CN117901854A - Brake control method and system for electronic hand brake motor - Google Patents

Abstract

The application relates to the technical field of automobile braking, and discloses a braking control method and a braking control system for an electronic hand brake motor, wherein the method comprises the steps of acquiring obstacle detection data based on preset sampling frequency, identifying obstacle types of a plurality of obstacles around a vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model; acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed; creating a collision warning area based on the vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value; generating a parking suppression instruction based on the parking suppression condition signal; the application has the effect of improving the intelligent level of parking triggering of the automobile under the low-speed driving working condition.

Description

Brake control method and system for electronic hand brake motor

Technical Field

The application relates to the technical field of automobile braking, in particular to a braking control method and system for an electronic hand brake motor.

Background

The design of the electronic hand brake can reduce the occupation of the hand brake pull rod to the space of the vehicle armrest area, so that the central control area of the automobile becomes more beautiful, and more automobiles are equipped with the electronic hand brake to replace the traditional mechanical hand brake; the electronic hand brake is usually used for controlling the working state of an automobile brake motor by a signal sent by a control program arranged in an automobile electronic control unit ECU, so that the braking time, the braking force and the like are regulated, and the automatic and intelligent level is high; at present, automobiles capable of realizing functions such as automatic parking and automatic gear shifting and releasing parking exist in the market, however, at present, a plurality of automobiles easily have the problem that the parking function is frequently triggered under the working condition of low-speed running or the parking function is not triggered when a user expects to trigger the parking function.

Disclosure of Invention

The application provides a brake control method and system for an electronic hand brake motor in order to improve the intelligent level of parking trigger of an automobile under a low-speed driving condition.

The first technical scheme adopted by the application is as follows:

A brake control method for an electronic hand brake motor, comprising:

acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

Acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

Creating a collision warning area based on a vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

Generating a parking suppression instruction based on the parking suppression condition signal;

the types of disorders include fixed disorders and moving disorders.

By adopting the technical scheme, after the vehicle starts an automatic parking function, a user deeply steps on the brake to enable the vehicle to automatically enter a parking state after stopping, and if the vehicle frequently enters the parking state in the low-speed running process, a driver needs to frequently step on an accelerator pedal to release the parking state, so that the problems of high energy consumption, reduced running stability and complex driving operation are easily caused; obtaining obstacle detection data of a vehicle according to a preset sampling frequency, identifying the obstacle type of each obstacle around the vehicle according to the obstacle detection data, and creating an obstacle three-dimensional model corresponding to each obstacle so as to be convenient for knowing the obstacle condition around the vehicle; acquiring vehicle speed data based on a preset sampling frequency to generate vehicle speed-time relation information, so that the subsequent analysis of the vehicle speed change condition of a target vehicle is facilitated, when the vehicle speed data is smaller than a preset braking trigger speed, the vehicle enters a low-speed running working condition, a braking trigger judging instruction is generated, and whether the automatic parking function of the vehicle needs to be restrained or not is conveniently judged, so that the vehicle using experience of a driver is improved; creating a collision warning area based on the vehicle contour, judging whether a moving obstacle exists in the collision warning area, further judging whether the braking acceleration of the vehicle in a previous preset speed change observation period is smaller than a preset deceleration threshold value, if no moving obstacle exists in the collision warning area and the previous braking acceleration of the vehicle is smaller than the deceleration threshold value, considering that the current vehicle is in a state without avoiding the moving obstacle and without high-speed running, thus inhibiting an automatic parking function and generating a parking inhibition condition signal; and a parking suppression instruction is generated based on the parking suppression condition signal so as to suppress the automatic parking function of the vehicle, and the intelligent level of parking triggering of the automobile under the low-speed driving working condition is improved.

The present application is in a preferred example: the method for acquiring the obstacle detection data based on the preset sampling frequency, identifying the obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating the obstacle three-dimensional model comprises the following steps:

acquiring obstacle detection data from a vehicle-mounted obstacle sensor based on a preset sampling frequency, and marking a corresponding time node for the obstacle detection data;

Based on the obstacle detection data corresponding to the plurality of time nodes, the obstacle types of a plurality of obstacles around the vehicle are judged, and an obstacle three-dimensional model corresponding to the plurality of obstacles is created.

By adopting the technical scheme, the obstacle detection data are acquired from the vehicle-mounted obstacle sensors such as the ultrasonic radar, the millimeter wave radar, the laser radar or the camera according to the sampling frequency, and the corresponding sampling time nodes are marked on the obstacle detection data; according to the obstacle detection data acquired by different time nodes, judging whether the obstacle around the vehicle is a moving obstacle or not, and creating an obstacle three-dimensional model corresponding to the obstacle, so that the environment where the vehicle is located can be conveniently judged subsequently, and the scientificity of automatic parking function inhibition is improved.

The present application is in a preferred example: the obtaining the vehicle speed data based on the preset sampling frequency, generating the vehicle speed-time relation information, includes:

acquiring vehicle speed data from a vehicle speed sensor based on a preset sampling frequency, and marking corresponding time nodes for the vehicle speed data;

and generating vehicle speed-time relation information after fitting processing based on the plurality of vehicle speed data and the corresponding time nodes.

By adopting the technical scheme, vehicle speed data are acquired from a vehicle speed sensor according to preset sampling frequency, and corresponding sampling time nodes are marked so as to analyze the historical driving speed condition of the vehicle; after fitting the discrete vehicle speed data and the corresponding time node information, vehicle speed-time relation information is generated, so that the average speed, speed change trend and the like of each time period can be analyzed conveniently when braking trigger judgment is needed.

The present application is in a preferred example: the creating a collision warning area based on the vehicle profile includes:

And setting collision warning distances in all directions of the vehicle, and creating a collision warning area based on the vehicle contour and each collision warning distance.

