CN117302126B - Vehicle control method, system, vehicle and storage medium - Google Patents

Vehicle control method, system, vehicle and storage medium Download PDF

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Publication number
CN117302126B
CN117302126B CN202311609013.4A CN202311609013A CN117302126B CN 117302126 B CN117302126 B CN 117302126B CN 202311609013 A CN202311609013 A CN 202311609013A CN 117302126 B CN117302126 B CN 117302126B
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China
Prior art keywords
vehicle
braking force
preset
parking
control
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Active
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CN202311609013.4A
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Chinese (zh)
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CN117302126A (en
Inventor
张立亮
王书豪
官浩
郝占武
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FAW Group Corp
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FAW Group Corp
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Priority to CN202311609013.4A priority Critical patent/CN117302126B/en
Publication of CN117302126A publication Critical patent/CN117302126A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a vehicle control method, a system, a vehicle and a storage medium, belonging to the technical field of intelligent driving, wherein the method comprises the following steps: responding to the vehicle to start a comfortable braking and stopping function, and acquiring the longitudinal acceleration of the vehicle and the required braking force; determining a parking brake force of the vehicle based on the longitudinal acceleration; acquiring a current vehicle speed in response to the parking brake force being greater than the requested brake force; and outputting a first control signal to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope. The invention solves the technical problem that the vehicle tows when the vehicle brakes and stops in the prior art.

Description

Vehicle control method, system, vehicle and storage medium
Technical Field
The invention belongs to the technical field of intelligent driving, and particularly relates to a vehicle control method, a vehicle control system, a vehicle and a storage medium.
Background
With the popularization of vehicles, the vehicles gradually become mobile enabling equipment which is highly dependent on human beings after mobile phones, the requirements of the use scenes of the vehicles are more and more diversified, people need to perform behaviors with extremely high requirements on comfort on the vehicles, such as drinking coffee on the vehicles, looking at newspapers, writing, working through computers and the like, the scenes put higher requirements on the comfort of the vehicles in the driving process, and the vehicles are expected to be driven by the vehicles without being perceived by drivers in the stopping and walking process; however, the vehicle body and the chassis are connected by the elastic element in the running process of the vehicle, the vehicle can have slight front-back shrugging when parking, and the hydraulic braking force of the vehicle can not be completely and smoothly overturned to 0 in the decelerating process, because the hydraulic braking is linear, the shrugging can occur when the vehicle parks, if a special control strategy is not adopted, the shrugging can only be reduced in a limited way when the vehicle parks, the problem can not be solved at all, and the problem is more obvious for SUV or MPV vehicles with higher mass centers.
To solve this problem, currently mainstream control strategies are comfortable braking parking based on hydraulic braking by recognizing whether a driver wants to park comfortably, calculating a braking force required for parking according to a gradient of a current road surface before the vehicle is about to stop when the driver steps on a brake pedal to park slowly, reducing the braking force of the driver by means of pressure relief or changing a braking assistance when the driver brakes at a low speed if the driver's required braking force is greater than the braking force required for parking, and directly responding to the driver's request with a smaller braking force to achieve relatively comfortable and smooth deceleration parking by parking the smaller braking force. However, this control method generates a rise perceived by the passenger during the initial adjustment because of the slow adjustment accuracy and response speed of the hydraulic brake, and the rise still exists by the hydraulic control when the vehicle is stopped.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a system, a vehicle and a storage medium, which at least solve the technical problem of vehicle shrugging when a vehicle brakes and stops in the prior art.
According to a first aspect of an embodiment of the present invention, there is provided a vehicle control method including: acquiring longitudinal acceleration of the vehicle and a requested braking force in response to the vehicle starting a comfortable braking parking function, wherein the requested braking force is a braking force generated by a driver stepping on a brake pedal; determining a parking braking force of the vehicle according to the longitudinal acceleration, wherein the parking braking force is used for representing the minimum braking force required by the vehicle to decelerate to park at the current moment; acquiring a current vehicle speed in response to the parking brake force being greater than the requested brake force; and outputting a first control signal to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope.
