WO2023102731A1

WO2023102731A1 - Brake control method and related apparatus

Info

Publication number: WO2023102731A1
Application number: PCT/CN2021/136080
Authority: WO
Inventors: 吕尚炜; 马文涛; 刘栋豪; 周勇有
Original assignee: 华为技术有限公司
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2023-06-15
Also published as: CN116568572A

Abstract

A brake control method, comprising: detecting a control instruction for a target vehicle to perform comfortable braking; and in response to the control instruction, from a first moment to a second moment, first increasing the pressure of a brake master cylinder and then reducing the pressure of the brake master cylinder, wherein the first moment is a moment when the speed of the target vehicle is a first speed, the first speed is a preset speed, the pressure of the brake master cylinder at the second moment is equal to a required pressure, and the required pressure is the pressure of the brake master cylinder during normal braking, and from the second moment to a third moment, reducing the pressure of the brake master cylinder, wherein the third moment is a static starting moment of the target vehicle.

Description

制动控制方法及相关装置Brake control method and related device

技术领域technical field

本申请涉及智能车领域，具体涉及一种制动控制方法及相关装置。The present application relates to the field of smart cars, in particular to a braking control method and related devices.

背景技术Background technique

在驾驶员进行车辆制动或智能驾驶***进行车辆制动的场景中，车辆一般会出现“点头/顿挫”的现象。尤其在制动使得车辆即将停车时，车辆会出现更为明显的顿挫。通常采取对车辆的动力总成或悬架***的进行优化，以减轻这种“点头/顿挫”的现象，但这种“点头/顿挫”的现象仍然不能完全避免。In the scene where the driver brakes the vehicle or the intelligent driving system brakes the vehicle, the vehicle will generally appear "nodding/fumbling". Especially when braking makes the vehicle about to stop, the vehicle will experience more obvious setbacks. Usually, the powertrain or suspension system of the vehicle is optimized to alleviate this "nodding/fumbling" phenomenon, but this "nodding/fumbling" phenomenon cannot be completely avoided.

为了进一步地避免车辆在制动过程中出现“点头/顿挫”的现象，达到舒适的制动效果，在驾驶车辆过程中，驾驶员一般会刻意地减小制动压力，但是不可避免会增加制动距离，甚至引发车辆碰撞风险。即使车辆处于智能驾驶模式，在车辆低速或者制动使得车辆即将停车时的场景中，由于减速度闭环控制精度较差，车辆一般采用制动***开环控制实现制动控制，同样避免不了车辆在制动过程中出现“点头/顿挫”的现象。In order to further avoid the phenomenon of "nodding/frustrating" during the braking process of the vehicle and achieve a comfortable braking effect, the driver will generally reduce the braking pressure deliberately while driving the vehicle, but it will inevitably increase the braking pressure. driving distance, and even cause the risk of vehicle collision. Even if the vehicle is in the intelligent driving mode, in the scene where the vehicle is about to stop due to low speed or braking, due to the poor precision of the closed-loop control of deceleration, the vehicle generally uses the open-loop control of the braking system to achieve braking control. There is a "nodding/stumbling" phenomenon during braking.

发明内容Contents of the invention

本申请实施例提供了一种制动控制方法及相关装置，可以实现舒适制动，避免了制动引发的顿挫点头的现象。采用本申请实施例提供的制动控制方法进行车辆制动，能够在不额外增加制动距离，避免碰撞风险的情况下；提高制动过程的舒适程度。Embodiments of the present application provide a braking control method and a related device, which can realize comfortable braking and avoid nodding due to braking. Using the braking control method provided by the embodiment of the present application to perform vehicle braking can improve the comfort level of the braking process without additionally increasing the braking distance and avoiding the risk of collision.

第一方面，本申请实施例提供了一种制动控制方法，该方法包括：In a first aspect, an embodiment of the present application provides a braking control method, the method including:

检测到目标车辆进行舒适制动的控制指令；响应控制指令，在第一时刻到第二时刻，先增大制动主缸的压力，再减小制动主缸的压力；第一时刻为目标车辆的速度为第一速度的时刻，第一速度为预设速度，在第二时刻制动主缸的压力等于需求压力；需求压力为普通制动时制动主缸的压力；在第二时刻到第三时刻，减小制动主缸的压力，第三时刻为目标车辆静止的起始时刻。Detect the control command of the target vehicle for comfortable braking; in response to the control command, from the first moment to the second moment, first increase the pressure of the brake master cylinder, and then reduce the pressure of the brake master cylinder; the first moment is the target When the speed of the vehicle is the first speed, the first speed is the preset speed, at the second moment the pressure of the brake master cylinder is equal to the demand pressure; the demand pressure is the pressure of the brake master cylinder during normal braking; at the second moment At the third moment, the pressure of the brake master cylinder is reduced, and the third moment is the initial moment when the target vehicle is stationary.

通过在第一时刻到第二时刻，增大目标车辆制动主缸的压力，再减小目标车辆制动主缸的压力，可以使得与普通制动相比，在实现舒适制动的前提下，可以不增加制动距离，并且提高制动过程的舒适程度。By increasing the pressure of the brake master cylinder of the target vehicle from the first moment to the second moment, and then reducing the pressure of the brake master cylinder of the target vehicle, it is possible to achieve comfortable braking compared with ordinary braking. , can not increase the braking distance, and improve the comfort of the braking process.

在一个可行的实施例中，本申请的方法还包括：In a feasible embodiment, the method of the present application also includes:

在第三时刻之后，增大制动主缸的压力，直至达到预设压力，预设压力为维持目标车辆静止所需的压力。After the third moment, the pressure of the brake master cylinder is increased until reaching a preset pressure, which is the pressure required to keep the target vehicle stationary.

其中，预设压力小于或者等于普通制动时，采用踏板制动或者自动制动方式时制动主缸的压力。预设压力小于普通制动时，采用踏板制动或者自动制动方式时制动主缸的压力的好处是：一是可以降低功耗；二是可以减小车辆部件的损耗。Wherein, the preset pressure is less than or equal to the pressure of the brake master cylinder when pedal braking or automatic braking is used during normal braking. When the preset pressure is lower than normal braking, the advantages of the brake master cylinder pressure when using pedal braking or automatic braking are: first, it can reduce power consumption; second, it can reduce the loss of vehicle components.

在制动主缸的压力达到预设压力时，启动目标车辆的自动驻车***。When the pressure of the brake master cylinder reaches a preset pressure, the automatic parking system of the target vehicle is activated.

获取目标车辆的行驶状态信息；根据目标车辆的行驶状态信息，判断目标车辆是否进行舒适制动；在判断结果为肯定时，生成指示目标车辆进行舒适制动的控制指令。Acquiring the driving state information of the target vehicle; judging whether the target vehicle performs comfortable braking according to the driving state information of the target vehicle; and generating a control instruction instructing the target vehicle to perform comfortable braking when the judgment result is affirmative.

在一个可行的实施例中，目标车辆的行驶状态信息包括以下一项或者多项：In a feasible embodiment, the driving state information of the target vehicle includes one or more of the following:

目标车辆的减速度、目标车辆的速度、目标车辆的周围是否有障碍物、目标车辆与障碍物之间的距离、目标车辆的制动踏板行程、目标车辆的制动踏板行程的变化率、目标车辆周围的交通信号信息、目标车辆的主动悬架四轮高度信息。The deceleration of the target vehicle, the speed of the target vehicle, whether there are obstacles around the target vehicle, the distance between the target vehicle and obstacles, the brake pedal stroke of the target vehicle, the rate of change of the brake pedal stroke of the target vehicle, the target vehicle Traffic signal information around the vehicle, active suspension four-wheel height information of the target vehicle.

