CN112660088A - Vehicle brake control method, system, readable medium and device - Google Patents
Vehicle brake control method, system, readable medium and device Download PDFInfo
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- CN112660088A CN112660088A CN202011633687.4A CN202011633687A CN112660088A CN 112660088 A CN112660088 A CN 112660088A CN 202011633687 A CN202011633687 A CN 202011633687A CN 112660088 A CN112660088 A CN 112660088A
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Abstract
The invention discloses a vehicle brake control method, a system, a readable medium and a device, wherein pedal force is controlled by adjusting an electric control brake pedal, so that vehicle brake deceleration is controlled, the electric control brake pedal comprises a vehicle-mounted sensor and an electric control brake pedal, wherein the vehicle-mounted sensor is used for monitoring the distance and the speed between the periphery of a vehicle and an obstacle, the electric control brake pedal is provided with at least two adjustable gears, when the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is smaller than a preset calibration distance, the vehicle enters a brake state, and the pedal force and the adjustment of the corresponding vehicle brake deceleration are controlled by controlling the brake gear, so that vehicle brake control is executed. According to the invention, through the combination of the traditional braking mode and the dynamic braking mode, the vehicle braking control flow is simplified, and the driving experience and the driving safety of a user are improved.
Description
Technical Field
The invention relates to the field of vehicle brake control, in particular to a vehicle brake control method, a vehicle brake control system, a readable medium and a vehicle brake control device.
Background
With the gradual development of the automobile industry, various types of automobiles appear in daily life of people, and in recent years, electric automobiles are favored by the society due to the advantages of simple and convenient driving, more economic and environment-friendly energy consumption and the like, and the safety of the vehicles in the driving process can be controlled by vehicle braking no matter the electric automobiles or the traditional fuel automobiles;
in the prior art, when a driver steps on a brake pedal in the conventional fuel automobile braking principle, under the boosting effect of a booster, the braking force on feet is amplified, then the brake fluid in a brake master cylinder is pushed to be transmitted to a front brake and a rear brake through a brake oil pipe, so that the braking action of a vehicle is realized, for an electric automobile, the braking process of the electric automobile is exerted on a transmission shaft through the reverse dragging effect of a motor, the transmission shaft exerts reverse torque on wheels, the braking of the vehicle is realized, and the motor can change the size of the reverse dragging torque, so that different braking forces are realized, but in the prior art, the following problems exist:
1. the conventional fuel automobile cannot perform power braking of an engine, and in a braking system of the conventional fuel automobile, once the corresponding relation between pedal force and corresponding pedal deceleration is determined, the pedal force cannot be modified again, and a driver cannot be assisted in selecting and controlling the pedal force generated by a brake pedal;
2. in the existing electric automobile, a two-wheel driving motor is generally adopted for power supply and power driving, the endurance mileage is short, and the adjustment of braking force in a large range cannot be realized in a very short time.