Optionally, the vehicle control method further includes: acquiring a historical vehicle speed of the vehicle when a brake pedal is stepped on; and outputting a second control signal to control the vehicle in response to the historical vehicle speed being smaller than a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is smaller than the first preset vehicle speed threshold, and the second control signal is used for controlling the vehicle to respond to the braking request by adopting the motor braking force.
Optionally, determining the parking brake force of the vehicle based on the longitudinal acceleration includes: determining the current road gradient according to the longitudinal acceleration and a first preset formula; and determining the parking braking force of the vehicle according to the road gradient and a second preset formula.
Optionally, after outputting the first control signal to control the vehicle in response to the current vehicle speed being less than the first preset vehicle speed threshold, the method further includes: acquiring the stopping time of the vehicle; and outputting a third control signal to control the vehicle in response to the stopping time being greater than the preset time threshold, wherein the third control signal is used for controlling the vehicle to withdraw the motor braking force, and hydraulic braking force is adopted to replace the motor braking force.
Optionally, the vehicle control method further includes: acquiring a function control instruction, wherein the function control instruction is used for controlling the starting and closing of a comfortable braking and parking function; and controlling the vehicle to start a comfortable braking and parking function according to the function control instruction.
Optionally, the vehicle control method further includes: acquiring front-end judgment data, wherein the front-end judgment data comprises pavement data, a brake pedal signal, an accelerator pedal signal and a current hydraulic braking force; determining a judging result according to the pre-judging data and a preset pre-judging condition; and controlling the vehicle to disable the comfortable braking and parking function in response to the judgment result indicating that the front judgment data does not meet the preset front judgment condition.
Optionally, the preset pre-determined condition includes at least one of: the road surface data represents that the road surface is a drivable road surface, the road surface gradient is smaller than a preset gradient threshold value, the stroke change rate of the brake pedal is smaller than a preset change rate threshold value, the stroke of the brake pedal is smaller than a first preset stroke threshold value, the current hydraulic braking force is in a preset hydraulic braking force interval, and the stroke of the accelerator pedal is smaller than a second preset stroke threshold value.
According to a second aspect of the embodiment of the present invention, there is also provided a vehicle control system including:
the first acquisition module is used for responding to the vehicle to start the comfortable braking and stopping function, and acquiring the longitudinal acceleration of the vehicle and the requested braking force, wherein the requested braking force is generated by the driver stepping on a brake pedal; the determining module is used for determining the parking braking force of the vehicle according to the longitudinal acceleration, wherein the parking braking force is used for representing the minimum braking force required by the vehicle to decelerate to park at the current moment; the second acquisition module is used for acquiring the current vehicle speed in response to the parking braking force being greater than the request braking force; the control module is used for responding to the fact that the current vehicle speed is smaller than a first preset vehicle speed threshold value, outputting a first control signal to control the vehicle, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope.
Optionally, the second acquisition module is further configured to: acquiring a historical vehicle speed of the vehicle when a brake pedal is stepped on; the control module is also used for: and outputting a second control signal to control the vehicle in response to the historical vehicle speed being smaller than a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is smaller than the first preset vehicle speed threshold, and the second control signal is used for controlling the vehicle to respond to the braking request by adopting the motor braking force.
Optionally, the determining module is further configured to: determining the current road gradient according to the longitudinal acceleration and a first preset formula; and determining the parking braking force of the vehicle according to the road gradient and a second preset formula.
Optionally, the second acquisition module is further configured to: acquiring the stopping time of the vehicle; the control module is also used for: and outputting a third control signal to control the vehicle in response to the stopping time being greater than the preset time threshold, wherein the third control signal is used for controlling the vehicle to withdraw the motor braking force, and hydraulic braking force is adopted to replace the motor braking force.