在目标车辆上电后，获取上次启动时目标车辆的舒服制动功能开关状态；After the target vehicle is powered on, obtain the comfort braking function switch status of the target vehicle at the last startup;

若舒适制动功能是开启的，表示目标车辆的舒适制动功能是可用的；若舒适制动功能是关闭的，表示目标车辆的舒适制动功能是不可用的，则向用户发出提示信息，提示信息用于提示用户是否开启目标车辆的舒适制动功能。If the comfortable braking function is turned on, it means that the comfortable braking function of the target vehicle is available; if the comfortable braking function is turned off, it means that the comfortable braking function of the target vehicle is not available, and a prompt message is sent to the user, The prompt information is used to prompt the user whether to enable the comfort braking function of the target vehicle.

若检测到用户的开启指令后，开启目标车辆的舒适制动功能。If the user's activation instruction is detected, the comfort braking function of the target vehicle is activated.

通过记录上次启动时目标车辆的舒服制动功能开关状态，在目标车辆的舒服制动功能开关状态指示上次启动时目标车辆的舒服制动功能是开启时，不需要用户手动开启目标车辆的舒适制动功能，提高了用户体验。By recording the state of the comfortable braking function switch of the target vehicle at the time of the last start, when the state of the comfortable braking function switch of the target vehicle indicates that the comfortable braking function of the target vehicle was turned on at the time of the last start, the user does not need to manually turn on the function of the target vehicle The comfortable braking function improves the user experience.

在检测到舒适制动过程中目标车辆的舒适制动时间大于预设时间，或者，在舒适制动过程中目标车辆行驶的距离大于第一阈值，退出舒适制动，执行普通制动。When it is detected that the comfortable braking time of the target vehicle is greater than the preset time during the comfortable braking process, or the distance traveled by the target vehicle is greater than the first threshold during the comfortable braking process, exit the comfortable braking and perform normal braking.

在检测到目标车辆在舒适制动时估算的制动距离与第一距离之间的差值的绝对值大于第二阈值，退出舒适制动，执行普通制动；其中，第一距离为目标车辆在采用踏板制动或者自动制动的方式进行制动时的制动距离。When it is detected that the absolute value of the difference between the estimated braking distance and the first distance of the target vehicle during comfortable braking is greater than the second threshold, exit the comfortable braking and perform normal braking; wherein, the first distance is the target vehicle Braking distance when pedal braking or automatic braking is used for braking.

在检测到第二距离与目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值或者目标车辆在舒适制动时估算的制动距离大于第二距离，退出舒适制动，执行普通制动，其中，第二距离为目标车辆与障碍物之间的距离。When it is detected that the difference between the second distance and the estimated braking distance of the target vehicle during comfortable braking is less than the third threshold or the estimated braking distance of the target vehicle during comfortable braking is greater than the second distance, exit the comfortable braking , performing normal braking, wherein the second distance is the distance between the target vehicle and the obstacle.

在检测到在舒适制动过程中目标车辆的减速度的变化量大于第四阈值，退出舒适制动，执行普通制动。When it is detected that the change in the deceleration of the target vehicle is greater than the fourth threshold during the comfort braking process, exit the comfort braking and perform normal braking.

通过上述方式检测目标车辆是否处于欠制动状态或者过制动状态，在目标车辆是否处于欠制动状态或者过制动状态时，退出舒适制动，执行普通制动，降低了目标车辆与前方障碍物碰撞的风险，提高了驾驶安全性。Through the above method, it is detected whether the target vehicle is in the state of under braking or over braking. The risk of collision with obstacles improves driving safety.

第二方面，本申请实施例提供一种制动控制装置，包括：In a second aspect, the embodiment of the present application provides a braking control device, including:

检测单元，用于检测到目标车辆进行舒适制动的控制指令；A detection unit is used to detect a control instruction for a target vehicle to perform comfortable braking;

控制单元，用于响应控制指令，在第一时刻到第二时刻，先增大制动主缸的压力，再减小制动主缸的压力；第一时刻为目标车辆的速度为第一速度的时刻，第一速度为预设速度，在第二时刻制动主缸的压力等于需求压力；需求压力为普通制动时制动主缸的压力；在第二时刻到第三时刻，减小制动主缸的压力，第三时刻为目标车辆静止的起始时刻。The control unit is used for responding to the control instruction, first increasing the pressure of the master brake cylinder from the first moment to the second moment, and then reducing the pressure of the master brake cylinder; the speed of the target vehicle at the first moment is the first speed At the moment, the first speed is the preset speed, and the pressure of the brake master cylinder is equal to the demand pressure at the second moment; the demand pressure is the pressure of the brake master cylinder during normal braking; from the second moment to the third moment, decrease The pressure of the brake master cylinder, the third moment is the initial moment when the target vehicle is stationary.

在一个可行的实施例中，控制单元还用于：In a feasible embodiment, the control unit is also used for:

在第三时刻之后，增大制动主缸的压力，直至达到预设压力，预设压力为维持目标车辆静止所需的压力。After the third moment, the pressure of the brake master cylinder is increased until reaching the preset pressure, which is the pressure required to keep the target vehicle stationary.

在一个可行的实施例中，制动控制装置还包括：In a feasible embodiment, the braking control device further includes:

获取单元，用于获取目标车辆的行驶状态信息；an acquisition unit, configured to acquire the driving state information of the target vehicle;

判断单元，用于根据目标车辆的行驶状态信息判断目标车辆是否进行舒适制动；A judging unit, configured to judge whether the target vehicle performs comfortable braking according to the driving state information of the target vehicle;

生成单元，用于在判断结果为肯定时，生成用于指示目标车辆进行舒适制动的控制指令。A generating unit, configured to generate a control command for instructing the target vehicle to perform comfortable braking when the determination result is positive.

在一个可行的实施例中，获取单元，还用于在目标车辆上电后，获取上次启动时目标车辆的舒服制动功能开关状态；In a feasible embodiment, the acquiring unit is also used to acquire the comfort braking function switch state of the target vehicle at the last start-up after the target vehicle is powered on;

制动控制装置还包括：The brake control also includes:

提示单元，用于若舒适制动功能是开启的，表示目标车辆的舒适制动功能是可用的；若舒适制动功能是关闭的，表示目标车辆的舒适制动功能是不可用的，则向用户发出提示信息，提示信息用于提示用户是否开启目标车辆的舒适制动功能。The prompt unit is used to indicate that the comfort braking function of the target vehicle is available if the comfort braking function is on; if the comfort braking function is off, it indicates that the comfort braking function of the target vehicle is not available, The user sends prompt information, and the prompt information is used to prompt the user whether to enable the comfort braking function of the target vehicle.

启动单元，用于若检测到用户的开启指令后，开启目标车辆的舒适制动功能。The starting unit is used to start the comfort braking function of the target vehicle after detecting the user's starting instruction.