Disclosure of Invention
The present invention is directed to a method, a system, a readable medium and a device for controlling vehicle braking, so as to solve the problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a vehicle brake control method controls pedal force by adjusting an electric control brake pedal, further controls vehicle brake deceleration, comprises a vehicle-mounted sensor for monitoring the distance and speed between the periphery of a vehicle and an obstacle, and the electric control brake pedal provided with at least two adjustable gears, when the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is smaller than a preset calibration distance, the vehicle enters a brake state, and the following steps are executed:
step 1, obtaining an initial braking distance between a vehicle and an obstacle, simultaneously obtaining and storing pedal force corresponding to a current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force, and then entering step 2;
step 2, acquiring a relative speed difference between the vehicle and the obstacle in real time through a vehicle-mounted sensor, and then entering step 3;
step 3, combining the current pedal force and the relative speed difference value of the vehicle to obtain a target brake gear, adjusting the current brake gear to the target brake gear, adjusting the current pedal force to the pedal force corresponding to the target brake gear, further adjusting the vehicle brake deceleration corresponding to the pedal force, and then entering step 4;
step 4, after the adjustment of the target pedal force is completed, obtaining the vehicle braking deceleration corresponding to the target pedal force, combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, obtaining the current relative distance between the vehicle and the obstacle, if the first braking control is executed for the current time, returning to the step 2, if the first braking control is not executed for the current time, comparing the relative distance with the relative distance of the last braking control as follows:
when the relative distance is smaller than the relative distance of the last braking control, returning to the step 2;
when the relative distance is larger than the relative distance of the last braking control, the relative distance is continuously reduced, and the step 2 is returned;
when the relative distance is greater than the relative distance of the last braking control and greater than the preset calibration distance, entering step 5;
and 5, saving the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
Preferably, the step 3 includes the following steps:
step 3-1, when the vehicle brake deceleration corresponding to the current pedal force of the vehicle is greater than the current brake preset calibrated deceleration of the vehicle and the relative speed difference value is greater than the current brake preset calibrated relative speed of the vehicle, reducing the brake gear to a target brake gear by combining a preset unit increment of the pedal force, reducing the current pedal force to the pedal force corresponding to the target brake gear, further reducing the brake deceleration corresponding to the pedal force, and then entering step 4;
and 3-2, when the vehicle braking deceleration corresponding to the current pedal force of the vehicle is smaller than the current braking preset calibrated deceleration of the vehicle and the relative speed difference value is smaller than the current braking preset calibrated relative speed of the vehicle, combining a preset unit increment of the pedal force, increasing the brake gear to a target brake gear, increasing the current pedal force to the pedal force corresponding to the target brake gear, further increasing the braking deceleration corresponding to the pedal force, and then entering the step 4.
Preferably, each time the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is smaller than the preset calibration distance, when the vehicle enters a braking state, the vehicle automatically identifies the pedal force corresponding to the brake pedal saved in the last braking state and the setting of the vehicle braking deceleration corresponding to the pedal force, applies the setting to perform braking control on the current driving, and then repeatedly executes the steps 1 to 4 until the vehicle finishes running.
According to a second aspect of the present disclosure, there is also provided a vehicle brake control system, comprising:
one or more processors;
a memory storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising:
step 1, obtaining an initial braking distance between a vehicle and an obstacle, simultaneously obtaining and storing pedal force corresponding to a current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force, and then entering step 2;
step 2, acquiring a relative speed difference between the vehicle and the obstacle in real time through a vehicle-mounted sensor, and then entering step 3;
step 3, combining the current pedal force and the relative speed difference value of the vehicle to obtain a target brake gear, adjusting the current brake gear to the target brake gear, adjusting the current pedal force to the pedal force corresponding to the target brake gear, further adjusting the vehicle brake deceleration corresponding to the pedal force, and then entering step 4;
step 4, after the adjustment of the target pedal force is completed, obtaining the vehicle braking deceleration corresponding to the target pedal force, combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, obtaining the current relative distance between the vehicle and the obstacle, if the first braking control is executed for the current time, returning to the step 2, if the first braking control is not executed for the current time, comparing the relative distance with the relative distance of the last braking control as follows:
when the relative distance is smaller than the relative distance of the last braking control, returning to the step 2;
when the relative distance is larger than the relative distance of the last braking control, the relative distance is continuously reduced, and the step 2 is returned;
when the relative distance is greater than the relative distance of the last braking control and greater than the preset calibration distance, entering step 5;
and 5, saving the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
According to a third aspect of the disclosure, there is also provided a computer readable medium storing software comprising instructions executable by one or more computers, the instructions, when executed by the one or more computers, performing operations of braking control as in any one of the vehicle braking control methods.
