehicle are braked by the braking system based on the brake pedal stroke (as step 1408). For example, the wheels of the vehicle are braked by the braking system according to the normally set pedal feeling curve (as step 1409), so that the vehicle is in a locked state in the floating state, and eventually stops or drifts relying on the resistance of the water flow.

[0270] For example, the water wading detection system in the vehicle monitors in real time whether the vehicle is out of the floating state. If the vehicle reenters the floating state, the vehicle continues to be controlled to remain in the floating driving mode, i.e., the braking instruction previously set for the vehicle in the floating mode is executed.

[0271] Based on the above technical solutions, the above technical solutions can ensure that the vehicle automatically switches the driving mode in real time according to the external water environment, and improve the operability of the vehicle.

[0272] Some embodiments of the present disclosure can divide the functional modules or functional units of the vehicle braking device according to the above method examples, for example, each functional module or functional unit can be divided corresponding to each function, or two or more functions can be integrated in one processing module. The above integrated module can be realized in the form of hardware or software functional module or functional unit.

[0273] For example, the division of modules or units in some embodiments of the present disclosure is illustrative, and is only a logical functional division. When actually implemented, there can be another division manner.

[0274] As shown in FIG. 15, the vehicle braking device 150 includes a communication unit 1501 and a processing unit 1502.

[0275] The communication unit 1501 is configured to receive a braking request of the vehicle in the floating water state.

[0276] The processing unit 1502 is configured to control at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke, to implement the floating water braking of the vehicle.

[0277] In some embodiments, the processing unit 1502 is configured to control at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke, in a case where the brake pedal stroke is less than a preset value.

[0278] In some embodiments, the processing unit 1502 is configured to determine a first target braking torque based on the brake pedal stroke, and control the motor to output the first target braking torque, to control at least one wheel of the vehicle to reverse rotation.

[0279] In some embodiments, the processing unit 1502 is configured to obtain a vehicle speed of the vehicle, and determine the first target braking torque according to the brake pedal stroke and the vehicle speed.

[0280] In some embodiments, the processing unit 1502 is configured to determine the first target braking torque according to the brake pedal stroke and the vehicle speed, in combination with a first preset relationship.

[0281] In some embodiments, the first preset relationship is a preset corresponding relationship between a brake pedal stroke and a vehicle speed and a torque, or the first preset relationship is a preset corresponding relationship between interval data of a brake pedal stroke and a vehicle speed and a torque.

[0282] In some embodiments, the processing unit 1502 is configured to obtain a longitudinal acceleration of the vehicle, and determine the target braking torque according to the brake pedal stroke, the vehicle speed and the longitudinal acceleration.

[0283] In some embodiments, the processing unit 1502 is configured to control at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke and a steering wheel steering angle.

[0284] In some embodiments, the processing unit 1502 is configured to perform at least one of the following: in a case where the steering wheel steering angle is not zero, control a steering outer wheel to reverse rotation based on the brake pedal stroke and the steering wheel steering angle, to implement the steering of the vehicle during the floating water braking; or in a case where the steering wheel steering angle is not zero, control a steering inner wheel to forward rotation based on the brake pedal stroke and the steering wheel steering angle, to implement the steering of the vehicle during the floating water braking.

[0285] In some embodiments, when the steering wheel steering angle represents right steering of the vehicle, the outboard turning wheel comprises at least one of the front wheel or the rear wheel on the left side of the vehicle, and the inboard turning wheel comprises at least one of the front wheel or the rear wheel on the right side of the vehicle; or, when the steering wheel steering angle represents left steering of the vehicle, the outboard turning wheel comprises at least one of the front wheel or the rear wheel on the right side of the vehicle, and the inboard turning wheel comprises at least one of the front wheel or the rear wheel on the left side of the vehicle.

[0286] In some embodiments, the processing unit 1502 is further configured to determine a driving direction intended to be steered by the driver based on the steering wheel steering angle and wheel speeds of the four wheels of the vehicle; determine an actual driving direction of the vehicle based on the yaw rate and the lateral acceleration of the vehicle; and adjust the wheel speeds of the wheels of the vehicle based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, so as to achieve that the driving direction intended to be steered by the driver is the same as the actual driving direction of the vehicle.

[0287] In some embodiments, the processing unit 1502 is configured to adjust the torque applied to the wheels based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, so as to adjust the wheel speeds of the wheels of the vehicle.