By adopting the technical scheme, the collision warning distance of the vehicle in all directions is set according to the performance and the safety requirements of the sensor equipped with the vehicle, and the collision warning area is created according to the contour of the vehicle and the collision warning distance in all directions, so that the risk of collision accidents of the vehicle can be evaluated later.

The present application is in a preferred example: after the parking suppression instruction is generated based on the parking suppression condition signal, the method comprises the following steps:

and disabling the automatic parking function based on the parking suppression instruction, and generating a disabling switching prompt instruction and a disabling state prompt instruction.

By adopting the technical scheme, the automatic parking function is stopped according to the parking suppression instruction, and the stop switching prompt instruction and the stop state prompt instruction are generated at the same time, so that a driver is prompted immediately when the automatic parking function is switched to the stop state, the driver can expect the current state of the automatic parking function, and can continuously send out prompt signals during the stop period of the automatic parking function, and the driver can check at any time when the driver needs to acquire the current state of the automatic parking function.

The present application is in a preferred example: further comprises:

Acquiring congestion degree information of a vehicle;

if the congestion degree information is in a congestion state, acquiring vehicle following state information of the vehicle;

If the following state information is a standard following state, generating a congestion distance limiting instruction, wherein the congestion distance limiting instruction is associated with a preset first following distance and a preset second following distance;

Acquiring vehicle distance detection data of a vehicle in real time, generating a vehicle following braking instruction when the vehicle distance detection data is smaller than a first following distance, and generating a vehicle following braking release instruction and a vehicle following driving instruction when the vehicle distance detection data is larger than a second following distance;

The congestion degree information comprises a congestion state and a non-congestion state; the following state information includes a normal following state and an abnormal following state.

By adopting the technical scheme, the congestion degree information of the vehicle is obtained so as to judge the congestion condition of the current position of the vehicle; if the position of the vehicle is in a congestion state, further acquiring the following state information of the vehicle so as to judge whether the current vehicle is in a standard following state or not; if the vehicle is in the normal following state at present, generating a congestion distance limiting instruction, wherein the congestion distance limiting instruction is associated with a first following distance for limiting the minimum following distance and a second following distance for limiting the maximum following distance; after the congestion distance limiting instruction is generated, a vehicle distance detection instruction of the vehicle is obtained in real time so as to determine the current following distance, the first following distance and the second following distance are compared, when the following distance is too small, a following braking instruction is generated so as to limit the minimum following distance, and when the following distance is too large, a following braking release instruction and a following driving instruction are generated so as to control the vehicle to start and reduce the following distance, and the possibility of congestion of other vehicles is reduced.

The present application is in a preferred example: the obtaining the congestion degree information of the vehicle includes:

acquiring vehicle positioning information, inputting the vehicle positioning information into an online map program, and determining corresponding road section congestion parameters;

Acquiring the vehicle speed data in a preset speed observation period, and determining corresponding vehicle speed congestion parameters;

acquiring the number of moving obstacles in the collision warning area, and determining corresponding obstacle congestion parameters;

and carrying out weighted calculation on the road section congestion parameters, the vehicle speed congestion parameters and the obstacle congestion parameters to obtain congestion degree scores, and determining congestion degree information based on the congestion degree scores.

By adopting the technical scheme, the indexes for determining the vehicle congestion degree information comprise the congestion degree of the road section where the vehicle is currently located, the speed condition of the vehicle in the previous speed observation period and the number of moving obstacles in the vehicle collision warning area, so that whether the current vehicle is in a congested driving environment or not can be estimated from multiple dimensions, and the accuracy of the congestion degree information is improved.

The present application is in a preferred example: the acquiring the following state information of the vehicle comprises the following steps of:

acquiring driving image data of a vehicle, and judging lane keeping information of the vehicle based on the driving image data;

If the lane keeping information is in a qualified state, acquiring the traveling direction information of the vehicle;

and if the travelling direction information is in a qualified state, adjusting the following state information into a standard following state.

By adopting the technical scheme, the driving image data of the vehicle is acquired, and the lane keeping information is determined by judging the lane keeping condition of the vehicle according to the driving image data; if the lane keeping information is in a qualified state, further acquiring the traveling direction information of the vehicle; if the traveling direction of the vehicle is also in a qualified state, the vehicle is considered to be in a standard following state, so that the qualified following state of the vehicle is convenient to be maintained later.

The second object of the application is realized by the following technical scheme:

A brake control system for an electronic hand brake motor, comprising:

The obstacle three-dimensional model creation module is used for acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

The vehicle speed time relation acquisition module is used for acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

The parking suppression condition judgment module is used for creating a collision warning area based on the vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

and the parking suppression instruction generation module is used for generating a parking suppression instruction based on the parking suppression condition signal.

By adopting the technical scheme, the obstacle detection data of the vehicle are acquired according to the preset sampling frequency, the obstacle type of each obstacle around the vehicle is identified according to the obstacle detection data, and the obstacle three-dimensional model corresponding to each obstacle is created, so that the situation of the obstacle around the vehicle can be conveniently known; acquiring vehicle speed data based on a preset sampling frequency to generate vehicle speed-time relation information, so that the subsequent analysis of the vehicle speed change condition of a target vehicle is facilitated, when the vehicle speed data is smaller than a preset braking trigger speed, the vehicle enters a low-speed running working condition, a braking trigger judging instruction is generated, and whether the automatic parking function of the vehicle needs to be restrained or not is conveniently judged, so that the vehicle using experience of a driver is improved; creating a collision warning area based on the vehicle contour, judging whether a moving obstacle exists in the collision warning area, further judging whether the braking acceleration of the vehicle in a previous preset speed change observation period is smaller than a preset deceleration threshold value, if no moving obstacle exists in the collision warning area and the previous braking acceleration of the vehicle is smaller than the deceleration threshold value, considering that the current vehicle is in a state without avoiding the moving obstacle and without high-speed running, thus inhibiting an automatic parking function and generating a parking inhibition condition signal; and a parking suppression instruction is generated based on the parking suppression condition signal so as to suppress the automatic parking function of the vehicle, and the intelligent level of parking triggering of the automobile under the low-speed driving working condition is improved.