Optionally, the control module is further configured to: acquiring a function control instruction, wherein the function control instruction is used for controlling the starting and closing of a comfortable braking and parking function; and controlling the vehicle to start a comfortable braking and parking function according to the function control instruction.
Optionally, the control module is further configured to: acquiring front-end judgment data, wherein the front-end judgment data comprises pavement data, a brake pedal signal, an accelerator pedal signal and a current hydraulic braking force; determining a judging result according to the pre-judging data and a preset pre-judging condition; and controlling the vehicle to disable the comfortable braking and parking function in response to the judgment result indicating that the front judgment data does not meet the preset front judgment condition.
Optionally, the preset pre-determined condition in the control module includes at least one of: the road surface data represents that the road surface is a drivable road surface, the road surface gradient is smaller than a preset gradient threshold value, the stroke change rate of the brake pedal is smaller than a preset change rate threshold value, the stroke of the brake pedal is smaller than a first preset stroke threshold value, the current hydraulic braking force is in a preset hydraulic braking force interval, and the stroke of the accelerator pedal is smaller than a second preset stroke threshold value.
According to a third aspect of embodiments of the present invention there is also provided a vehicle comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the vehicle control method as described in any of the embodiments of the first aspect above.
According to a fourth aspect of embodiments of the present invention, there is also provided a non-volatile storage medium in which a computer program is stored, wherein the computer program is arranged to perform the vehicle control method described in any of the embodiments of the first aspect above when run on a computer or processor.
In the embodiment of the invention, the longitudinal acceleration of the vehicle and the requested braking force are acquired in response to the vehicle starting a comfortable braking and stopping function, wherein the requested braking force is generated by the driver stepping on a brake pedal; determining a parking braking force of the vehicle according to the longitudinal acceleration, wherein the parking braking force is used for representing the minimum braking force required by the vehicle to decelerate to park at the current moment; acquiring a current vehicle speed in response to the parking brake force being greater than the requested brake force; and outputting a first control signal to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope. According to the invention, when certain conditions are met, the motor braking force is adopted to replace the hydraulic braking force, and the motor braking force has the characteristics of high response speed and high response precision, so that the vehicle can be stably stopped by adopting the motor braking force to replace the hydraulic braking force, and the technical problem that the vehicle tows when the vehicle is braked and stopped in the prior art can be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle control method according to one embodiment of the invention;
FIG. 2 is a flow chart of a vehicle control method according to one embodiment of the invention;
fig. 3 is a block diagram of a vehicle control system according to one embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided an embodiment of a vehicle control method, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system containing at least one set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order other than that shown or described herein.
The method embodiments may also be performed in an electronic device, similar control device, or cloud, including a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely illustrative and are not intended to limit the structure of the electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a different configuration than the above structural description.
The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.
The memory may be used to store a computer program, for example, a computer program corresponding to the vehicle control method in the embodiment of the present invention, and the processor implements the vehicle control method by running the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly. In some embodiments of the present solution, the communication device is configured to connect to a mobile device such as a mobile phone, a tablet, or the like, and may send an instruction to the electronic apparatus through the mobile device.
The display devices may be touch screen type liquid crystal displays (liquid crystal display, LCD) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (graphical user interface, GUI) with which a user can human interact by touching finger releases and/or gestures on the touch-sensitive surface, executable instructions for performing the human interaction functions described above being configured/stored in one or more processor-executable computer program products or readable storage media.
Fig. 1 is a flowchart of a vehicle control method according to one embodiment of the present invention, as shown in fig. 1, including the steps of:
step S101, in response to the vehicle starting the comfort brake parking function, the longitudinal acceleration of the vehicle and the requested braking force are acquired.
Wherein the requested braking force is a braking force generated by the driver stepping on the brake pedal.
Specifically, the comfortable braking and parking function is a function of controlling the vehicle to make the vehicle stand less while braking the vehicle, under which the braking and parking process of the vehicle is smoother. After the vehicle starts this function, the longitudinal acceleration of the vehicle and the requested braking force need to be acquired for calculation in the subsequent step.