[0288] In some embodiments, the processing unit 1502 is configured to, in a case where it is determined that the vehicle understeers based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, perform at least one of increasing the torque applied to the outboard front wheel or decreasing the torque applied to the inboard rear wheel by the vehicle controller; or, in a case where it is determined that the vehicle oversteers based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, increase the torque applied to the inboard rear wheel or decrease the torque applied to the outboard front wheel by the vehicle controller.

[0289] In some embodiments, the processing unit 1502 is configured to, in a case where the steering wheel steering angle is zero, control all or part of the wheels of the vehicle to reverse rotation based on the brake pedal stroke.

[0290] In some embodiments, the processing unit 1502 is configured to, in a case where the steering wheel steering angle is zero, control the wheels associated with a brake strategy to reverse rotation based on the brake pedal stroke and the brake strategy; for example, the brake strategy comprises a first brake strategy or a second brake strategy; the wheels associated with the first brake strategy are all the wheels of the vehicle; and the wheels associated with the second brake strategy are part of the wheels of the vehicle.

[0291] In some embodiments, the processing unit 1502 is configured to, the wheels associated with the second brake strategy are the rear wheels of the vehicle.

[0292] In some embodiments, the processing unit 1502 is configured to, in response to the communication unit 1501 receiving a braking request for a vehicle in a floating state, control at least one wheel of the vehicle to reverse rotation based on a brake pedal stroke corresponding to the braking request and a steering wheel steering angle, in a case where the brake pedal stroke is less than a preset value.

[0293] In some embodiments, the processing unit 1502 is configured to determine a target braking torque based on the brake pedal stroke and the steering wheel steering angle, and control the motor to output the target braking torque to control the at least one wheel of the vehicle to reverse rotation.

[0294] In some embodiments, the processing unit 1502 is configured to obtain a vehicle speed of the vehicle, and determine a second target braking torque based on the brake pedal stroke, the steering wheel steering angle, and the vehicle speed.

[0295] In some embodiments, the processing unit 1502 is configured to determine the second target braking torque based on the brake pedal stroke, the steering wheel steering angle, and the vehicle speed in combination with a second preset relationship.

[0296] In some embodiments, the second preset relationship is a preset correspondence between a brake pedal stroke, a steering wheel steering angle, and a vehicle speed, and a torque; or the second preset relationship is a preset correspondence between interval data of a brake pedal stroke, a steering wheel steering angle, and a vehicle speed, and a torque.

[0297] In some embodiments, the processing unit 1502 is configured to instruct the communication unit 1501 to obtain a longitudinal acceleration of the vehicle, and determine the second target braking torque based on the brake pedal stroke, the steering wheel steering angle, the vehicle speed, and the longitudinal acceleration.

[0298] In some embodiments, the vehicle includes one motor, the motor is on the same drive shaft, and corresponds to two wheels; the processing unit 1502 is configured to control the motor to drive the corresponding two wheels to reverse rotation based on the target braking torque.

[0299] In some embodiments, the vehicle includes at least two motors, each motor corresponds to at least one wheel; the target braking torque includes at least two sub-braking torques; the processing unit 1502 is configured to control each motor corresponding to each sub-braking torque to reverse rotation, for example, the target braking torque is a sum of the at least two sub-braking torques.

[0300] In some embodiments, the vehicle includes four electric machines, each corresponding to one wheel; the processing unit 1502 is configured to control two electric machines at a first end of the vehicle to reverse according to the target braking torque when the target braking torque does not exceed a sum of maximum output torques of the two electric machines at the same end of the vehicle; the first end is a front end of the vehicle or a rear end of the vehicle; and control four electric machines to reverse according to the target braking torque when the target braking torque exceeds the sum of maximum output torques of the two electric machines at the same end of the vehicle.

[0301] In some embodiments, the processing unit 1502 is configured to control the output torque of the electric machine according to the target torque growth rate until the target braking torque is reached.

[0302] In some embodiments, the processing unit 1502 is further configured to determine that the vehicle is in the floating water state according to one or a combination of a road surface type of a road surface on which the vehicle is located, a water immersion depth of the vehicle, and an actual suspension height of the vehicle.

[0303] In some embodiments, the processing unit 1502 is configured to determine that the vehicle is in the floating water state when the water immersion depth of the vehicle exceeds a target depth threshold.

[0304] In some embodiments, the target depth threshold is determined based on one or a combination of a mass, a volume of the vehicle, and a density of the medium.

[0305] In some embodiments, the water immersion depth is determined based on a self-installation height of the water immersion height sensor and a detected height.

[0306] For example, the detected height is a distance between the water immersion height sensor and a water surface.

[0307] In some embodiments, the processing unit 1502 is configured to determine that the vehicle is in the floating water state when the suspension of the vehicle is in a free-falling state and the actual suspension height of the suspension exceeds a target height threshold.