The third object of the application is realized by the following technical scheme:

a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the brake control method for an electronic hand brake motor described above when the computer program is executed.

The fourth object of the application is realized by the following technical scheme:

A computer readable storage medium storing a computer program which when executed by a processor implements the steps of the brake control method for an electronic hand brake motor described above.

In summary, the present application includes at least one of the following beneficial technical effects:

1. Obtaining obstacle detection data of a vehicle according to a preset sampling frequency, identifying the obstacle type of each obstacle around the vehicle according to the obstacle detection data, and creating an obstacle three-dimensional model corresponding to each obstacle so as to be convenient for knowing the obstacle condition around the vehicle; acquiring vehicle speed data based on a preset sampling frequency to generate vehicle speed-time relation information, so that the subsequent analysis of the vehicle speed change condition of a target vehicle is facilitated, when the vehicle speed data is smaller than a preset braking trigger speed, the vehicle enters a low-speed running working condition, a braking trigger judging instruction is generated, and whether the automatic parking function of the vehicle needs to be restrained or not is conveniently judged, so that the vehicle using experience of a driver is improved; creating a collision warning area based on the vehicle contour, judging whether a moving obstacle exists in the collision warning area, further judging whether the braking acceleration of the vehicle in a previous preset speed change observation period is smaller than a preset deceleration threshold value, if no moving obstacle exists in the collision warning area and the previous braking acceleration of the vehicle is smaller than the deceleration threshold value, considering that the current vehicle is in a state without avoiding the moving obstacle and without high-speed running, thus inhibiting an automatic parking function and generating a parking inhibition condition signal; and a parking suppression instruction is generated based on the parking suppression condition signal so as to suppress the automatic parking function of the vehicle, and the intelligent level of parking triggering of the automobile under the low-speed driving working condition is improved.

2. Acquiring congestion degree information of a vehicle so as to judge the congestion condition of the current position of the vehicle; if the position of the vehicle is in a congestion state, further acquiring the following state information of the vehicle so as to judge whether the current vehicle is in a standard following state or not; if the vehicle is in the normal following state at present, generating a congestion distance limiting instruction, wherein the congestion distance limiting instruction is associated with a first following distance for limiting the minimum following distance and a second following distance for limiting the maximum following distance; after the congestion distance limiting instruction is generated, a vehicle distance detection instruction of the vehicle is obtained in real time so as to determine the current following distance, the first following distance and the second following distance are compared, when the following distance is too small, a following braking instruction is generated so as to limit the minimum following distance, and when the following distance is too large, a following braking release instruction and a following driving instruction are generated so as to control the vehicle to start and reduce the following distance, and the possibility of congestion of other vehicles is reduced.

3. The indexes for determining the vehicle congestion degree information comprise the congestion degree of the road section where the vehicle is currently located, the speed condition of the vehicle in the previous speed observation period and the number of moving obstacles in the vehicle collision warning area, so that whether the current vehicle is in a congested driving environment or not can be estimated from multiple dimensions, and the accuracy of the congestion degree information is improved.

Drawings

Fig. 1 is a flowchart of a brake control method for an electronic hand brake motor according to a first embodiment of the present application.

Fig. 2 is another flowchart of a brake control method for an electronic hand brake motor according to a first embodiment of the present application.

Fig. 3 is a schematic block diagram of a brake control system for an electric hand brake motor according to a second embodiment of the present application.

Fig. 4 is a schematic view of an apparatus in a third embodiment of the present application.

Detailed Description

The application is described in further detail below with reference to fig. 1 to 4.

Example 1

Referring to fig. 1, the application discloses a brake control method for an electronic hand brake motor, which is used for controlling the existing automobile electronic hand brake motor, and specifically comprises the following steps:

s10: and acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model.

In the present embodiment, the sampling frequency includes a frequency at which the automobile collects obstacle detection data; the obstacle detection data is data such as a distance, a size, and a shape of an obstacle existing around the vehicle detected by an in-vehicle obstacle sensor of the vehicle; the obstacle types include fixed obstacle and moving obstacle, the fixed obstacle refers to an obstacle which does not move within a certain time, such as a fence, a guardrail, a parked motor vehicle and the like, the moving obstacle refers to an obstacle which moves within a certain time, such as a driving motor vehicle, a non-motor vehicle, a pedestrian and the like, and the evaluation time for judging the type of the obstacle to which the obstacle belongs can be set according to actual requirements; the obstacle three-dimensional model refers to a three-dimensional model created from the outline of the obstacle.

After the automatic parking function is started, a common vehicle with the automatic parking function can automatically enter a parking state when a user deeply steps on a brake to stop the vehicle, and if the vehicle frequently enters the parking state in the low-speed running process, a driver needs to frequently step on an accelerator pedal to release the parking state, so that the problems of high energy consumption, reduced running stability and complex driving operation are easily caused; for the driver with insufficient driving experience, if the parking state needs to be released and the accelerator pedal is carelessly and deeply stepped, the driver may even blow by to cause traffic accidents.

Specifically, obstacle detection data of the vehicle are obtained according to a preset sampling frequency, so that obstacle types of obstacles around the vehicle are identified according to the obstacle detection data, and an obstacle three-dimensional model corresponding to each obstacle is created, so that the situation of the obstacle around the vehicle can be conveniently known.

Wherein, in step S10, it includes:

s11: and acquiring obstacle detection data from the vehicle-mounted obstacle sensor based on a preset sampling frequency, and marking a corresponding time node for the obstacle detection data.

In the present embodiment, the in-vehicle obstacle sensor refers to a sensor equipped with an obstacle detection function, such as one or more of an ultrasonic radar, a millimeter wave radar, a laser radar, a camera, and the like, which is equipped with the vehicle to be analyzed.