切换单元，用于在检测单元检测到舒适制动过程中目标车辆进行舒适制动的时间大于预设时间时，或者，在检测到舒适制动过程中目标车辆行驶的距离大于第一阈值时，退出舒适制动，执行普通制动。A switching unit, configured to: when the detecting unit detects that the target vehicle performs comfortable braking for a time greater than a preset time during the comfortable braking process, or when it detects that the target vehicle travels a distance greater than a first threshold during the comfortable braking process, Exit comfort braking and perform normal braking.

切换单元，用于在检测单元检测到目标车辆在舒适制动时估算的制动距离与第一距离之间的差值的绝对值大于第二阈值时，出舒适制动，执行普通制动，其中，第一距离为目标车辆在采用踏板制动或者自动制动的方式进行制动时的制动距离。a switching unit, configured to enable comfortable braking and perform normal braking when the detection unit detects that the absolute value of the difference between the estimated braking distance and the first distance during comfortable braking of the target vehicle is greater than a second threshold, Wherein, the first distance is the braking distance of the target vehicle when braking by means of pedal braking or automatic braking.

切换单元，用于在检测单元检测到第二距离与目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值或者目标车辆在舒适制动时估算的制动距离大于第二距离时，出舒适制动，执行普通制动，其中，第二距离为目标车辆与障碍物之间的距离。A switching unit, configured to detect that the difference between the second distance and the estimated braking distance of the target vehicle during comfortable braking is smaller than a third threshold or the estimated braking distance of the target vehicle during comfortable braking is greater than the first threshold value. When the second distance is reached, the comfortable braking is performed and the normal braking is performed, wherein the second distance is the distance between the target vehicle and the obstacle.

切换单元，用于在检测单元检测到舒适制动过程中目标车辆的减速度的变化量大于第四阈值时，出舒适制动，执行普通制动。The switching unit is configured to enable comfortable braking and perform normal braking when the detection unit detects that the change in deceleration of the target vehicle during the comfortable braking process is greater than the fourth threshold.

第三方面，本申请实施例提供一种制动控制装置，包括处理器和存储器，其中，处理器和存储器相连，其中，存储器用于存储程序代码，处理器用于调用程序代码，以执行如第一方面所述方法的部分或全部。In the third aspect, the embodiment of the present application provides a brake control device, which includes a processor and a memory, wherein the processor is connected to the memory, wherein the memory is used to store program codes, and the processor is used to call the program codes to execute In one aspect part or all of the method.

第四方面，本申请实施例提供一种芯片***，芯片***应用于电子设备；芯片***包括一个或多个接口电路，以及一个或多个处理器；接口电路和处理器通过线路互联；接口电路用于从电子设备的存储器接收信号，并向处理器发送信号，信号包括存储器中存储的计算机指令；当处理器执行计算机指令时，电子设备执行第一方面所述方法的部分或全部。In the fourth aspect, the embodiment of the present application provides a chip system, which is applied to electronic equipment; the chip system includes one or more interface circuits, and one or more processors; the interface circuits and processors are interconnected through lines; the interface circuits For receiving signals from the memory of the electronic device and sending signals to the processor, the signals include computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device executes part or all of the method described in the first aspect.

第五方面，本申请实施例提供一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行以实现如第一方面所述方法的部分或全部。In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program is executed by a processor to implement part or all of the method described in the first aspect.

第六方面，本申请实施例提供一种计算机程序，该计算机程序被处理器执行以实现如第一方面所述方法的部分或全部。In a sixth aspect, an embodiment of the present application provides a computer program, which is executed by a processor to implement part or all of the method described in the first aspect.

第七方面，本申请实施例提供一种集成式助力器，该集成式助力器包括踏板行程传感器、制动主缸、电机、推杆机构及执行第一方面所述方法的部分或全部。In a seventh aspect, the embodiment of the present application provides an integrated booster, which includes a pedal stroke sensor, a brake master cylinder, a motor, a push rod mechanism, and part or all of the method described in the first aspect.

第八方面，本申请实施例提供一种制动***，该制动***包括制动踏板、制动执行器、制动液管及第七方面所述的集成式助力器。In an eighth aspect, an embodiment of the present application provides a braking system, which includes a brake pedal, a brake actuator, a brake fluid pipe, and the integrated booster described in the seventh aspect.

应当理解的是，本申请中对技术特征、技术方案、有益效果或类似语言的描述并不是暗示在任意的单个实施例中可以实现所有的特点和优点。相反，可以理解的是对于特征或有益效果的描述意味着在至少一个实施例中包括特定的技术特征、技术方案或有益效果。因此，本说明书中对于技术特征、技术方案或有益效果的描述并不一定是指相同的实施例。进而，还可以任何适当的方式组合本实施例中所描述的技术特征、技术方案和有益效果。本领域技术人员将会理解，无需特定实施例的一个或多个特定的技术特征、技术方案或有益效果即可实现实施例。在其他实施例中，还可在没有体现所有实施例的特定实施例中识别出额外的技术特征和有益效果。It should be understood that descriptions of technical features, technical solutions, beneficial effects or similar language in this application do not imply that all features and advantages can be realized in any single embodiment. On the contrary, it can be understood that the description of features or beneficial effects means that specific technical features, technical solutions or beneficial effects are included in at least one embodiment. Therefore, descriptions of technical features, technical solutions or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in this embodiment may also be combined in any appropriate manner. Those skilled in the art will understand that the embodiments can be implemented without one or more specific technical features, technical solutions or advantageous effects of the specific embodiments. In other embodiments, additional technical features and beneficial effects may also be identified in certain embodiments that do not embody all embodiments.

附图说明Description of drawings

为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings that are required in the description of the embodiments or the prior art.

图1为本申请实施例提供的电子液压制动***的示意图；FIG. 1 is a schematic diagram of an electronic hydraulic braking system provided by an embodiment of the present application;

图2为本申请实施例提供的一种制动控制方法的流程示意图；FIG. 2 is a schematic flowchart of a braking control method provided in an embodiment of the present application;

图3为本申请实施例提供的一种开启制动功能的流程示意图；Fig. 3 is a schematic flow chart of turning on the braking function provided by the embodiment of the present application;

图4A为本申请实施例提供的一种预设压力曲线和速度曲线示意图；Fig. 4A is a schematic diagram of a preset pressure curve and speed curve provided by the embodiment of the present application;

图4B为本申请实施例提供的一种预设压力曲线、减速度曲线和速度曲线示意图；Fig. 4B is a schematic diagram of a preset pressure curve, deceleration curve and speed curve provided by the embodiment of the present application;

图4C为本申请实施例提供的一种减速度曲线和速度曲线示意图；FIG. 4C is a schematic diagram of a deceleration curve and a speed curve provided by the embodiment of the present application;

图4D为现有技术公开的一种压力曲线和速度曲线示意图；Fig. 4D is a schematic diagram of a pressure curve and a velocity curve disclosed in the prior art;

图5为本申请实施例提供的一种制动控制装置的结构示意图；Fig. 5 is a schematic structural diagram of a braking control device provided by an embodiment of the present application;

图6为本申请实施例提供的另一种制动控制装置的结构示意图；Fig. 6 is a schematic structural diagram of another braking control device provided by the embodiment of the present application;

图7为本申请实施例提供的另一种制动控制装置的结构示意图；Fig. 7 is a schematic structural diagram of another brake control device provided by the embodiment of the present application;

图8为本申请实施例提供的另一种制动控制装置的结构示意图。Fig. 8 is a schematic structural diagram of another braking control device provided by an embodiment of the present application.