According to a third aspect of the present disclosure, there is also provided a vehicle brake control apparatus including:
the module is used for obtaining an initial braking distance between the vehicle and the barrier and simultaneously obtaining and storing pedal force corresponding to the current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force;
the device comprises a module for acquiring a relative speed difference value between a vehicle and an obstacle in real time through a vehicle-mounted sensor;
a module for updating a target brake gear according to the current pedal force of the vehicle by combining a preset unit increment of the pedal force, adjusting the current brake gear to the target brake gear, and further adjusting the current pedal force to a target pedal force corresponding to the target brake gear;
a module for obtaining the vehicle braking deceleration corresponding to the target pedal force after the target pedal force is adjusted, obtaining the current relative distance between the vehicle and the obstacle by combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, returning to the step 2 if the first braking control is executed, and comparing the current relative distance with the relative distance of the last braking control if the first braking control is not executed;
and the module is used for storing the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
Compared with the prior art, the vehicle brake control method adopting the technical scheme has the following technical effects:
1. in the driving process of the vehicle, the feeling of the electrically controlled brake pedal is adjusted in a selectable range according to driving habits or driving safety, the auxiliary function of an automobile system is improved, and a memory mode is provided, so that the vehicle braking control process is simplified, and the driving experience of a user is improved;
2. by controlling the gear of the electric control brake pedal, the driving motor is used as a redundant backup of hydraulic braking in auxiliary driving, the use times and the strength of the hydraulic braking are reduced, the abrasion and the replacement of the hydraulic braking are reduced, the braking force of a vehicle is flexibly controlled, and the driving safety of the vehicle is improved.
Drawings
FIG. 1 is a flowchart of a vehicle brake control method according to an exemplary embodiment of the present invention;
fig. 2 is a flowchart of a brake gear adjustment in a vehicle brake control method according to an exemplary embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
In the method for controlling braking of a vehicle according to the exemplary embodiment of the present invention shown in fig. 1 and 2, the braking deceleration of the vehicle is controlled by adjusting the electrically controlled brake pedal to control the pedal force, and the method includes a vehicle-mounted sensor for monitoring the distance and speed between the periphery of the vehicle and an obstacle, and an electrically controlled brake pedal having at least two adjustable gears, and the electrically controlled brake pedal is controlled by a motor, in the embodiment of the present invention, 4 driving motors are used to provide driving force and braking force for the vehicle, so that the braking force generated by the motors can be greatly increased, when the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is less than a preset calibration distance, the vehicle enters a braking state, which includes a transmission braking state and a power braking state, so that the braking force of the vehicle is increased without reducing the kinetic energy of the vehicle, and the safety, the embodiment of the invention mainly aims at controlling the braking of the vehicle in a dynamic braking state, and executes the following steps:
step 1, obtaining an initial braking distance between a vehicle and an obstacle, simultaneously obtaining and storing a pedal force corresponding to a current electric control brake pedal and a vehicle braking deceleration corresponding to the pedal force, taking the initial braking distance as a braking travel distance of vehicle braking, and then entering step 2;
step 2, acquiring a relative speed difference between the vehicle and the obstacle in real time through a vehicle-mounted sensor, updating a braking travel distance, and then entering step 3;
step 3, according to the current pedal force of the vehicle, combining a preset unit increment of the pedal force, updating a target brake gear, adjusting the current brake gear to the target brake gear, further adjusting the current pedal force to the target pedal force corresponding to the target brake gear, and optimizing an electric control brake pedal step by step in the braking process, so that the times and the strength of hydraulic braking are reduced, and the abrasion and the replacement of the hydraulic braking are reduced, wherein the method specifically comprises the following steps in combination with a graph 2:
step 3-1, when the vehicle brake deceleration corresponding to the current pedal force of the vehicle is greater than the current brake preset calibrated deceleration of the vehicle and the relative speed difference value is greater than the current brake preset calibrated relative speed of the vehicle, reducing the brake gear to a target brake gear by combining a preset unit increment of the pedal force, reducing the current pedal force to the pedal force corresponding to the target brake gear, further reducing the brake deceleration corresponding to the pedal force, and then entering step 4;
step 3-2, when the vehicle brake deceleration corresponding to the current pedal force of the vehicle is smaller than the current brake preset calibrated deceleration of the vehicle and the relative speed difference value is smaller than the current brake preset calibrated relative speed of the vehicle, combining a preset unit increment of the pedal force, increasing the brake gear to a target brake gear, increasing the current pedal force to the pedal force corresponding to the target brake gear, further increasing the brake deceleration corresponding to the pedal force, and then entering step 4;