[0308] In some embodiments, the processing unit 1502 is configured to determine that the vehicle is in the floating water state when at least two of the actual suspension heights of the four suspensions of the vehicle exceed the target height threshold.

[0309] In some embodiments, the processing unit 1502 is configured to determine that the vehicle is in the floating water state when the road surface type is a water immersion road section and the water immersion depth exceeds the target depth threshold.

[0310] In some embodiments, the processing unit 1502 is configured to determine that the vehicle is in the floating water state when the road surface type is a water immersion road section and the actual suspension height exceeds the target suspension height threshold.

[0311] In some embodiments, the processing unit 1502 is configured to determine that the vehicle is in the floating water state when the road type is the wading road section, the wading depth exceeds the target depth threshold, and the actual suspension height exceeds the target height threshold.

[0312] In some embodiments, the processing unit 1502 is further configured to, in a case that the brake pedal stroke is greater than a preset value, apply, by the braking system, the braking force to the wheels of the vehicle based on the brake pedal stroke.

[0313] In some embodiments, the vehicle braking apparatus 150 can further include a storage unit 1503 (shown in a dashed box in FIG. 15) that stores a program or instructions that, when executed by the processing unit 1502, cause the vehicle braking apparatus 150 to perform the vehicle braking method described in the above method embodiments.

[0314] From the above description of the embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual applications, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above. The working processes of the above-described system, apparatus, and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0315] Some embodiments of the present disclosure provide a computer program product containing instructions which, when the computer program product is run on a computer, cause the computer to perform the vehicle braking method in the above method embodiments.

[0316] Some embodiments of the present disclosure also provide a computer-readable storage medium having instructions stored therein, which, when executed on a computer, cause the computer to perform the vehicle braking method in the method flow illustrated in the above method embodiments.

[0317] For example, the computer-readable storage medium may, for example, be but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above.

[0318] Computer-readable storage media include: electrical connections having one or more wires; portable computer disks; hard disks; random access memory (RAM); read-only memory (ROM); erasable programmable read-only memory (EPROM); registers; hard disks; optical fibers; portable compact disc read-only memory (CD-ROM); optical storage devices; magnetic storage devices; or any suitable combination of the foregoing; or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC).

[0319] In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used or combined with an instruction execution system, apparatus, or device.

[0320] Since the vehicle, vehicle braking device, computer-readable storage medium, and computer program product in some embodiments of this disclosure can be applied to the above methods, the technical effects that can be obtained can also be referred to the above method embodiments, and this disclosure will not repeat them here.

[0321] In the embodiments provided in this disclosure, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0322] Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0323] It should be understood that the various forms of flow shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, which is not limited herein.

[0324] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

[0325] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0326] In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0327] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A vehicle braking method, comprising: receiving a braking request of a vehicle in a floating water state, controlling at least one wheel of the vehicle to reverse rotation based on a brake pedal stroke, and implementing floating water braking of the vehicle.

2. The method of claim 1, wherein, The controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke comprises: in a case that the brake pedal stroke is less than a preset value, controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke.

3. The method of claim 2, wherein, The controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke comprises: determining a first target braking torque based on the brake pedal stroke; and controlling a motor to output the first target braking torque to control the at least one wheel of the vehicle to reverse rotation.

4. The method of claim 3, wherein, The determining the first target braking torque based on the brake pedal stroke comprises: obtaining a vehicle speed of the vehicle; and determining the first target braking torque according to the brake pedal stroke and the vehicle speed.

5. The method of claim 4, wherein, The determining the first target braking torque according to the brake pedal stroke and the vehicle speed comprises: determining the first target braking torque according to the brake pedal stroke and the vehicle speed in combination with a first preset relationship.

6. The method of claim 5, wherein, The first preset relationship satisfies one of the following: the first preset relationship is a preset corresponding relationship between a brake pedal stroke, a vehicle speed and a torque; or the first preset relationship is a preset corresponding relationship between interval data of a brake pedal stroke and a vehicle speed and a torque.

7. The method of any one of claims 4-6, wherein, The determining the first target braking torque according to the brake pedal stroke and the vehicle speed comprises: obtaining a longitudinal acceleration of the vehicle; and determining the target braking torque according to the brake pedal stroke, the vehicle speed and the longitudinal acceleration.

8. The method of claim 1 or 2, wherein, The controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke comprises: controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke and a steering wheel steering angle.