具体实施方式Detailed ways

本申请的说明书和权利要求书及所述附图中的术语“第一”、“第二”、“第三”和“第四”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third" and "fourth" in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order . Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or apparatuses.

在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments.

“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。"Multiple" means two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently. The character "/" generally indicates that the contextual objects are an "or" relationship.

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

制动***是车辆核心控制***之一，用于实现车辆的纵向控制，使车辆减速或者维持一定的速度。参见图1，图1为本申请实施例提供的一种电子液压制动(electro hydraulic brake，EHB)***的示意图。该制动***包括：制动踏板101、集成式助力器102、制动执行器(103-1、103-2、103-3、103-4)以及制动液管104。The braking system is one of the core control systems of the vehicle, which is used to realize the longitudinal control of the vehicle, to slow down the vehicle or maintain a certain speed. Referring to FIG. 1 , FIG. 1 is a schematic diagram of an electro hydraulic brake (EHB) system provided by an embodiment of the present application. The braking system includes: a brake pedal 101 , an integrated booster 102 , brake actuators ( 103 - 1 , 103 - 2 , 103 - 3 , 103 - 4 ) and a brake fluid pipe 104 .

集成式助力器102是制动***的核心部件，集成有电子控制单元(electroniccontrol unit，ECU)、踏板行程传感器、制动主缸、电机、推杆机构等。制动踏板101通过推杆机构与集成式助力器102刚性连接，集成式助力器102通过制动液管104与安装在车轮边的制动执行器(103-1、103-2、103-3、103-4)连接。The integrated booster 102 is the core component of the braking system, and is integrated with an electronic control unit (ECU), a pedal travel sensor, a brake master cylinder, a motor, a push rod mechanism, and the like. The brake pedal 101 is rigidly connected to the integrated booster 102 through a push rod mechanism, and the integrated booster 102 is connected to the brake actuators (103-1, 103-2, 103-3 , 103-4) connection.

在制动实现过程中，用户踩制动踏板101，集成式助力器102的推杆机构产生位移，踏板行程传感器检测到推杆机构的位移，并将位移信号发送至ECU，ECU计算出电机应产生的扭矩，再由电机的传动机构将扭矩转化为制动力。制动力与制动踏板101通过推杆机构产生的推杆力一起作用于制动主缸上，在制动主缸内共同转化为液压力，具有液压力的制动液经制动液管104作用在制动执行器(103-1、103-2、103-3、103-4)实现制动。In the process of braking, when the user steps on the brake pedal 101, the push rod mechanism of the integrated booster 102 generates a displacement. The pedal stroke sensor detects the displacement of the push rod mechanism and sends the displacement signal to the ECU. The ECU calculates the motor should The generated torque is converted into braking force by the transmission mechanism of the motor. The braking force and the push rod force generated by the brake pedal 101 through the push rod mechanism act on the brake master cylinder together, and are converted into hydraulic pressure in the brake master cylinder together. The brake fluid with hydraulic pressure passes through the brake fluid pipe 104 Acting on the brake actuators (103-1, 103-2, 103-3, 103-4) to achieve braking.

参见图2，图2为本申请实施例提供的一种制动控制方法的流程示意图。如图2所示，该方法包括：Referring to FIG. 2 , FIG. 2 is a schematic flow chart of a braking control method provided by an embodiment of the present application. As shown in Figure 2, the method includes:

S201、制动控制装置检测到目标车辆进行舒适制动的控制指令。S201. The braking control device detects a control instruction for a target vehicle to perform comfortable braking.

制动控制装置获取目标车辆的行驶状态信息；根据目标车辆的行驶状态信息，判断目标车辆是否进行舒适制动；在判断结果为肯定时，制动控制装置生成指示目标车辆进行舒适制动的控制指令。The brake control device obtains the driving state information of the target vehicle; judges whether the target vehicle performs comfortable braking according to the driving state information of the target vehicle; instruction.

可选地，目标车辆的行驶状态信息包括以下一项或者多项：Optionally, the driving state information of the target vehicle includes one or more of the following:

目标车辆的减速度、目标车辆的速度、目标车辆周围是否有障碍物、目标车辆与障碍物之间的距离、目标车辆的制动踏板行程、目标车辆的制动踏板行程的变化率、目标车辆周围的交通信号信息、目标车辆的主动悬架四轮高度。主动悬架四轮高度是指四轮上的主动悬架距离地面的高度。The deceleration of the target vehicle, the speed of the target vehicle, whether there are obstacles around the target vehicle, the distance between the target vehicle and obstacles, the brake pedal stroke of the target vehicle, the change rate of the brake pedal stroke of the target vehicle, the target vehicle Surrounding traffic signal information, active suspension four-wheel height of the target vehicle. Active suspension four-wheel height refers to the height of the active suspension on the four wheels from the ground.

其中，目标车辆周围的交通信号信息包括车辆前方的红绿灯信息、交警指挥交通信息等。Among them, the traffic signal information around the target vehicle includes traffic light information in front of the vehicle, traffic police command traffic information, and the like.

在此需要指出的是，上述行驶状态信息还可以包括其他信息。It should be noted here that the above driving state information may also include other information.

可选地，判断条件为以下条件中的一项或者多项：Optionally, the judgment condition is one or more of the following conditions:

目标车辆的减速度是否位于第一预设范围内、目标车辆的速度是否小于预设速度、目标车辆周围是否存在障碍物、目标车辆与障碍物之间的距离是否大于第一预设距离、目标车辆的制动踏板行程是否位于第二预设范围内、目标车辆的制动踏板行程的变化率是否位于第三预设范围内、目标车辆前方的交通信号灯是否为红灯、目标车辆前方是否有人行道、目标车辆与人行道之间距离是否大于第二预设距离；目标车辆的前轴悬架高度是否低于目标车辆的后轴悬架高度。Whether the deceleration of the target vehicle is within the first preset range, whether the speed of the target vehicle is less than the preset speed, whether there are obstacles around the target vehicle, whether the distance between the target vehicle and the obstacle is greater than the first preset distance, whether the target vehicle Whether the brake pedal stroke of the vehicle is within the second preset range, whether the rate of change of the brake pedal stroke of the target vehicle is within the third preset range, whether the traffic light in front of the target vehicle is red, whether there is a traffic light in front of the target vehicle Whether the sidewalk, the distance between the target vehicle and the sidewalk is greater than a second preset distance; whether the suspension height of the front axle of the target vehicle is lower than the suspension height of the rear axle of the target vehicle.

在此需要指出的是，上述判断条件还可以包括其他情况。对于上述第一预设范围、第二预设范围、第三预设范围、预设速度、第一预设距离、第二预设阈值可以针对不同的汽车、不同的行驶环境进行设定。It should be pointed out here that the above judgment conditions may also include other situations. The above-mentioned first preset range, second preset range, third preset range, preset speed, first preset distance, and second preset threshold can be set for different vehicles and different driving environments.