Specifically, according to the sampling frequency, obstacle detection data are obtained from a vehicle-mounted obstacle sensor, and sampling time nodes corresponding to each collected obstacle detection data are marked; preferably, the sampling frequency of the vehicle-mounted obstacle sensor is set to be more than 10Hz, the specific sampling frequency can be determined according to the performance of each vehicle-mounted obstacle sensor, and different sampling frequencies can be set for different types of vehicle-mounted obstacle sensors.

S12: based on the obstacle detection data corresponding to the plurality of time nodes, the obstacle types of a plurality of obstacles around the vehicle are judged, and an obstacle three-dimensional model corresponding to the plurality of obstacles is created.

Specifically, according to the obstacle detection data collected by different time nodes, judging whether the obstacle around the vehicle is a moving obstacle or not; when a vehicle or a moving obstacle moves, the detection angle of the vehicle-mounted sensor relative to the obstacle can be changed, and according to obstacle detection data acquired by a plurality of groups of different time nodes, the outline appearance characteristics of the obstacle in different directions can be conveniently determined, so that a three-dimensional obstacle model corresponding to the obstacle is created, the environment where the vehicle is located can be conveniently judged subsequently, and the scientificity of automatic parking function inhibition is improved.

S20: and acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed.

In this embodiment, the sampling frequency includes a frequency at which the vehicle collects vehicle speed data; the vehicle speed data refers to data of the actual moving speed of the vehicle; the vehicle speed-time relation information refers to information of the relation of the vehicle speed changing along with time, and can be specifically a vehicle speed-time relation curve; the brake triggering speed is a speed value used for judging whether a brake triggering judgment instruction needs to be generated or not; the brake trigger determination instruction is an instruction for controlling a determination operation of whether or not the vehicle automatic parking function needs to be suppressed.

Specifically, vehicle speed data is obtained based on a preset sampling frequency to generate vehicle speed-time relation information, so that the vehicle speed change condition of a target vehicle can be analyzed conveniently, when the vehicle speed data is smaller than a preset braking trigger speed, the vehicle enters a low-speed running working condition, and a braking trigger judging instruction is generated to judge whether an automatic parking function of the vehicle needs to be restrained or not, so that the vehicle using experience of a driver can be improved conveniently.

Wherein, in step S20, it includes:

s21: and acquiring vehicle speed data from a vehicle speed sensor based on a preset sampling frequency, and marking corresponding time nodes for the vehicle speed data.

Specifically, vehicle speed data is obtained from a vehicle speed sensor according to a preset sampling frequency, and a corresponding sampling time node is marked on each collected vehicle speed data so as to analyze the historical driving speed condition of the vehicle.

S22: and generating vehicle speed-time relation information after fitting processing based on the plurality of vehicle speed data and the corresponding time nodes.

Specifically, after fitting a plurality of discrete vehicle speed data and corresponding time node information, a vehicle speed-time relation curve is generated, and the vehicle speed-time relation information is generated based on the vehicle speed-time relation curve, so that the average speed, acceleration, speed change trend and the like of each time period can be conveniently analyzed when braking trigger judgment is needed.

S30: and creating a collision warning area based on the vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value.

In the present embodiment, the collision warning area refers to an area for detecting whether there is a risk of collision between the vehicle and the obstacle; the variable speed observation period refers to a preset period for observing a speed change condition of the vehicle in a specific time, and preferably, the variable speed observation period may be set to 10 seconds; braking acceleration refers to the absolute value of the vehicle movement acceleration; the deceleration threshold value is a preset threshold value for judging whether the braking acceleration of the vehicle is excessive or not; the parking suppression condition signal refers to a signal for determining that a condition triggering suppression of the automatic parking function is currently met.

Specifically, a collision warning area is created based on the vehicle contour, whether a moving obstacle exists in the collision warning area is judged, if the moving obstacle exists in the collision warning area, the vehicle is considered to be in a dangerous driving state, such as traffic jam, at this time, the driver still needs to consider the motion state of the surrounding moving obstacle, the possibility of stopping the vehicle is high, and therefore, the automatic parking function still needs to be used, and therefore, the condition for triggering the automatic parking inhibition function is not met.

Specifically, if no moving obstacle is detected in the collision warning area, the vehicle is considered to be in a safer driving environment, and the driver only needs to consider the motion state of the driven vehicle, but does not need to consider the movement of surrounding obstacles; further judging whether the braking acceleration of the vehicle in the previous preset speed change observation period is smaller than a preset deceleration threshold value, if the braking acceleration of the vehicle in the previous speed change observation period is larger than the deceleration threshold value, the vehicle may be in a state needing temporary braking, such as waiting for traffic lights and the like, and the vehicle still has a high probability of needing to run at a high speed at the subsequent time, so that the automatic parking function is not easy to be restrained; when the vehicle braking acceleration in the previous speed change observation period is smaller than the deceleration threshold value, the current vehicle is considered to be in a state without avoiding the movement obstacle and without high-speed running, so that the automatic parking function can be restrained, and a parking restraining condition signal is generated.

Wherein, at S30: the step of creating the collision warning area based on the vehicle contour includes:

s31: and setting collision warning distances in all directions of the vehicle, and creating a collision warning area based on the vehicle contour and each collision warning distance.

In this embodiment, the collision warning distance refers to a distance for determining a collision warning area of a vehicle, where the collision warning distances in different directions of the vehicle may be set to different values, specifically may be set according to actual safety requirements and vehicle-mounted sensor performance, preferably, the collision warning distances in front of and behind the vehicle may be set to 5 meters, and the collision warning distance in the side of the vehicle may be set to 2 meters.

Specifically, according to the detection distance performance and the actual safety requirements of the obstacle detection sensor equipped with the vehicle, the collision warning distance of the vehicle in each direction is set, and a collision warning area is created according to the contour of the vehicle and the collision warning distance in each direction, so that the risk of collision accident of the vehicle is subsequently evaluated.