It will be appreciated that the longitudinal acceleration of the vehicle and the requested braking force may be obtained by the vehicle's main controller.
Step S102, determining a parking brake force of the vehicle based on the longitudinal acceleration.
Wherein the parking brake force is used for representing the minimum brake force required by the vehicle to decelerate to park at the current moment.
Specifically, after the longitudinal acceleration of the vehicle is obtained, the minimum braking force required by the vehicle for stopping under the current longitudinal acceleration can be determined according to a preset braking force calculation formula.
It is to be noted that the parking brake force of the vehicle may be obtained by multiplying the weight of the vehicle by the longitudinal acceleration of the vehicle.
Step S103, obtaining the current vehicle speed according to the response to the parking brake force being greater than the requested brake force.
Specifically, after the parking braking force is obtained, whether the parking braking force of the vehicle is larger than the request braking force is judged, and if the parking braking force is larger than the request braking force, the current speed of the vehicle is obtained for calculation in the subsequent step.
If the parking brake force is smaller than or equal to the requested brake force, it indicates that the vehicle is in the current state, and the comfortable braking parking function is not required.
Step S104, a first control signal is output to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold.
The first control signal is used for controlling the hydraulic braking force of the vehicle to withdraw according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope.
Specifically, when the obtained current vehicle speed is smaller than a first preset vehicle speed threshold value, a first control signal is output to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force is controlled to replace the hydraulic braking force according to the preset slope.
It should be noted that the preset slope is obtained by real vehicle calibration.
In the embodiment of the invention, the longitudinal acceleration of the vehicle and the requested braking force are acquired in response to the vehicle starting a comfortable braking and stopping function, wherein the requested braking force is generated by the driver stepping on a brake pedal; determining a parking braking force of the vehicle according to the longitudinal acceleration, wherein the parking braking force is used for representing the minimum braking force required by the vehicle to decelerate to park at the current moment; acquiring a current vehicle speed in response to the parking brake force being greater than the requested brake force; and outputting a first control signal to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope. According to the invention, when certain conditions are met, the motor braking force is adopted to replace the hydraulic braking force, and the motor braking force has the characteristics of high response speed and high response precision, so that the vehicle can be stably stopped by adopting the motor braking force to replace the hydraulic braking force, and the technical problem that the vehicle tows when the vehicle is braked and stopped in the prior art can be solved.
Optionally, the vehicle control method further includes: acquiring a historical vehicle speed of the vehicle when a brake pedal is stepped on; and outputting a second control signal to control the vehicle in response to the historical vehicle speed being smaller than a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is smaller than the first preset vehicle speed threshold, and the second control signal is used for controlling the vehicle to respond to the braking request by adopting the motor braking force.
Specifically, when the vehicle brake pedal is depressed, the historical vehicle speed when the pedal is depressed is recorded, and if the historical vehicle speed is smaller than a second preset vehicle speed threshold value, a second control signal is output to control the vehicle to directly respond to the brake request of the driver by adopting the motor braking force. In this case, the hydraulic braking force is not necessarily interposed.
Alternatively, when the historical vehicle speed when the pedal is depressed is less than a third preset vehicle speed threshold, it is determined that the vehicle does not require intervention of the comfort brake parking function at this time.
It should be noted that, the third preset vehicle speed threshold is smaller than the second preset vehicle speed threshold. The first preset vehicle speed threshold value, the second preset vehicle speed threshold value and the third preset vehicle speed threshold value can be empirically preset according to actual requirements, and can also be obtained by calibrating a real vehicle.
Alternatively, in step S102, determining the parking brake force of the vehicle based on the longitudinal acceleration may include the steps of:
step S1021, determining the current road surface gradient according to the longitudinal acceleration and a first preset formula;
step S1022, determining the parking brake force of the vehicle according to the road gradient and the second preset formula.