step 4, after the adjustment of the target pedal force is completed, obtaining the vehicle braking deceleration corresponding to the target pedal force, combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, obtaining the current relative distance between the vehicle and the obstacle, and comparing the current relative distance with the braking travel distance;
in a preset time interval, when the relative distance is smaller than the braking travel distance, returning to the step 2, and repeatedly executing the step 2 to the step 4;
when the relative distance is greater than the braking distance, the relative distance is continuously reduced within a preset time interval, the step 3 is returned, the step 3-the step 4 are repeatedly executed, a memory mode is formed through repeated and cyclic execution for many times, and when the same or similar conditions occur next time, the adjustment result is directly called, so that the vehicle driving assistance advantage can be improved to a great extent, the driving experience is increased, the distance measurement accuracy can be improved, and the method execution reliability is improved;
when the relative distance is greater than the braking distance, in a preset time interval, when the relative distance is greater than the braking distance and greater than a preset calibration distance, entering step 5;
and 5, saving the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the setting of the vehicle brake deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
There is also provided, in accordance with a disclosed embodiment of the present invention, a vehicle brake control system, including:
one or more processors;
a memory storing instructions that are operable, which when executed by the one or more processors, cause the one or more processors to perform operations that perform the overall process of steps 1-5 of the vehicle braking control method.
There is also provided, in accordance with a disclosed embodiment of the present invention, a computer-readable medium storing software, including instructions executable by one or more computers, which when executed by the one or more computers, perform operations of the vehicle braking control method according to any one of the above.
According to a disclosed embodiment of the present invention, there is also provided a vehicle brake control apparatus including:
the module is used for obtaining an initial braking distance between the vehicle and the barrier and simultaneously obtaining and storing pedal force corresponding to the current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force;
the device comprises a module for acquiring a relative speed difference value between a vehicle and an obstacle in real time through a vehicle-mounted sensor;
a module for updating a target brake gear according to the current pedal force of the vehicle by combining a preset unit increment of the pedal force, adjusting the current brake gear to the target brake gear, and further adjusting the current pedal force to a target pedal force corresponding to the target brake gear;
a module for obtaining the vehicle braking deceleration corresponding to the target pedal force after the target pedal force is adjusted, obtaining the current relative distance between the vehicle and the obstacle by combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, returning to the step 2 if the first braking control is executed, and comparing the current relative distance with the relative distance of the last braking control if the first braking control is not executed;
and the module is used for storing the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (8)
1. A vehicle brake control method controls pedal force by adjusting an electric control brake pedal, and further controls vehicle brake deceleration, and is characterized by comprising a vehicle-mounted sensor used for monitoring the distance and speed between the periphery of a vehicle and an obstacle and the electric control brake pedal provided with at least two adjustable gears, wherein when the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is smaller than a preset calibration distance, the vehicle enters a brake state, and the following steps are executed:
step 1, obtaining an initial braking distance between a vehicle and an obstacle, simultaneously obtaining and storing pedal force corresponding to a current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force, and then entering step 2;
step 2, acquiring a relative speed difference between the vehicle and the obstacle in real time through a vehicle-mounted sensor, and then entering step 3;
step 3, updating a target brake gear according to the current pedal force of the vehicle and the unit increment of the preset pedal force, adjusting the current brake gear to the target brake gear, further adjusting the current pedal force to the target pedal force corresponding to the target brake gear, and then entering step 4;
step 4, after the adjustment of the target pedal force is completed, obtaining the vehicle braking deceleration corresponding to the target pedal force, combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, obtaining the current relative distance between the vehicle and the obstacle, if the first braking control is executed for the current time, returning to the step 2, if the first braking control is not executed for the current time, comparing the relative distance with the relative distance of the last braking control as follows:
when the relative distance is smaller than the relative distance of the last braking control, returning to the step 2;
when the relative distance is larger than the relative distance of the last braking control, the relative distance is continuously reduced, and the step 2 is returned;