Further, a current road inclination angle is obtained, wherein the road inclination angle is the current inclination angle of the vehicle measured by a gyroscope or other inclination detection sensors arranged on the vehicle, and the collision warning distances of the vehicle in the front and the rear are adjusted based on the road inclination angle, a preset reference value of the collision warning distance and a preset collision warning distance adjustment coefficient; setting the current road gradient as theta, the collision warning distance in front of the vehicle as DF, the collision warning distance in back of the vehicle as DB, and the collision warning distances in the left and right sides of the vehicle as DS; the reference value of DF is Df, the reference value of DB is Db, X, Y is the front collision warning distance adjustment coefficient and the rear collision warning distance adjustment coefficient respectively; the formula for adjusting the front collision warning distance and the rear collision warning distance of the vehicle is as follows: df=df- (θ·x) when θ <0 °; when θ > 0 °, df=df+ (θ·y), db=db+ (θ·y), preferably df=5 m, db=5 m, x=0.5 m, y=0.25 m.

Since the road ramp is generally not more than 10 °, according to this adjustment formula, the forward collision warning distance will increase when the vehicle is in a downhill road, and when the road inclination angle is 10 °, the forward collision warning distance will be set to twice the reference value to take into account the influence of the downhill road on the vehicle braking distance in the dynamic setting of the collision warning distance; when the vehicle is on the ascending road, the front collision warning distance and the rear collision warning distance are both increased so as to reduce the possibility of accidents caused by carelessly operating the vehicle by the driver of the vehicle or the driver of the front vehicle.

S40: a parking suppression instruction is generated based on the parking suppression condition signal.

In the present embodiment, the parking suppression instruction refers to an instruction for controlling the automatic parking function to be deactivated.

Specifically, a parking suppression instruction is generated based on a parking suppression condition signal, and the parking suppression instruction is sent to a controller (an automobile electric control unit ECU) of an electronic hand brake motor so as to stop an automatic parking function of a vehicle, so that the intelligent level of parking triggering of the vehicle under a low-speed driving working condition is improved, and further the driving experience of the vehicle is improved.

Further, when the speed data of the vehicle is greater than the preset braking trigger speed, a parking activation instruction is generated, and the parking activation instruction is sent to a controller of the electronic hand brake motor so as to start the automatic parking function of the vehicle, so that the intelligent level of parking trigger of the vehicle under the high-speed driving working condition is improved, and the parking activation instruction is an instruction for controlling the starting of the automatic parking function.

After step S40, the brake control method for the electronic hand brake motor further includes:

s50: and disabling the automatic parking function based on the parking suppression instruction, and generating a disabling switching prompt instruction and a disabling state prompt instruction.

In this embodiment, the stop-switch instruction refers to an instruction generated when the automatic parking function is switched to the stop state, and is used to control the signal output device of the vehicle to output a stop-switch instruction signal; the stop state prompting instruction refers to an instruction generated when the automatic parking function is switched to a stop state, and is used for controlling the signal output equipment of the vehicle to continuously output a stop state prompting signal.

Specifically, the automatic parking function is deactivated according to the parking suppression instruction, and a deactivation switching prompt instruction and a deactivation state prompt instruction are generated at the same time, and the deactivation switching prompt instruction and the deactivation state prompt instruction are sent to a signal output device of the vehicle, wherein the signal output device of the vehicle can be a loudspeaker, an indicator light or a display screen; preferably, when the automatic parking function is switched to the deactivated state, the deactivated switching prompt instruction controls the loudspeaker to send a deactivated switching prompt signal, the deactivated switching prompt signal is an acoustic signal, so that the driver can be conveniently prompted under the condition that the driver does not need to move the sight line, the driver can know that the automatic parking function is switched to the deactivated state, the deactivated state prompt instruction controls the indicator lamp or the display screen to continuously send out the deactivated state prompt signal during the deactivated period of the automatic parking function, the deactivated state prompt signal is specifically an optical signal or an image signal, and the driver can conveniently check at any time when the driver needs to confirm the current state of the automatic parking function of the vehicle.

As shown in fig. 2, the brake control method for the electronic hand brake motor further includes:

S60: and acquiring the congestion degree information of the vehicle.

In the present embodiment, the congestion degree information includes a congestion state and a non-congestion state.

In particular, since the vehicle is required to be controlled to move and stop from time to time when following a congested road condition, the driver is required to pay attention to the vehicle at all times so as to prevent accidents caused by rear-end collisions or other vehicle jams; and acquiring the congestion degree information of the vehicle so as to judge the congestion condition of the current position of the vehicle.

Wherein, in step S60, it includes:

S61: and acquiring vehicle positioning information, inputting the vehicle positioning information into an online map program, and determining corresponding road section congestion parameters.

In this embodiment, the road congestion parameter refers to a parameter obtained by quantifying the congestion condition of the road, and may specifically be measured in the form of a score.

Specifically, the positioning information of the vehicle is obtained, the vehicle positioning information is input into an existing online map program with a road congestion condition broadcasting function, so that the congestion degree of the current position of the vehicle is determined, and the congestion degree of the position of the vehicle is quantized and assigned to obtain road section congestion parameters.

S62: and acquiring the vehicle speed data in the preset speed observation period and determining corresponding vehicle speed congestion parameters.

In the present embodiment, the speed observation period refers to a period preset for evaluating an average vehicle speed of the vehicle; the vehicle speed congestion parameter is a parameter obtained by processing the average speed of the vehicle running, and is specifically measured in the form of a score.

Specifically, an average value of vehicle speed data of the vehicle in a previous speed observation period is obtained, and the value of the average value of the vehicle speed data is subjected to scoring processing to obtain a vehicle speed congestion parameter.

S63: and acquiring the number of moving barriers in the collision warning area, and determining corresponding barrier congestion parameters.

In the present embodiment, the obstacle congestion parameter is a parameter obtained by processing the number of moving obstacles in the collision warning area of the vehicle, and specifically, is measured in the form of a score.