Specifically, the process of determining the parking brake force of the vehicle is: firstly, determining and obtaining the road gradient of the current road on which the vehicle runs according to the longitudinal acceleration and a first preset formula; after the road surface gradient is determined, the parking braking force of the vehicle is determined according to the road surface gradient and a second preset formula.
Exemplary, current road gradient = arcsin (longitudinal acceleration/gravitational acceleration), vehicle parking brake force = vehicle weight = sine of current road gradient.
Optionally, after outputting the first control signal to control the vehicle in response to the current vehicle speed being less than the first preset vehicle speed threshold, the method further includes the following steps:
step S105, a stop time of the vehicle is acquired.
And step S106, outputting a third control signal to control the vehicle in response to the stopping time being greater than the preset time threshold, wherein the third control signal is used for controlling the vehicle to withdraw the motor braking force, and hydraulic braking force is adopted to replace the motor braking force.
Specifically, when the vehicle stops, the stopping time of the vehicle is obtained, and when the stopping time is greater than a preset time threshold, a third control signal is output to control the vehicle to enable the motor braking force to exit, and hydraulic braking force is adopted to replace the motor braking force so as to ensure that the vehicle does not slide under the current gradient.
When the motor braking force is used instead of the hydraulic braking force before the vehicle stops, the step of using the hydraulic braking force instead of the motor braking force after the vehicle stops is required. If the motor braking force is not interposed before the vehicle is stopped, step S105 and step S106 are not necessarily performed.
Optionally, the vehicle control method further includes: acquiring a function control instruction, wherein the function control instruction is used for controlling the starting and closing of a comfortable braking and parking function; and controlling the vehicle to start a comfortable braking and parking function according to the function control instruction.
For example, the comfortable braking and parking function provides a function switch on the driver control interface, and if the driver operates the function switch for comfortable braking and parking, the vehicle can acquire a function control instruction for starting or closing the braking and parking function, and then the comfortable braking and parking function can be started or closed according to the function control instruction.
Optionally, the vehicle control method further includes:
step a, acquiring front-end judgment data, wherein the front-end judgment data comprises pavement data, a brake pedal signal, an accelerator pedal signal and a current hydraulic braking force;
and b, determining a judging result according to the pre-judging data and the pre-preset pre-judging conditions.
And c, controlling the vehicle to disable the comfortable braking and parking function in response to the judgment result indicating that the front judgment data does not meet the preset front judgment condition.
Specifically, the vehicle does not need to perform a function of comfortable braking and parking under some working conditions, so that the function of comfortable braking and parking of the vehicle needs to acquire front-end judgment data before starting; and judging whether the pre-judgment meets the pre-set pre-judgment condition or not, if the pavement data, the brake pedal signal, the accelerator pedal signal and the current hydraulic braking force meet the pre-set pre-judgment condition, starting the comfortable braking and parking function of the vehicle, and if any one of the pavement data, the brake pedal signal, the accelerator pedal signal and the current hydraulic braking force does not meet the pre-set pre-judgment condition, controlling the vehicle to disable the comfortable braking and parking function.
Optionally, the preset pre-determined condition includes at least one of: the road surface data represents that the road surface is a drivable road surface, the road surface gradient is smaller than a preset gradient threshold value, the stroke change rate of the brake pedal is smaller than a preset change rate threshold value, the stroke of the brake pedal is smaller than a first preset stroke threshold value, the current hydraulic braking force is in a preset hydraulic braking force interval, and the stroke of the accelerator pedal is smaller than a second preset stroke threshold value.