在一个可行的实施例中，在判断根据目标车辆的行驶状态信息判断目标车辆是否进行舒适制动之前，本申请的方法还包括：In a feasible embodiment, before judging whether the target vehicle performs comfortable braking according to the driving state information of the target vehicle, the method of the present application further includes:

如图3所示，在目标车辆上电后，获取上次启动时目标车辆的舒适制动功能开关状态；若在上次启动时目标车辆的舒适制动功能是开启的，表示目标车辆的舒适制动功能是可用的；若在上次启动时目标车辆的舒适制动功能是关闭的，则向用户发送提示信息，该提示信息用于提示用户是否开启目标车辆的舒适制动功能；在检测到用户的开启指令时，开启目标车辆的舒适制动功能。As shown in Figure 3, after the target vehicle is powered on, the switch state of the comfort braking function of the target vehicle at the last startup is obtained; if the comfort braking function of the target vehicle is turned on at the last startup, it means that the comfort braking function of the target vehicle The braking function is available; if the comfort braking function of the target vehicle was turned off when it was started last time, a prompt message is sent to the user, and the prompt message is used to prompt the user whether to turn on the comfort braking function of the target vehicle; When the user's activation instruction is received, the comfort braking function of the target vehicle is activated.

可选地，上述提示信息可以是语音提示信息，可以是文本提示信息、视频提示信息或者其他形式的提示信息，在此不做具体限定。Optionally, the above prompt information may be voice prompt information, text prompt information, video prompt information or other forms of prompt information, which is not specifically limited here.

可选地，开启指令可以是用户针对目标车辆的中控台上的物理控制按钮的操作指令，也可以是用户针对目标车辆的中控台显示屏上的虚拟按钮的触摸指令、也可以是语音指令、手势指令或者其他指令，在此不做具体限定。Optionally, the opening instruction can be the user's operation instruction for the physical control button on the center console of the target vehicle, or the user's touch instruction for the virtual button on the center console display screen of the target vehicle, or it can be a voice Instructions, gesture instructions or other instructions are not specifically limited here.

上述用户可以是目标车辆的驾驶员，也可以是目标车辆的乘客，在此不做限定。The above-mentioned user may be a driver of the target vehicle, or a passenger of the target vehicle, which is not limited here.

在此需要指出的是，上次启动时目标车辆的舒适制动功能开关状态是指上次目标车辆启动期间舒适制动功能是否可用。It should be pointed out here that the switch status of the comfort braking function of the target vehicle at the last startup refers to whether the comfort braking function is available during the last startup of the target vehicle.

可选地，在目标车辆上电后，检测目标车辆及***是否可用；在确定目标车辆及***可用时，执行获取上次启动的功能开关状态及后续操作；在确定目标车辆及***不可用时，表示舒适制动功能不可用。Optionally, after the target vehicle is powered on, detect whether the target vehicle and the system are available; when it is determined that the target vehicle and the system are available, perform the acquisition of the last activated function switch status and follow-up operations; when it is determined that the target vehicle and the system are unavailable, Indicates that the comfort braking function is not available.

在此需要说明的是，检测目标车辆及***是否可用具体是检测是否存在影响目标车辆舒适制动的因素，比如制动踏板损坏、制动主缸破裂等。It should be noted here that the detection of whether the target vehicle and the system are available is to detect whether there are factors that affect the comfortable braking of the target vehicle, such as brake pedal damage, brake master cylinder rupture, and the like.

S202、制动控制装置响应控制指令，在第一时刻到第二时刻，先增大制动主缸的压力，再减小制动主缸的压力；第一时刻为目标车辆的速度为第一速度的时刻，第一速度为预设速度，在第二时刻制动主缸的压力等于需求压力；需求压力为普通制动时制动主缸的压力；在第二时刻到第三时刻，减小制动主缸的压力，第三时刻为目标车辆静止的起始时刻。S202. The brake control device responds to the control command, and from the first moment to the second moment, first increases the pressure of the brake master cylinder, and then decreases the pressure of the brake master cylinder; at the first moment, the speed of the target vehicle is the first At the time of speed, the first speed is the preset speed, and the pressure of the brake master cylinder is equal to the demand pressure at the second time; the demand pressure is the pressure of the brake master cylinder during normal braking; The pressure of the small brake master cylinder, the third moment is the initial moment when the target vehicle is stationary.

在此需要指出的是，制动控制装置可以看成预设压力曲线控制制动主缸的压力，或者上述控制过程可以通过预设压力曲线来表征，其中，该预设压力曲线用于表征制动主缸的压力与时间的关系；制动控制装置可以看成预设压力曲线控制制动主缸的压力，具体包括：It should be pointed out here that the brake control device can be regarded as a preset pressure curve to control the pressure of the brake master cylinder, or the above control process can be characterized by a preset pressure curve, wherein the preset pressure curve is used to represent The relationship between the pressure of the brake master cylinder and time; the brake control device can be regarded as a preset pressure curve to control the pressure of the brake master cylinder, including:

在第一时刻至第二时刻，先增大目标车辆的制动主缸的压力，再减小目标车辆的制动主缸的压力，其中，第一时刻为目标车辆的速度为第一速度的时刻，第一速度为预设速度；在第二时刻制动主缸的压力等于需求压力，该需求压力为普通制动时目标车辆的制动主缸的压力；在第二时刻到第三时刻，减小制动主缸的压力，第三时刻为目标车辆静止的起始时刻。From the first moment to the second moment, first increase the pressure of the brake master cylinder of the target vehicle, and then decrease the pressure of the brake master cylinder of the target vehicle, wherein, at the first moment, the speed of the target vehicle is equal to the first speed moment, the first speed is the preset speed; at the second moment the pressure of the brake master cylinder is equal to the required pressure, which is the pressure of the brake master cylinder of the target vehicle during normal braking; from the second moment to the third moment , reduce the pressure of the brake master cylinder, and the third moment is the initial moment when the target vehicle is stationary.

可选地，本申请的方法还包括：在第三时刻之后，增大制动主缸的压力，直至达到预设压力，该预设压力为维持目标车辆静止所需的压力。Optionally, the method of the present application further includes: after the third moment, increasing the pressure of the brake master cylinder until reaching a preset pressure, which is the pressure required to keep the target vehicle stationary.

具体地，如图4A所示，在目标车辆需要进行舒适制动后，当目标车辆的速度为第一速度时，也就是在第一时刻时，增大目标车辆的制动主缸的压力；在目标车辆的制动主缸的压力达到预设最高值时，减小目标车辆的制动主缸的压力；在目标车辆的制动主缸压力为需求压力时，也就是第二时刻，继续减小目标车辆的轮缸压力，直至目标车辆停止。目标车辆静止的起始时刻为第三时刻；需求压力为普通制动时，采用踏板制动或者自动制动方式时制动主缸的压力。在目标车辆静止时，开始增加目标车辆的制动主缸的压力，以增大目标车辆的制动力，直至目标车辆制动主缸的压力达到维持目标车辆静止所需的压力，也即是使得目标车辆的制动力达到维持目标车辆静止的制动力。维持目标车辆静止的压力小于或者等于需求压力，维持目标车辆静止的压力小于需求压力的好处是：一是可以降低功耗；二是可以减小车辆部件的损耗，比如电机的损耗。Specifically, as shown in FIG. 4A , after the target vehicle needs to perform comfortable braking, when the speed of the target vehicle is the first speed, that is, at the first moment, increase the pressure of the brake master cylinder of the target vehicle; When the pressure of the brake master cylinder of the target vehicle reaches the preset maximum value, reduce the pressure of the brake master cylinder of the target vehicle; when the pressure of the brake master cylinder of the target vehicle is the required pressure, that is, at the second moment, continue Decrease the wheel cylinder pressure of the target vehicle until the target vehicle stops. The starting moment when the target vehicle is stationary is the third moment; the required pressure is the pressure of the brake master cylinder when the pedal brake or automatic brake is used during normal braking. When the target vehicle is stationary, start to increase the pressure of the brake master cylinder of the target vehicle to increase the braking force of the target vehicle until the pressure of the brake master cylinder of the target vehicle reaches the pressure required to keep the target vehicle stationary, that is, to make The braking force of the target vehicle reaches the braking force for keeping the target vehicle stationary. The pressure to keep the target vehicle stationary is less than or equal to the demand pressure. The advantages of keeping the target vehicle stationary pressure less than the demand pressure are: first, it can reduce power consumption; second, it can reduce the loss of vehicle components, such as the loss of the motor.