9. The method of claim 8, wherein, The controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke and the steering wheel steering angle comprises: in a case that the steering wheel steering angle is not zero, controlling the at least one wheel to perform at least one of the following to implement steering of the vehicle during floating water braking based on the brake pedal stroke and the steering wheel steering angle; a steering outer wheel of the at least one wheel is forward rotation; or a steering inner wheel of the at least one wheel is reverse rotation. 10.The method of claim 9, satisfying one of the following: in a case that the steering wheel steering angle represents right steering of the vehicle, the steering outer wheel comprises at least one of a front wheel or a rear wheel on a left side of the vehicle, and the steering inner wheel comprises at least one of a front wheel or a rear wheel on a right side of the vehicle; or in a case that the steering wheel steering angle represents left steering of the vehicle, the steering outer wheel comprises at least one of a front wheel or a rear wheel on the right side of the vehicle, and the steering inner wheel comprises at least one of a front wheel or a rear wheel on the left side of the vehicle.

11. The method of claim 10, wherein, The at least one wheel comprises four wheels; the method further comprises: determining a driving direction intended to be steered by the driver based on the steering wheel steering angle and wheel speeds of the four wheels; determining an actual driving direction of the vehicle based on a yaw rate and a lateral acceleration of the vehicle; and adjusting wheel speeds of at least one wheel of the vehicle based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, so as to make the driving direction intended to be steered by the driver identical to the actual driving direction of the vehicle.

12. The method of claim 11, wherein, The adjusting the wheel speeds of the at least one wheel of the vehicle based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle comprises: adjusting a torque applied to the at least one wheel based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, so as to adjust the wheel speeds of the at least one wheel of the vehicle.

13. The method of claim 12, wherein, The adjusting the torque applied to the at least one wheel based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, so as to adjust the wheel speeds of the at least one wheel of the vehicle, comprises one of: in a case where it is determined that the vehicle is understeering based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, performing at least one of increasing a torque applied to a front wheel on an outer side of steering among the at least one wheel, or decreasing a torque applied to a rear wheel on an inner side of steering among the at least one wheel; or in a case where it is determined that the vehicle is oversteering based on the driving direction intended to be steered by the driver and the actual driving direction of the vehicle, performing at least one of increasing a torque applied to the rear wheel on the inner side of steering, or decreasing a torque applied to the front wheel on the outer side of steering.

14. The method of claim 8, wherein, The controlling the at least one wheel of the vehicle to reverse rotation based on the brake pedal stroke and the steering wheel steering angle comprises: determining a second target braking torque based on the brake pedal stroke and the steering wheel steering angle; and controlling the motor to output the second target braking torque, so as to control the at least one wheel of the vehicle to reverse rotation.

15. The method of claim 14, wherein, The determining the second target braking torque based on the brake pedal stroke and the steering wheel steering angle comprises: obtaining a vehicle speed of the vehicle; and determining the second target braking torque according to the brake pedal stroke, the steering wheel steering angle and the vehicle speed.

16. The method of claim 15, wherein, The determining the second target braking torque according to the brake pedal stroke, the steering wheel steering angle and the vehicle speed comprises: determining the second target braking torque according to the brake pedal stroke, the steering wheel steering angle and the vehicle speed in combination with a second preset relationship.

17. The method of claim 16, wherein, The second preset relationship satisfies one of: the second preset relationship is a preset corresponding relationship between a brake pedal stroke, a steering wheel steering angle, a vehicle speed and a torque; or the second preset relationship is a preset corresponding relationship between interval data of a brake pedal stroke, a steering wheel steering angle and a vehicle speed and a torque.

18. The method of any one of claims 15-17, wherein, The determining the second target brake torque according to the brake pedal stroke, the steering wheel steering angle and the vehicle speed comprises: obtaining a longitudinal acceleration of the vehicle; and determining the second target brake torque according to the brake pedal stroke, the steering wheel steering angle, the vehicle speed and the longitudinal acceleration.

19. The method of any one of claims 2-18, further comprising: applying a brake force to at least one wheel of the vehicle by a brake system based on the brake pedal stroke when the brake pedal stroke is greater than the preset value.

20. An electronic device (500) comprising: a processor (501) and a communication interface (504); the communication interface (504) and the processor (501) are coupled, and the processor (501) is configured to run a computer program or instructions to implement the vehicle braking method according to any one of claims 1-19.

21. A vehicle (301) comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the vehicle braking method according to any one of claims 1-19.

22. A computer readable storage medium storing instructions which, when executed by a computer, cause the computer to perform the vehicle braking method according to any one of claims 1-19.

23. A computer program product containing computer instructions which, when executed on a computer, cause the computer to perform the vehicle braking method according to any one of claims 1-19.

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