Specifically, the road surface data in the preset judging data indicates that the current road surface state is bad road or the road surface state is poor, and the execution logic of the comfortable braking and parking function is affected, so that the road surface data only meets the preset judging condition when the road surface data indicates that the road surface is a drivable road surface; when road surface data indicate that the gradient of the current road surface is overlarge, the comfortable braking and parking functions are not suitable to be executed; if the rate of change of the brake pedal travel is greater than the preset rate of change threshold and the brake pedal travel is greater than the first preset travel threshold, then the current driver is deemed to have an emergency braking need, and then the current braking cycle does not need to perform a comfortable braking parking function; if the current hydraulic braking force is no longer in the preset hydraulic braking force interval, indicating that the driver has a large deceleration requirement or the driver is decelerating the vehicle with very small deceleration, and at the moment, no intervention of a comfortable braking and stopping function is needed; if the accelerator pedal signal received by the vehicle indicates that the accelerator pedal stroke is greater than a second preset stroke threshold, the vehicle has an acceleration requirement at the moment, and intervention of a comfortable braking and parking function is not needed.
It should be noted that the second preset travel threshold is 0.
Alternatively, referring to fig. 2, in some embodiments of the present invention, a vehicle control method includes the steps of:
firstly judging whether the current running road surface of the vehicle is a bad road, judging whether the gradient of the current road surface exceeds a limit value, controlling the vehicle to exit a comfortable braking and stopping function if the road surface is a bad road and/or the current gradient exceeds the limit value, and further judging whether the stroke and the stepping rate of a brake pedal exceed the limit value if the current running road surface of the vehicle is not a bad road and the gradient of the road surface does not exceed the limit value;
if the stroke and/or the stepping rate of the brake pedal exceed the limit value, controlling the vehicle to exit the comfortable braking and parking function, and if the stroke and the stepping rate of the brake pedal do not exceed the limit value, further judging whether the brake pressure exceeds the limit value;
if the braking pressure exceeds the limit value, controlling the vehicle to exit the comfortable braking and stopping function, and if the braking pressure does not exceed the limit value, calculating the current road surface gradient value;
after the current road gradient value is calculated, determining the required braking force required by the vehicle parked on the current road according to the road gradient value;
further judging whether the required braking force is smaller than the minimum braking force of the current road parking vehicle, if the required braking force is smaller than the minimum braking force of the current road parking vehicle, controlling the vehicle to exit the comfortable braking parking function, if the required braking force is not smaller than the minimum braking force of the current road parking vehicle, further judging whether the current speed of the vehicle reaches the trigger speed, if the current speed of the vehicle does not reach the trigger speed, controlling the vehicle to exit the comfortable braking parking function, if the current speed of the vehicle does not reach the trigger speed, controlling the hydraulic braking force of the vehicle to exit, replacing the hydraulic braking force with the motor braking force, and smoothly reducing the current braking force to the minimum braking force required by the current road vehicle parking;
after the vehicle is stopped for a period of time (preset time), the motor braking force is withdrawn, and the hydraulic braking force is supplemented.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus a necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
In this embodiment, a vehicle control system is further provided, and the system is used to implement the foregoing embodiments and preferred embodiments, and will not be described in detail. As used below, the term "module" is a combination of software and/or hardware that can implement a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 3 is a block diagram of a vehicle control system 200 according to one embodiment of the present invention, as shown in fig. 3, exemplified by the vehicle control system 200, including: a first acquisition module 201 for acquiring a longitudinal acceleration of the vehicle and a requested braking force in response to the vehicle starting a comfortable braking parking function, wherein the requested braking force is a braking force generated by a driver stepping on a brake pedal; a determining module 202, configured to determine a parking braking force of the vehicle according to the longitudinal acceleration, where the parking braking force is used to characterize a minimum braking force required for the vehicle to decelerate to park at the current time; a second obtaining module 203, configured to obtain a current vehicle speed in response to the parking brake force being greater than the requested brake force; the control module 204 is configured to output a first control signal to control the vehicle in response to the current vehicle speed being less than a first preset vehicle speed threshold, where the first control signal is configured to control the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope.
Optionally, the second obtaining module 203 is further configured to: acquiring a historical vehicle speed of the vehicle when a brake pedal is stepped on; the control module 204 is also configured to: and outputting a second control signal to control the vehicle in response to the historical vehicle speed being smaller than a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is smaller than the first preset vehicle speed threshold, and the second control signal is used for controlling the vehicle to respond to the braking request by adopting the motor braking force.