when the relative distance is greater than the relative distance of the last braking control and greater than the preset calibration distance, entering step 5;
and 5, saving the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
2. The method according to claim 1, wherein the step 3 comprises the following steps:
step 3-1, when the vehicle brake deceleration corresponding to the current pedal force of the vehicle is greater than the current brake preset calibrated deceleration of the vehicle and the relative speed difference value is greater than the current brake preset calibrated relative speed of the vehicle, reducing the brake gear to a target brake gear by combining a preset unit increment of the pedal force, reducing the current pedal force to the pedal force corresponding to the target brake gear, further reducing the brake deceleration corresponding to the pedal force, and then entering step 4;
and 3-2, when the vehicle braking deceleration corresponding to the current pedal force of the vehicle is smaller than the current braking preset calibrated deceleration of the vehicle and the relative speed difference value is smaller than the current braking preset calibrated relative speed of the vehicle, combining a preset unit increment of the pedal force, increasing the brake gear to a target brake gear, increasing the current pedal force to the pedal force corresponding to the target brake gear, further increasing the braking deceleration corresponding to the pedal force, and then entering the step 4.
3. The vehicle brake control method according to any one of claims 1-2, wherein each time the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is smaller than the preset calibration distance, when the vehicle enters the braking state, the vehicle automatically identifies the pedal force corresponding to the brake pedal saved in the last braking state and the setting of the vehicle brake deceleration corresponding to the pedal force, applies the setting to perform brake control on the current driving, and then repeatedly executes the steps 1-4 until the vehicle driving is finished.
4. A vehicle brake control system, comprising:
one or more processors;
a memory storing instructions that are operable, when executed by the one or more processors, to cause the one or more processors to perform operations comprising:
step 1, obtaining an initial braking distance between a vehicle and an obstacle, simultaneously obtaining and storing pedal force corresponding to a current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force, and then entering step 2;
step 2, acquiring a relative speed difference between the vehicle and the obstacle in real time through a vehicle-mounted sensor, and then entering step 3;
step 3, updating a target brake gear according to the current pedal force of the vehicle and the unit increment of the preset pedal force, adjusting the current brake gear to the target brake gear, further adjusting the current pedal force to the target pedal force corresponding to the target brake gear, and then entering step 4;
step 4, after the adjustment of the target pedal force is completed, obtaining the vehicle braking deceleration corresponding to the target pedal force, combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, obtaining the current relative distance between the vehicle and the obstacle, if the first braking control is executed for the current time, returning to the step 2, if the first braking control is not executed for the current time, comparing the relative distance with the relative distance of the last braking control as follows:
when the relative distance is smaller than the relative distance of the last braking control, returning to the step 2;
when the relative distance is larger than the relative distance of the last braking control, the relative distance is continuously reduced, and the step 2 is returned;
when the relative distance is greater than the relative distance of the last braking control and greater than the preset calibration distance, entering step 5;
and 5, saving the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
5. A computer-readable medium storing software, the software comprising instructions executable by one or more computers which, when executed by the one or more computers, perform operations of the vehicle brake control method according to any one of claims 1-3.
6. A vehicle brake control apparatus, characterized by comprising:
the module is used for obtaining an initial braking distance between the vehicle and the barrier and simultaneously obtaining and storing pedal force corresponding to the current electric control brake pedal and vehicle braking deceleration corresponding to the pedal force;
the device comprises a module for acquiring a relative speed difference value between a vehicle and an obstacle in real time through a vehicle-mounted sensor;
a module for updating a target brake gear according to the current pedal force of the vehicle by combining a preset unit increment of the pedal force, adjusting the current brake gear to the target brake gear, and further adjusting the current pedal force to a target pedal force corresponding to the target brake gear;
a module for obtaining the vehicle braking deceleration corresponding to the target pedal force after the target pedal force is adjusted, obtaining the current relative distance between the vehicle and the obstacle by combining the initial braking distance, the vehicle braking deceleration, the vehicle braking time and the vehicle running speed, returning to the step 2 if the first braking control is executed, and comparing the current relative distance with the relative distance of the last braking control if the first braking control is not executed;
and the module is used for storing the current electric control brake pedal gear, the pedal force corresponding to the electric control brake pedal gear and the vehicle braking deceleration corresponding to the pedal force, ending the braking state and quitting the braking state.