Specifically, the number of moving obstacles in the collision warning area is detected, and the number of the moving obstacles is subjected to scoring processing to obtain obstacle congestion parameters.

S64: and carrying out weighted calculation on the road section congestion parameters, the vehicle speed congestion parameters and the obstacle congestion parameters to obtain congestion degree scores, and determining congestion degree information based on the congestion degree scores.

Specifically, weighting calculation is carried out on road segment congestion parameters, vehicle speed congestion parameters and obstacle congestion parameters to obtain congestion degree scores, and congestion degree information is determined based on the congestion degree scores so as to determine whether the current vehicle running state is a congestion state or a non-congestion state.

Specifically, the vehicle congestion degree information is determined according to the congestion degree of the road section where the vehicle is currently located, the speed condition of the vehicle in the previous speed observation period and the index of the number of moving obstacles in the vehicle collision warning area, so that whether the current vehicle is in a congested driving environment or not is evaluated from multiple dimensions, and the accuracy of the congestion degree information is improved.

S70: and if the congestion degree information is in a congestion state, acquiring the following state information of the vehicle.

In this embodiment, the following state information includes a normal following state and an abnormal following state.

Specifically, if the position of the vehicle is in a congestion state, the following state information of the vehicle is further acquired so as to judge whether the current vehicle is in a standard following state.

Wherein, in step S70, it includes:

S71: and acquiring driving image data of the vehicle, and judging lane keeping information of the vehicle based on the driving image data.

In this embodiment, the driving image data refers to image data captured by a camera of a driving recorder or an obstacle detection camera of a vehicle; the lane keeping information is information for determining whether the vehicle deviates from the lane on which the vehicle is currently traveling.

Specifically, the driving image data of the vehicle is obtained, whether the vehicle runs in the current lane marking and the distance between the vehicle and the lane marking are judged according to the driving image data, the lane keeping condition of the vehicle is determined, and lane keeping information is further generated, wherein the lane keeping information comprises a qualified state and a disqualified state, the criterion that the lane keeping information is in the qualified state is that the vehicle is located in the lane markings on two sides, and the distance between the vehicle and the lane markings on two sides is larger than a preset distance value, for example, 10cm.

S72: and if the lane keeping information is in a qualified state, acquiring the traveling direction information of the vehicle.

In the present embodiment, the traveling direction information refers to information for determining whether or not the current traveling direction of the vehicle is likely to deviate from the lane.

Specifically, if the lane keeping information is in a qualified state, the traveling direction information of the vehicle is further acquired, and the traveling direction information is in a qualified state and in a non-qualified state, wherein the criterion of the lane keeping information in the qualified state is that the included angle between the traveling direction of the vehicle and the lane lines near two sides of the current lane is smaller than a preset angle value, for example, 15 degrees.

S73: and if the travelling direction information is in a qualified state, adjusting the following state information into a standard following state.

In this embodiment, the following state information refers to information for determining whether the vehicle is currently in a normal following state; the following state information includes a normal following state and an abnormal following state.

Specifically, if the traveling direction of the vehicle is also in a qualified state, the vehicle is considered to be in a normal following state, so that the qualified following state of the vehicle is convenient to be maintained later.

S80: if the following state information is a standard following state, generating a congestion distance limiting instruction, wherein the congestion distance limiting instruction is associated with a preset first following distance and a preset second following distance.

In this embodiment, the congestion distance limiting instruction refers to an instruction for controlling a vehicle to keep a following distance between a preset first following distance and a preset second following distance when the vehicle travels in a congestion environment; the first following distance is used for limiting the minimum following distance of the following vehicles, the second following distance is used for limiting the maximum following distance of the following vehicles, and preferably, the first following distance can be set to be 1m, and the second following distance can be set to be 2m.

Specifically, if the vehicle is currently in a normal following state, a congestion distance limiting instruction is generated so as to control the following distance of the vehicle to be kept between a preset first following distance and a preset second following distance.

S90: and acquiring vehicle distance detection data of the vehicle in real time, generating a vehicle following braking instruction when the vehicle distance detection data is smaller than a first following distance, and generating a vehicle following braking release instruction and a vehicle following driving instruction when the vehicle distance detection data is larger than a second following distance.

In the present embodiment, the vehicle distance detection data refers to data of a distance between the vehicle and the obstacle ahead detected by the in-vehicle sensor; the car-following braking instruction is an instruction for controlling the electronic hand brake motor to execute braking operation to brake the vehicle; the following brake release command is a command for controlling the electric hand brake motor to release brake operation so as to release the braking state of the vehicle; the following driving instruction refers to an instruction for controlling the vehicle to run in an accelerating way, and specifically may be that the vehicle is directly controlled to move by an automobile Electronic Control Unit (ECU), or may be that an acoustic/optical signal for prompting the driver to run is sent by a signal output device of the vehicle.

Specifically, after the congestion distance limiting instruction is generated, a vehicle distance detection instruction of the vehicle is obtained in real time so as to determine the current following distance, the first following distance and the second following distance are compared, when the following distance is too small, a following braking instruction is generated so as to limit the minimum following distance, and when the following distance is too large, a following braking release instruction and a following driving instruction are generated so as to control the vehicle to start and reduce the following distance, and the possibility of congestion of other vehicles is reduced.

In another embodiment of the present application, the brake control method for an electronic hand brake motor further includes:

S100: when the vehicle is in the automatic driving mode, front vehicle distance data of a front vehicle in the collision warning area are obtained based on a preset sampling frequency, and front vehicle distance-time relation information is generated.

In the present embodiment, the automatic driving mode refers to a mode in which the vehicle is in an adaptive cruise mode or the like, and the vehicle can be automatically driven without intervention of the driver; the front vehicle distance data refers to distance data between the host vehicle and a front vehicle in the same lane.