Optionally, the determining module 202 is further configured to: determining the current road gradient according to the longitudinal acceleration and a first preset formula; and determining the parking braking force of the vehicle according to the road gradient and a second preset formula.
Optionally, the second obtaining module 203 is further configured to: acquiring the stopping time of the vehicle; the control module 204 is also configured to: and outputting a third control signal to control the vehicle in response to the stopping time being greater than the preset time threshold, wherein the third control signal is used for controlling the vehicle to withdraw the motor braking force, and hydraulic braking force is adopted to replace the motor braking force.
Optionally, the control module 204 is further configured to: acquiring a function control instruction, wherein the function control instruction is used for controlling the starting and closing of a comfortable braking and parking function; and controlling the vehicle to start a comfortable braking and parking function according to the function control instruction.
Optionally, the control module 204 is further configured to: acquiring front-end judgment data, wherein the front-end judgment data comprises pavement data, a brake pedal signal, an accelerator pedal signal and a current hydraulic braking force; determining a judging result according to the pre-judging data and a preset pre-judging condition; and controlling the vehicle to disable the comfortable braking and parking function in response to the judgment result indicating that the front judgment data does not meet the preset front judgment condition.
Optionally, the preset pre-determined conditions in the control module 204 include at least one of: the road surface data represents that the road surface is a drivable road surface, the road surface gradient is smaller than a preset gradient threshold value, the stroke change rate of the brake pedal is smaller than a preset change rate threshold value, the stroke of the brake pedal is smaller than a first preset stroke threshold value, the current hydraulic braking force is in a preset hydraulic braking force interval, and the stroke of the accelerator pedal is smaller than a second preset stroke threshold value.
An embodiment of the present invention also provides a vehicle including a memory having a computer program stored therein, and a processor configured to run the computer program to perform the vehicle control method described in any of the above embodiments.
Alternatively, in the present embodiment, the processor in the vehicle described above may be arranged to run a computer program to perform the steps of:
step S101, in response to the vehicle starting the comfort brake parking function, the longitudinal acceleration of the vehicle and the requested braking force are acquired.
Step S102, determining a parking brake force of the vehicle based on the longitudinal acceleration.
Step S103, in response to the parking brake force being greater than the requested brake force, the current vehicle speed is acquired.
Step S104, a first control signal is output to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
Embodiments of the present invention also provide a non-volatile storage medium in which a computer program is stored, wherein the computer program is arranged to perform the vehicle control method described in any of the above embodiments when run on a computer or processor.
Alternatively, in the present embodiment, the above-described computer program may be configured to store a computer program for performing the steps of:
step S101, in response to the vehicle starting the comfort brake parking function, the longitudinal acceleration of the vehicle and the requested braking force are acquired.
Step S102, determining a parking brake force of the vehicle based on the longitudinal acceleration.
Step S103, in response to the parking brake force being greater than the requested brake force, the current vehicle speed is acquired.
Step S104, a first control signal is output to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In some embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the modules may be divided into a logic function, and there may be other division manners in actual implementation, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with respect to each other may be through some interface, module or indirect coupling or communication connection of modules, electrical or otherwise.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (8)

1. A vehicle control method characterized by comprising:
acquiring longitudinal acceleration of a vehicle and a requested braking force in response to the vehicle starting a comfortable braking and stopping function, wherein the requested braking force is generated by a driver stepping on a brake pedal;
determining a parking braking force of the vehicle according to the longitudinal acceleration, wherein the parking braking force is used for representing the minimum braking force required by the vehicle to decelerate to park at the current moment;
acquiring a current vehicle speed in response to the parking braking force being greater than the requested braking force;
outputting a first control signal to control the vehicle in response to the current vehicle speed being smaller than a first preset vehicle speed threshold, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope;
acquiring a historical vehicle speed of the vehicle when a brake pedal is stepped on;
outputting a second control signal to control the vehicle in response to the historical vehicle speed being smaller than a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is smaller than the first preset vehicle speed threshold, and the second control signal is used for controlling the vehicle to respond to a braking request by adopting the motor braking force;
acquiring a stop time of the vehicle;
and outputting a third control signal to control the vehicle in response to the stopping time being greater than a preset time threshold, wherein the third control signal is used for controlling the vehicle to withdraw the motor braking force, and the hydraulic braking force is adopted to replace the motor braking force.