在此需要指出的是，普通制动是相对舒适制动来说的，也就是说，制动分为普通制动和舒适制动；车辆的制动不是普通制动就是舒适制动。It should be pointed out here that normal braking is relative to comfortable braking, that is to say, braking is divided into normal braking and comfortable braking; vehicle braking is either normal braking or comfortable braking.

其中，图4A中轮缸压力曲线中，细线条为普通制动至制动主缸的压力曲线，粗线条为舒适制动时制动主缸的压力曲线。Among them, in the wheel cylinder pressure curve in FIG. 4A , the thin line is the pressure curve from normal braking to the brake master cylinder, and the thick line is the pressure curve of the brake master cylinder during comfortable braking.

在一个可行的实施例中，本申请的方法还包括：在目标车辆的制动主缸的压力恢复到预设压力后，启动目标车辆的自动驻车功能。可选地，目标车辆的自动驻车功能可以是通过目标车辆的电子驻车制动(electricalparkbrake,EPB)***、自动驻车制动(autohold,AVH)***或者P档锁(P-Lock)实现的。当然还可以是其他方式，在此不做限定。In a feasible embodiment, the method of the present application further includes: starting the automatic parking function of the target vehicle after the pressure of the brake master cylinder of the target vehicle returns to a preset pressure. Optionally, the automatic parking function of the target vehicle can be realized through the electronic parking brake (electrical parkbrake, EPB) system, automatic parking brake (autohold, AVH) system or P lock (P-Lock) of the target vehicle of. Of course, other methods may also be used, which are not limited here.

以下从智能驾驶层面来说明如何基于上述预设压力曲线实现舒适制动。The following describes how to achieve comfortable braking based on the above preset pressure curve from the level of intelligent driving.

需要指出的是，本申请所说的智能驾驶是指目标车辆的智能驾驶***自主控制目标车辆进行制动。It should be pointed out that the intelligent driving mentioned in this application refers to that the intelligent driving system of the target vehicle autonomously controls the target vehicle to brake.

由上述描述可知，目标车辆制动主缸的压力与减速度之间具有线性关系，因此目标车辆的智能驾驶***可以通过控制目标车辆按照图4C所示的减速度曲线(图示中的粗线)控制目标车辆行驶，从而实现舒适制动。在一个具体的场景中，比如在固定障碍物之前目标车辆刹停，预期的制动距离是已知的。在减速到停止过程中，目标车辆的减速度如图4C所示的曲线：在第一车速时，目标车辆开始进行舒适制动，开始增大目标车辆的减速度，在达到减速度最大值时，减小目标车辆的减速度；在目标车辆的速度为第二速度时，继续减小目标车辆的减速度，直至目标车辆停止，在目标车辆停止时，目标车辆的减速度为0；其中，增大或减小目标车辆的减速度具体是通过增大或减小目标车辆制动主缸的压力。From the above description, it can be seen that there is a linear relationship between the pressure of the brake master cylinder of the target vehicle and the deceleration, so the intelligent driving system of the target vehicle can control the target vehicle according to the deceleration curve shown in Figure 4C (thick line in the figure) ) to control the running of the target vehicle, so as to realize comfortable braking. In a specific scenario, such as a target vehicle braking before a fixed obstacle, the expected braking distance is known. During the deceleration to stop process, the deceleration curve of the target vehicle is shown in Figure 4C: at the first speed, the target vehicle starts to perform comfortable braking, and begins to increase the deceleration of the target vehicle. When the maximum deceleration is reached , reduce the deceleration of the target vehicle; when the speed of the target vehicle is the second speed, continue to reduce the deceleration of the target vehicle until the target vehicle stops, and when the target vehicle stops, the deceleration of the target vehicle is 0; wherein, Increasing or decreasing the deceleration of the target vehicle is specifically by increasing or decreasing the pressure of the master cylinder of the target vehicle.

在此需要指出的是，图4C中的粗线条曲线为目标车辆在舒适制动时的车速和减速度的曲线，细线条曲线为目标车辆在普通制动时车速和减速度的曲线。It should be pointed out that the thick line curve in FIG. 4C is the speed and deceleration curve of the target vehicle under comfortable braking, and the thin line curve is the speed and deceleration curve of the target vehicle under normal braking.

在目标车辆停止后，开启目标车辆的自动驻车***。After the target vehicle stops, the automatic parking system of the target vehicle is turned on.

在舒适制动过程中，可以通过检测目标车辆的减速度或者速度来确定目标车辆制动主缸的压力是否增加或减小到位，从而可以基于该检测结果来指导目标车辆制动主缸的压力的调整策略。In the process of comfortable braking, it can be determined whether the pressure of the brake master cylinder of the target vehicle has increased or decreased in place by detecting the deceleration or speed of the target vehicle, so that the pressure of the brake master cylinder of the target vehicle can be guided based on the detection result adjustment strategy.

图4D示意出了一种现有的舒适制动时制动主缸压力的变化曲线和速度变化曲线。如图4D所示，在车辆达到第一速度触发舒适制动时，直接减小车辆制动主缸的压力，直至车辆停止；在车辆停止后，增大车辆制动主缸的压力，直到制动主缸的压力等于需求压力。与现有技术的方案相比，本申请的方案相当于在图4D所示的时刻一之前，先增大制动主缸的压力，再减小制动主缸的压力，使得车辆能够在很短的时间内降低速度；然后再逐渐减小制动主缸的压力，从而实现舒适制动。并且由图4B中的速度曲线可知，采用本申请的方案，制动距离相对于现有技术没有增加，并且相对于现有技术，采用本申请方案的车辆的速度曲线更加平滑，也就是相对于现有技术，采用本申请方案进行制动会更加舒适。FIG. 4D schematically shows a change curve of the master cylinder pressure and a speed change curve during comfortable braking. As shown in Figure 4D, when the vehicle reaches the first speed and triggers comfort braking, the pressure of the vehicle brake master cylinder is directly reduced until the vehicle stops; after the vehicle stops, the pressure of the vehicle brake master cylinder is increased until the brake The pressure in the master cylinder is equal to the demand pressure. Compared with the solution of the prior art, the solution of the present application is equivalent to first increasing the pressure of the brake master cylinder before the moment one shown in Figure 4D, and then reducing the pressure of the brake master cylinder, so that the vehicle can Reduce the speed for a short time; then gradually reduce the pressure of the brake master cylinder, so as to achieve comfortable braking. And it can be seen from the speed curve in Fig. 4B that, with the solution of the present application, the braking distance does not increase compared with the prior art, and compared with the prior art, the speed curve of the vehicle adopting the solution of the application is smoother, that is, compared with the In the prior art, it is more comfortable to brake by adopting the solution of the present application.