7. The vehicle brake control apparatus according to claim 6, wherein the adjustment of the brake pedal shift position based on the comparison result includes the steps of:
step 3-1, when the vehicle braking deceleration corresponding to the current pedal force of the vehicle is greater than the current braking preset calibrated deceleration of the vehicle and the relative speed difference value is greater than the current braking preset calibrated relative speed of the vehicle, reducing the brake gear to a target brake gear by combining a preset unit increment of the pedal force, reducing the current pedal force to the pedal force corresponding to the target brake gear, further reducing the braking deceleration corresponding to the pedal force, and then comparing the distance between the vehicle and the obstacle;
and 3-2, when the vehicle braking deceleration corresponding to the current pedal force of the vehicle is smaller than the current braking preset calibrated deceleration of the vehicle and the relative speed difference value is smaller than the current braking preset calibrated relative speed of the vehicle, combining a preset unit increment of the pedal force, increasing the brake gear to a target brake gear, increasing the current pedal force to the pedal force corresponding to the target brake gear, further increasing the braking deceleration corresponding to the pedal force, and then comparing the distance between the vehicle and the obstacle.
8. The vehicle brake control device according to any one of claims 6 to 7, wherein each time the vehicle-mounted sensor senses that the distance between the vehicle and the obstacle is smaller than the preset calibration distance, when the vehicle enters the braking state, the vehicle automatically identifies the pedal force corresponding to the brake pedal saved in the last braking state and the setting of the vehicle brake deceleration corresponding to the pedal force, applies the setting to perform brake control on the current driving, and then repeatedly and sequentially calls the modules in the vehicle control device until the vehicle driving is finished.
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| CN202011633687.4A CN112660088B (en) | 2020-12-31 | 2020-12-31 | Vehicle brake control method, system, readable medium and device |
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| CN202011633687.4A CN112660088B (en) | 2020-12-31 | 2020-12-31 | Vehicle brake control method, system, readable medium and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113276810A (en) * | 2021-06-18 | 2021-08-20 | 北京百度网讯科技有限公司 | Braking method, device and equipment for vehicle |
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| US6309031B1 (en) * | 1999-12-14 | 2001-10-30 | Ford Global Technology, Inc. | Vehicle brake system with variable brake pedal feel |
| CN107914686A (en) * | 2017-11-17 | 2018-04-17 | 吉林大学 | A kind of emergency braking apparatus for vehicle and method |
| CN110015279A (en) * | 2017-12-27 | 2019-07-16 | 罗伯特·博世有限公司 | Brake NVH countermeasure |
| CN111483458A (en) * | 2019-01-25 | 2020-08-04 | 郑州宇通客车股份有限公司 | Power system control method and device |
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| US6056374A (en) * | 1998-03-12 | 2000-05-02 | Fuji Jukogyo Kabushiki Kaisha | Automatic brake control system |
| US6309031B1 (en) * | 1999-12-14 | 2001-10-30 | Ford Global Technology, Inc. | Vehicle brake system with variable brake pedal feel |
| CN107914686A (en) * | 2017-11-17 | 2018-04-17 | 吉林大学 | A kind of emergency braking apparatus for vehicle and method |
| CN110015279A (en) * | 2017-12-27 | 2019-07-16 | 罗伯特·博世有限公司 | Brake NVH countermeasure |
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| CN113276810A (en) * | 2021-06-18 | 2021-08-20 | 北京百度网讯科技有限公司 | Braking method, device and equipment for vehicle |
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