In particular, when the vehicle is in the automatic driving mode, the intervention operation of the driver on the vehicle requires less high degree of automation; based on preset sampling frequency, distance data between a front vehicle and a vehicle in the same lane in a collision warning area are obtained from an obstacle detection sensor equipped with the vehicle, front vehicle distance data are obtained, and based on a plurality of front vehicle distance data and corresponding sampling time nodes, front vehicle distance-time relation information is generated after data fitting processing, so that the change trend of the distance data between the vehicle and the front vehicle is conveniently analyzed.

S110: based on the vehicle speed data and the front vehicle distance-time relationship information, a front vehicle speed and a front vehicle acceleration of the front vehicle are calculated.

Specifically, according to the trend of the vehicle speed data of the own vehicle over time, the acceleration of the own vehicle can be determined, and based on the vehicle speed data of the own vehicle and the front vehicle distance-time relation information, the relative speed and the relative acceleration of the own vehicle and the front vehicle can be calculated, and then the front vehicle speed and the front vehicle acceleration can be calculated.

S120: based on the vehicle speed data, the vehicle acceleration, the front vehicle speed and the front vehicle acceleration, whether collision risk exists when the vehicle speed of the vehicle is the same as that of the front vehicle or not is estimated, and if the collision risk does not exist, a parking suppression instruction is generated.

In this embodiment, whether the collision risk exists is determined according to whether the distance between the host vehicle and the front vehicle is smaller than a preset safety distance, preferably, the safety distance is 0.5m, if the distance between the host vehicle and the front vehicle is smaller than the safety distance, the collision risk exists, otherwise, the collision risk is not equal to the preset safety distance; further, the specific value of the safety distance may be corrected correspondingly according to the current road gradient, so as to improve the rationality of the safety distance setting, and the method for adjusting the collision warning distance in the first embodiment may be referred to specifically.

Specifically, if the vehicle speed data is V0, the vehicle acceleration is A0, the front vehicle speed is VF, and the front vehicle acceleration is AF, a first time t= (V0-VF)/(A0-V0) is calculated, based on the current vehicle speed data, the vehicle acceleration, the front vehicle speed, and the front vehicle acceleration, whether the distance data between the vehicle and the front vehicle is greater than a safe distance after the time T is calculated, if so, it is determined that there is no collision risk, and a parking suppression instruction is generated, so as to suppress an automatic parking function of the vehicle, so that when the vehicle uses automatic driving under a congested road condition, if the vehicle detects that the front vehicle is accelerated during a deceleration process, the automatic parking function is suppressed, so that the vehicle is quickly tracked under a congested road condition, and the influence of the automatic parking function on the quick vehicle tracking of the vehicle is reduced.

It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present application.

In a second embodiment, a brake control system for an electronic hand brake motor is provided, where the brake control system for an electronic hand brake motor corresponds to the brake control method for an electronic hand brake motor in the foregoing embodiment.

As shown in fig. 3, the brake control system for the electronic hand brake motor comprises an obstacle three-dimensional model creation module, a vehicle speed time relation acquisition module, a parking suppression condition judgment module and a parking suppression instruction generation module. The detailed description of each functional module is as follows:

The obstacle three-dimensional model creation module is used for acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

The vehicle speed time relation acquisition module is used for acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

The parking suppression condition judgment module is used for creating a collision warning area based on the vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

and the parking suppression instruction generation module is used for generating a parking suppression instruction based on the parking suppression condition signal.

Wherein, the obstacle three-dimensional model creation module further comprises:

The obstacle detection time marking sub-module is used for acquiring obstacle detection data from the vehicle-mounted obstacle sensor based on a preset sampling frequency and marking a corresponding time node for the obstacle detection data;

The obstacle three-dimensional model generation sub-module is used for judging the obstacle types of a plurality of obstacles around the vehicle based on obstacle detection data corresponding to a plurality of time nodes and creating an obstacle three-dimensional model corresponding to the plurality of obstacles.

The vehicle speed time relation acquisition module further comprises:

The vehicle speed data time marking sub-module is used for obtaining vehicle speed data from the vehicle speed sensor based on a preset sampling frequency and marking corresponding time nodes for the vehicle speed data;

The vehicle speed time relation generation sub-module is used for generating vehicle speed-time relation information after fitting processing is carried out on the basis of a plurality of vehicle speed data and corresponding time nodes.

Wherein, the parking suppression condition judgment module further includes:

The collision warning region creation sub-module is used for setting collision warning distances in all directions of the vehicle and creating a collision warning region based on the vehicle contour and all the collision warning distances.

Wherein, a brake control system for an electronic hand brake motor further comprises:

The parking state change prompting module is used for stopping an automatic parking function based on the parking suppression instruction and generating a stopping switching prompting instruction and a stopping state prompting instruction;

the congestion degree information acquisition module is used for acquiring the congestion degree information of the vehicle;

The vehicle following state information acquisition module is used for acquiring vehicle following state information of the vehicle if the congestion degree information is a congestion state;

The congestion distance limiting instruction generating module is used for generating a congestion distance limiting instruction if the following state information is a standard following state, wherein the congestion distance limiting instruction is associated with a preset first following distance and a preset second following distance;

The automatic following control module is used for acquiring vehicle distance detection data of a vehicle in real time, generating a following braking instruction when the vehicle distance detection data is smaller than a first following distance, and generating a following braking release instruction and a following driving instruction when the vehicle distance detection data is larger than a second following distance.

Wherein, the congestion degree information acquisition module further includes:

The road section congestion parameter determining submodule is used for acquiring vehicle positioning information, inputting the vehicle positioning information into an online map program and determining corresponding road section congestion parameters;

the vehicle speed congestion parameter determination submodule is used for acquiring the vehicle speed data in the preset speed observation period and determining corresponding vehicle speed congestion parameters;

The obstacle congestion parameter determination submodule is used for obtaining the number of moving obstacles in the collision warning area and determining corresponding obstacle congestion parameters;

The congestion degree information determining submodule is used for obtaining a congestion degree score after weighting calculation of the road section congestion parameter, the vehicle speed congestion parameter and the obstacle congestion parameter, and determining the congestion degree information based on the congestion degree score.