图4B中的粗线条为舒适制动时相关参数的变化曲线，细线条为普通制动时相关参数的变化曲线，相关参数包括制动主缸的压力、减速度和车速。The thick line in FIG. 4B is the change curve of relevant parameters during comfortable braking, and the thin line is the change curve of relevant parameters during normal braking. The relevant parameters include the pressure of the brake master cylinder, deceleration and vehicle speed.

在进行舒适制动过程中，可能会出现目标车辆处于过制动(overbrake)状态或者欠制动 (underbrake)状态。在目标车辆处于过制动状态或者欠制动状态会影响舒适性，甚至会影响驾驶的安全性，因此在进行舒适制动过程中，需要实时监测目标车辆是否发生欠制动或者过制动。若确定目标车辆处于欠制动状态或者过制动状态，则退出舒适制动，并进行普通制动。具体可通过以下方式来判断目标车辆是否处于欠制动状态或者过制动状态：During the comfort braking process, it may appear that the target vehicle is in an overbrake state or an underbrake state. When the target vehicle is in the over-braking or under-braking state, it will affect the comfort and even the driving safety. Therefore, in the process of comfortable braking, it is necessary to monitor in real time whether the target vehicle has under-braking or over-braking. If it is determined that the target vehicle is in an under-braking state or an over-braking state, the comfort braking is exited and normal braking is performed. Specifically, the following methods can be used to determine whether the target vehicle is in an under-braking state or an over-braking state:

目标车辆的舒适制动时间大于预设时间，或者，The comfort braking time of the target vehicle is greater than the preset time, or,

在舒适制动过程中目标车辆行驶的距离大于第一阈值，或者，The distance traveled by the target vehicle during comfort braking is greater than a first threshold, or,

目标车辆在舒适制动时估算的制动距离与第一距离之间的差值的绝对值大于第二阈值，第一距离为目标车辆在采用踏板制动或者自动制动的方式进行制动时的制动距离；或者，The absolute value of the difference between the estimated braking distance of the target vehicle during comfortable braking and the first distance is greater than the second threshold. The first distance is when the target vehicle brakes by pedal braking or automatic braking. braking distance; or,

第二距离与目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值或者目标车辆在舒适制动时估算的制动距离大于第二距离，第二距离为目标车辆与障碍物之间的距离；或者，The difference between the second distance and the estimated braking distance of the target vehicle during comfortable braking is less than a third threshold or the estimated braking distance of the target vehicle during comfortable braking is greater than the second distance, the second distance being the distance between the target vehicle and the distance between obstacles; or,

在舒适制动过程中目标车辆的减速度的变化量大于第四阈值。The amount of change in the deceleration of the target vehicle during the comfort braking process is greater than the fourth threshold.

需要指出的是，目标车辆的舒适制动的时间大于预设时间，也就是说制动力不足，导致制动所耗费的时间较长，出现这样的情况表示目标车辆的制动主缸的压力不足，目标车辆处于欠制动状态。It should be pointed out that the comfortable braking time of the target vehicle is greater than the preset time, that is to say, the braking force is insufficient, resulting in a longer braking time, which means that the pressure of the brake master cylinder of the target vehicle is insufficient , the target vehicle is under braking.

在舒适制动过程中目标车辆行驶的距离大于第一阈值，也就是说目标车辆的制动距离过长，原因是制动力不足，即目标车辆制动主缸的压力不足，出现这种情况表示目标车辆处于欠制动状态。In the process of comfortable braking, the distance traveled by the target vehicle is greater than the first threshold, that is to say, the braking distance of the target vehicle is too long. The reason is that the braking force is insufficient, that is, the pressure of the brake master cylinder of the target vehicle is insufficient. The target vehicle is underbraked.

目标车辆在舒适制动时估算的制动距离与目标车辆在采用制动踏板制动或自动制动的方式进行制动时的距离之间的差值的绝对值大于第二阈值，包括两种情况：一是目标车辆在舒适制动时估算的制动距离与目标车辆在采用制动踏板制动或自动制动的方式进行制动时的距离之间的差值大于第二阈值，也就是说目标车辆采用舒适制动的距离相对于采用踏板制动或者自动制动的方式进行制动时的距离增加太多，原因是制动力不足，即目标车辆制动主缸的压力不足，出现这种情况表示目标车辆处于欠制动状态；二是目标车辆在采用制动踏板制动或自动制动的方式进行制动时的距离与目标车辆在舒适制动时估算的制动距离之间的差值大于第二阈值，也就是说目标车辆采用舒适制动的距离相对于采用踏板制动或者自动制动的方式进行制动时的距离减小的太多，原因是制动力过大，即目标车辆制动主缸的压力过大，出现这种情况表示目标车辆处于过制动状态。The absolute value of the difference between the estimated braking distance of the target vehicle during comfortable braking and the distance of the target vehicle when braking with the brake pedal or automatic braking is greater than the second threshold, including two Situation: First, the difference between the estimated braking distance of the target vehicle during comfortable braking and the distance of the target vehicle when braking with the brake pedal or automatic braking is greater than the second threshold, that is, It is said that the comfort braking distance of the target vehicle increases too much compared to the pedal braking or automatic braking. The first situation indicates that the target vehicle is in a state of underbraking; the second is the distance between the target vehicle when braking with the brake pedal or automatic braking and the estimated braking distance of the target vehicle during comfortable braking. The difference is greater than the second threshold, that is to say, the target vehicle's comfortable braking distance is too much reduced compared to the pedal braking or automatic braking distance, because the braking force is too large, that is, The pressure of the brake master cylinder of the target vehicle is too high, which means that the target vehicle is in an over-braked state.

第二距离与目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值，表示目标车辆在舒适制动时估算的制动距离与第二距离比较接近，目标车辆有与障碍物相碰撞的风险；目标车辆在舒适制动时估算的制动距离大于第二距离，目标车辆有与障碍物相碰撞的风险；出现这两种情况的原因是制动力不足，即目标车辆制动主缸的压力不足，出现这种两种情况表示目标车辆处于欠制动状态。The difference between the second distance and the estimated braking distance of the target vehicle during comfortable braking is smaller than the third threshold, indicating that the estimated braking distance of the target vehicle during comfortable braking is relatively close to the second distance, and the target vehicle has the same The risk of collision with obstacles; the estimated braking distance of the target vehicle during comfortable braking is greater than the second distance, and the target vehicle has the risk of collision with obstacles; the reason for these two situations is that the braking force is insufficient, that is, the target vehicle The pressure of the brake master cylinder is insufficient, and these two situations indicate that the target vehicle is under braking.

在舒适制动过程中目标车辆的减速度的变化量过大，原因是制动力过大，即目标车辆制动主缸的压力过大，出现这种情况表示目标车辆处于过制动状态。During the comfortable braking process, the deceleration of the target vehicle changes too much because the braking force is too large, that is, the pressure of the master cylinder of the target vehicle is too high. This situation indicates that the target vehicle is in an over-braking state.

