CN-121989701-A - Vehicle brake control method and device, vehicle end control equipment, medium and product

CN121989701ACN 121989701 ACN121989701 ACN 121989701ACN-121989701-A

Abstract

The application relates to a vehicle braking control method, a vehicle braking control device, vehicle end control equipment, a medium and a product, and relates to the technical field of intelligent driving of vehicles. The method comprises the steps of obtaining braking parameters of a vehicle, identifying a braking scene of the vehicle based on the braking parameters, determining an expected deceleration mode and a motor torque control strategy matched with the braking scene, wherein the motor torque control strategy is configured to switch the direction of output torque of a motor of the vehicle according to the braking state of the vehicle when the braking scene belongs to a non-emergency braking scene, and controlling the motor of the vehicle to execute the motor torque control strategy so that the actual deceleration state of the vehicle is consistent with the expected deceleration mode. By adopting the method, the accuracy of vehicle braking control can be improved.

Inventors

XI XIN
LI JIAJUN
FAN DONG
REN XIAOHUA
YU KUI
Qin Xiahui

Assignees

赛力斯汽车有限公司

Dates

Publication Date: 20260508
Application Date: 20260205

Claims (10)

1. A vehicle brake control method, characterized by comprising: Acquiring braking parameters of a vehicle, and identifying a braking scene of the vehicle based on the braking parameters; determining a desired deceleration pattern and a motor torque control strategy that match the braking scenario, wherein, in the event that the braking scenario belongs to a non-emergency braking scenario, the motor torque control strategy is configured to switch a direction of a vehicle motor output torque according to a braking state of the vehicle; controlling the vehicle motor to execute the motor torque control strategy to bring the actual deceleration state of the vehicle into agreement with the desired deceleration pattern.
2. The method of claim 1, wherein the controlling the vehicle electric machine to implement the electric machine torque control strategy comprises: If the braking speed of the vehicle is higher than a first speed threshold value under the condition that the braking scene belongs to a non-emergency braking scene, controlling the motor of the vehicle to output negative torque; And if the braking speed is lower than a second speed threshold, controlling the vehicle motor to output forward torque, wherein the second speed threshold is smaller than the first speed threshold.
3. The method of claim 1, wherein the controlling the vehicle electric machine to implement the electric machine torque control strategy further comprises: and under the condition that the braking scene belongs to an emergency braking scene, controlling the vehicle motor to continuously output negative torque and stopping outputting positive torque until the vehicle braking is finished.
4. The method according to claim 1, wherein the method further comprises: Determining a hydraulic control strategy that matches the desired deceleration pattern; The controlling the vehicle motor to execute the motor torque control strategy to bring the actual deceleration state of the vehicle into agreement with the desired deceleration pattern further includes: Controlling the vehicle motor to execute the motor torque control strategy, and controlling the hydraulic module of the vehicle to execute the hydraulic control strategy to bring the actual deceleration state of the vehicle into agreement with the desired deceleration pattern.
5. The method of any one of claims 1-4, wherein the controlling the vehicle electric machine to implement the electric machine torque control strategy comprises: acquiring an actual deceleration state of the vehicle in the process of controlling the vehicle motor to execute the motor torque control strategy; Comparing the actual deceleration state with the expected deceleration mode to obtain a deceleration deviation; based on the deceleration deviation, adjusting the motor torque control strategy to obtain an adjusted motor torque control strategy; and controlling the vehicle motor to execute the adjusted motor torque control strategy.
6. The method of claim 1, wherein the determining a desired deceleration pattern and motor torque control strategy that matches the braking scenario comprises: Inquiring the corresponding relation between each braking scene and each expected deceleration mode to obtain the expected deceleration mode matched with the braking scene; and inquiring the corresponding relation between each expected deceleration mode and each motor torque control strategy to obtain the motor torque control strategy matched with the expected deceleration mode.
7. A vehicle brake control apparatus, characterized by comprising: the scene recognition module is used for obtaining braking parameters of the vehicle and recognizing a braking scene of the vehicle based on the braking parameters; A torque strategy determination module for determining a desired deceleration pattern and a motor torque control strategy that match the braking scenario, wherein, in the event that the braking scenario belongs to a non-emergency braking scenario, the motor torque control strategy is configured to switch a direction of a vehicle motor output torque according to a braking state of the vehicle; And the braking control module is used for controlling the motor of the vehicle to execute the motor torque control strategy so as to enable the actual deceleration state of the vehicle to be consistent with the expected deceleration mode.