Wherein, the following car state information acquisition module still includes:

The lane keeping information acquisition sub-module is used for acquiring driving image data of the vehicle and judging lane keeping information of the vehicle based on the driving image data;

The traveling direction information acquisition sub-module is used for acquiring traveling direction information of the vehicle if the lane keeping information is in a qualified state;

and the following state information adjusting sub-module is used for adjusting the following state information into a standard following state if the travelling direction information is in a qualified state.

For specific limitations on the brake control system for the electronic hand brake motor, reference may be made to the above limitation on the brake control method for the electronic hand brake motor, and no further description is given here; all or part of the modules in the brake control system for the electronic hand brake motor can be realized by software, hardware and the combination thereof; the above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing data such as sampling frequency, obstacle detection data, obstacle type, obstacle three-dimensional model, vehicle speed data, vehicle speed-time relation information, braking triggering speed, braking triggering judging instruction, speed change observation period, deceleration threshold value, parking suppression condition signal, parking suppression instruction and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a brake control method for an electronic hand brake motor.

In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

S10: acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

S20: acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

S30: creating a collision warning area based on a vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

s40: a parking suppression instruction is generated based on the parking suppression condition signal.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

S10: acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

S20: acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

S30: creating a collision warning area based on a vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

s40: a parking suppression instruction is generated based on the parking suppression condition signal.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK), DRAM (SLDRAM), memory bus (rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme described in the foregoing embodiments can be modified or some of the features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A brake control method for an electronic hand brake motor, comprising:

acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

Acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

Creating a collision warning area based on a vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

Generating a parking suppression instruction based on the parking suppression condition signal;

the types of disorders include fixed disorders and moving disorders.

2. The brake control method for an electronic hand brake motor according to claim 1, wherein: the method for acquiring the obstacle detection data based on the preset sampling frequency, identifying the obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating the obstacle three-dimensional model comprises the following steps:

acquiring obstacle detection data from a vehicle-mounted obstacle sensor based on a preset sampling frequency, and marking a corresponding time node for the obstacle detection data;

Based on the obstacle detection data corresponding to the plurality of time nodes, the obstacle types of a plurality of obstacles around the vehicle are judged, and an obstacle three-dimensional model corresponding to the plurality of obstacles is created.

3. The brake control method for an electronic hand brake motor according to claim 1, wherein: the obtaining the vehicle speed data based on the preset sampling frequency, generating the vehicle speed-time relation information, includes:

acquiring vehicle speed data from a vehicle speed sensor based on a preset sampling frequency, and marking corresponding time nodes for the vehicle speed data;

and generating vehicle speed-time relation information after fitting processing based on the plurality of vehicle speed data and the corresponding time nodes.

4. The brake control method for an electronic hand brake motor according to claim 1, wherein: after the parking suppression instruction is generated based on the parking suppression condition signal, the method comprises the following steps:

and disabling the automatic parking function based on the parking suppression instruction, and generating a disabling switching prompt instruction and a disabling state prompt instruction.

5. The brake control method for an electronic hand brake motor according to claim 1, wherein: further comprises:

Acquiring congestion degree information of a vehicle;

if the congestion degree information is in a congestion state, acquiring vehicle following state information of the vehicle;

If the following state information is a standard following state, generating a congestion distance limiting instruction, wherein the congestion distance limiting instruction is associated with a preset first following distance and a preset second following distance;

Acquiring vehicle distance detection data of a vehicle in real time, generating a vehicle following braking instruction when the vehicle distance detection data is smaller than a first following distance, and generating a vehicle following braking release instruction and a vehicle following driving instruction when the vehicle distance detection data is larger than a second following distance;

The congestion degree information comprises a congestion state and a non-congestion state; the following state information includes a normal following state and an abnormal following state.

6. The brake control method for an electronic hand brake motor according to claim 5, wherein: the obtaining the congestion degree information of the vehicle includes:

acquiring vehicle positioning information, inputting the vehicle positioning information into an online map program, and determining corresponding road section congestion parameters;

Acquiring the vehicle speed data in a preset speed observation period, and determining corresponding vehicle speed congestion parameters;

acquiring the number of moving obstacles in the collision warning area, and determining corresponding obstacle congestion parameters;

and carrying out weighted calculation on the road section congestion parameters, the vehicle speed congestion parameters and the obstacle congestion parameters to obtain congestion degree scores, and determining congestion degree information based on the congestion degree scores.

7. The brake control method for an electronic hand brake motor according to claim 5, wherein: the acquiring the following state information of the vehicle comprises the following steps of:

acquiring driving image data of a vehicle, and judging lane keeping information of the vehicle based on the driving image data;

If the lane keeping information is in a qualified state, acquiring the traveling direction information of the vehicle;

and if the travelling direction information is in a qualified state, adjusting the following state information into a standard following state.

8. A brake control system for electronic hand brake motor, its characterized in that:

The obstacle three-dimensional model creation module is used for acquiring obstacle detection data based on a preset sampling frequency, identifying obstacle types of a plurality of obstacles around the vehicle based on the obstacle detection data, and creating an obstacle three-dimensional model;

The vehicle speed time relation acquisition module is used for acquiring vehicle speed data based on a preset sampling frequency, generating vehicle speed-time relation information, and generating a brake trigger judging instruction when the vehicle speed data is smaller than a preset brake trigger speed;

The parking suppression condition judgment module is used for creating a collision warning area based on the vehicle contour, and generating a parking suppression condition signal when no moving obstacle exists in the collision warning area and the braking acceleration in a preset speed change observation period is smaller than a preset deceleration threshold value;

and the parking suppression instruction generation module is used for generating a parking suppression instruction based on the parking suppression condition signal.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the brake control method for an electronic hand brake motor according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the brake control method for an electronic hand brake motor according to any one of claims 1 to 7.