2. The vehicle control method according to claim 1, characterized in that the determining the parking brake force of the vehicle based on the longitudinal acceleration includes:
determining the current road gradient according to the longitudinal acceleration and a first preset formula;
and determining the parking braking force of the vehicle according to the road gradient and a second preset formula.
3. The vehicle control method according to claim 1, characterized by further comprising:
acquiring a function control instruction, wherein the function control instruction is used for controlling the starting and closing of the comfortable braking and parking function;
and controlling the vehicle to start a comfortable braking and parking function according to the function control instruction.
4. The vehicle control method according to claim 1, characterized by further comprising:
acquiring front-end judgment data, wherein the front-end judgment data comprises pavement data, a brake pedal signal, an accelerator pedal signal and a current hydraulic braking force;
determining a judging result according to the pre-judging data and a preset pre-judging condition;
and controlling the vehicle to disable the comfortable braking and parking function in response to the judgment result indicating that the pre-determined data does not meet the preset pre-determined condition.
5. The vehicle control method according to claim 4, characterized in that the preset pre-determined condition includes at least one of:
the road surface data represents that the road surface is a drivable road surface, the road surface gradient is smaller than a preset gradient threshold value, the stroke change rate of the brake pedal is smaller than a preset change rate threshold value, the stroke of the brake pedal is smaller than a first preset stroke threshold value, the current hydraulic braking force is in a preset hydraulic braking force interval, and the stroke of the accelerator pedal is smaller than a second preset stroke threshold value.
6. A vehicle control system, characterized by comprising:
a first acquisition module for acquiring a longitudinal acceleration of a vehicle and a requested braking force in response to the vehicle starting a comfortable braking parking function, wherein the requested braking force is a braking force generated by a driver stepping on a brake pedal;
the determining module is used for determining the parking braking force of the vehicle according to the longitudinal acceleration, wherein the parking braking force is used for representing the minimum braking force required by the vehicle to decelerate to park at the current moment;
the second acquisition module is used for responding to the fact that the parking braking force is larger than the request braking force and acquiring the current vehicle speed;
the control module is used for responding to the fact that the current vehicle speed is smaller than a first preset vehicle speed threshold value, outputting a first control signal to control the vehicle, wherein the first control signal is used for controlling the hydraulic braking force of the vehicle to exit according to a preset slope, and the motor braking force replaces the hydraulic braking force according to the preset slope;
the control module is further configured to:
acquiring a historical vehicle speed of the vehicle when a brake pedal is stepped on;
outputting a second control signal to control the vehicle in response to the historical vehicle speed being smaller than a second preset vehicle speed threshold, wherein the second preset vehicle speed threshold is smaller than the first preset vehicle speed threshold, and the second control signal is used for controlling the vehicle to respond to a braking request by adopting the motor braking force;
acquiring a stop time of the vehicle;
and outputting a third control signal to control the vehicle in response to the stopping time being greater than a preset time threshold, wherein the third control signal is used for controlling the vehicle to withdraw the motor braking force, and the hydraulic braking force is adopted to replace the motor braking force.
7. A vehicle comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the vehicle control method as claimed in any of the preceding claims 1 to 5.
8. A non-volatile storage medium, characterized in that a computer program is stored in the non-volatile storage medium, wherein the computer program is arranged to perform the vehicle control method as claimed in any one of the preceding claims 1 to 5 when run on a computer or processor.
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