8. A vehicle-end control device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Vehicle brake control method and device, vehicle end control equipment, medium and product Technical Field The application relates to the technical field of intelligent driving of vehicles, in particular to a vehicle braking control method and device, vehicle end control equipment, medium and product. Background The vehicle braking is used as a complex dynamic process, and the control accuracy directly influences the running quality and safety. Therefore, with the rapid development of intelligent driving technology of vehicles, the accuracy requirements for vehicle braking control are also increasing. At present, common vehicle braking control methods mainly rely on fixed rules, i.e. the braking process is regulated by preset rules. However, such static rules are difficult to adapt to dynamic changes of the vehicle during actual braking, resulting in lower accuracy of vehicle braking control. Disclosure of Invention In view of the foregoing, it is desirable to provide a vehicle brake control method, apparatus, vehicle end control device, readable storage medium, and program product that are capable of improving accuracy of vehicle brake control. In a first aspect, the present application provides a vehicle brake control method, including: Acquiring braking parameters of a vehicle, and identifying a braking scene of the vehicle based on the braking parameters; determining a desired deceleration pattern and a motor torque control strategy that match the braking scenario, wherein, in the event that the braking scenario belongs to a non-emergency braking scenario, the motor torque control strategy is configured to switch a direction of a vehicle motor output torque according to a braking state of the vehicle; controlling the vehicle motor to execute the motor torque control strategy to bring the actual deceleration state of the vehicle into agreement with the desired deceleration pattern. Compared with the related art, the vehicle braking control method has the advantages that by acquiring braking parameters in real time and identifying the specific braking scene of the vehicle, the vehicle braking control method can be matched with the adaptive expected deceleration mode aiming at different working conditions, so that a definite and matched dynamic control target is set for the braking process. On the basis, a motor torque control strategy capable of actively switching the output torque direction according to the vehicle braking state is configured for the non-emergency braking scene. The limitation that the dynamic change of the vehicle cannot be responded in time in the braking process due to the adoption of static regular control in the traditional control method can be overcome through the active change of the motor torque direction, the actual braking effect can be driven to be attached to the braking control target more effectively, namely the actual deceleration state of the vehicle is finally consistent with the expected deceleration mode, and therefore the accuracy of the braking control of the vehicle is improved, and the driving safety of the vehicle and the comfort of the braking of the vehicle are improved. In a first possible implementation manner of the first aspect, the controlling the vehicle motor to execute the motor torque control strategy includes: If the braking speed of the vehicle is higher than a first speed threshold value under the condition that the braking scene belongs to a non-emergency braking scene, controlling the motor of the vehicle to output negative torque; And if the braking speed is lower than a second speed threshold, controlling the vehicle motor to output forward torque, wherein the second speed threshold is smaller than the first speed threshold. In a first possible implementation manner of the first aspect, the motor provides negative torque to ensure smooth deceleration when the braking speed of the vehicle is higher than a first threshold value, and switches to output positive torque to actively intervene in the vehicle body posture at a final braking stage when the braking speed is lower than a second threshold value. Through the double-section type torque management based on the vehicle braking speed, the pitching phenomenon of the vehicle body generated in the braking process of the vehicle can be more stably and accurately restrained, and therefore the accuracy and the comfort of the vehicle braking control are improved. In a second possible implementation manner of the first aspect, the controlling the vehicle motor to execute the motor torque control strategy further includes controlling the vehicle motor to continuously output negative torque and stop outputting positive torque until the vehicle braking is finished, in a case that the braking scenario belongs to an emergency braking scenario. In a second possible implementation manner of the first aspect, when an emergency braking scenario is identified, the motor is controlled to continuously output negati