对于不解耦的制动***，通过控制电磁阀或者基于压力闭环方式控制电机从目标车辆的制动主缸中抽取或者向制动主缸压入一部分制动液，从而减小或者增大目标车辆制动主缸的压力。对于解耦的制动***，通过控制电磁阀或者基于压力闭环方式控制电机，使得压力单元按照预设压力曲线调整目标车辆制动主缸的压力，这种方式使得压力调节更加稳定，并且噪音小。For the non-decoupled braking system, by controlling the solenoid valve or controlling the motor based on the pressure closed-loop method to extract or press a part of the brake fluid from the brake master cylinder of the target vehicle, so as to reduce or increase the target The pressure of the vehicle brake master cylinder. For the decoupled braking system, the pressure unit adjusts the pressure of the brake master cylinder of the target vehicle according to the preset pressure curve by controlling the solenoid valve or the motor based on the pressure closed-loop method. This method makes the pressure adjustment more stable and has low noise .

结合图1所示的制动***，在制动实现过程中，用户踩制动踏板101，集成式助力器102 的推杆机构产生位移，踏板行程传感器检测到推杆机构的位移，并将位移信号发送至ECU，ECU计算出电机应产生的扭矩，再由电机的传动机构将扭矩转化为制动力。ECU计算该制动力与制动踏板101通过推杆机构产生的推杆力一起作用于制动主缸上时制动主缸的压力，该压力为上述需求压力。ECU根据需求压力，并按照上述控制方式，控制制动主缸的压力按照上述预设压力曲线进行变化；在这个过程中，在制动主缸内共同转化为液压力，具有液压力的制动液经制动液管104作用在制动执行器(103-1、103-2、103-3、103-4)从而实现舒适制动。Combined with the braking system shown in Figure 1, during the braking process, the user steps on the brake pedal 101, the push rod mechanism of the integrated booster 102 generates displacement, and the pedal stroke sensor detects the displacement of the push rod mechanism, and the displacement The signal is sent to the ECU, and the ECU calculates the torque that the motor should generate, and then the transmission mechanism of the motor converts the torque into braking force. The ECU calculates the pressure of the brake master cylinder when the brake force and the push rod force generated by the brake pedal 101 act on the brake master cylinder through the push rod mechanism, and the pressure is the above-mentioned required pressure. According to the demand pressure and according to the above control method, the ECU controls the pressure of the brake master cylinder to change according to the above preset pressure curve; The fluid acts on the brake actuators (103-1, 103-2, 103-3, 103-4) through the brake fluid pipe 104 to achieve comfortable braking.

参见图5，图5为本申请实施例提供的另一种制动控制方法的流程示意图。如图5所示，该方法包括：Referring to FIG. 5 , FIG. 5 is a schematic flow chart of another braking control method provided by an embodiment of the present application. As shown in Figure 5, the method includes:

S501、获取目标车辆的行驶状态信息。S501. Obtain driving state information of a target vehicle.

S502、根据行驶状态信息判断是否进行舒适制动。S502. Determine whether to perform comfortable braking according to the driving state information.

其中，在判断进行舒适制动时，执行步骤S503；反之执行步骤S507。Wherein, when it is judged that the comfortable braking is to be performed, step S503 is executed; otherwise, step S507 is executed.

在此需要说明的是，目标车辆的行驶状态信息具体可参见步骤S201的相关描述，根据行驶状态信息确定是否进行舒适制动具体可参见步骤S201的相关描述，在此不再叙述。It should be noted here that for the driving state information of the target vehicle, refer to the relevant description of step S201, and for determining whether to perform comfortable braking according to the driving state information, refer to the relevant description of step S201 for details, which will not be described here.

S503、进行动态调压，以实现舒适制动。S503. Perform dynamic pressure regulation to achieve comfortable braking.

具体地，根据图2所示的实施例中的预设压力曲线调整目标车辆制动主缸的压力；具体实现过程可参见步骤S202的相关描述。Specifically, the pressure of the master brake cylinder of the target vehicle is adjusted according to the preset pressure curve in the embodiment shown in FIG. 2 ; refer to the related description of step S202 for the specific implementation process.

S504、判断是否处于欠制动状态或者过制动状态。S504, judging whether it is in an under-braking state or an over-braking state.

具体的，在舒适制动过程中，实时确定目标车辆是否处于欠制动状态或者过制动状态；具体确定方法可参见步骤S202的相关描述，在此不再叙述。在目标车辆不处于欠制动状态且不处于过制动状态时，继续执行步骤S503；在目标车辆处于欠制动状态或者过制动状态时，执行步骤S507。Specifically, during the comfortable braking process, it is determined in real time whether the target vehicle is in an under-braking state or an over-braking state; the specific determination method can refer to the relevant description of step S202, which will not be described here. When the target vehicle is not under braking or over braking, continue to execute step S503; when the target vehicle is under braking or over braking, execute step S507.

S505、判断目标车辆是否停止。S505. Determine whether the target vehicle is stopped.

具体的，根据目标车辆的行驶信息确定目标车辆是否停止；该行驶信息可以为目标车辆的速度，当然也可以是其他信息，在此不做限定。当目标车辆停止后，执行步骤S506；当目标车辆未停止时，继续执行步骤503。Specifically, it is determined whether the target vehicle is stopped according to the traveling information of the target vehicle; the traveling information may be the speed of the target vehicle, or other information, which is not limited herein. When the target vehicle stops, execute step S506; when the target vehicle does not stop, continue to execute step S503.

S506、恢复压力或者驻车。S506 , restore the pressure or park the vehicle.

具体地，按照上述预设压力曲线进行舒适制动过程中，在目标车辆静止时，目标车辆制动主缸的压力较小，不足以维持目标车辆保持静止，因此在目标车辆静止时，增大目标车辆制动主缸的压力，以达到维持目标车辆静止所需的压力；在目标车辆制动主缸的压力达到维持目标车辆静止所需的压力时，开启目标车辆的自动驻车***；Specifically, during the comfort braking process according to the above-mentioned preset pressure curve, when the target vehicle is stationary, the pressure of the brake master cylinder of the target vehicle is relatively small, which is not enough to keep the target vehicle stationary, so when the target vehicle is stationary, increase The pressure of the brake master cylinder of the target vehicle to achieve the pressure required to maintain the target vehicle stationary; when the pressure of the brake master cylinder of the target vehicle reaches the pressure required to maintain the target vehicle stationary, the automatic parking system of the target vehicle is turned on;

或者在目标车辆静止时，开启目标车辆的自动驻车***。Or when the target vehicle is stationary, turn on the automatic parking system of the target vehicle.

S507、普通制动。S507. Normal braking.

具体地，在目标车辆处于欠制动状态或者过制动状态时，如果继续进行舒适制动，会影响到驾驶的安全，因此在目标车辆处于欠制动状态或者过制动状态时，会控制目标车辆退出舒适制动，并进行普通制动。Specifically, when the target vehicle is in the state of under-braking or over-braking, if the comfortable braking continues, it will affect the safety of driving, so when the target vehicle is in the state of under-braking or over-braking, it will control The target vehicle exits comfort braking and performs normal braking.

参见图6，图6为本申请实施例提供的一种制动控制装置的结构示意图。如图6所示，该制动控制装置600包括：Referring to FIG. 6 , FIG. 6 is a schematic structural diagram of a brake control device provided in an embodiment of the present application. As shown in Figure 6, the braking control device 600 includes:

检测模块601，用于检测并获取目标车辆的行驶状态信息。The detection module 601 is used to detect and obtain the driving state information of the target vehicle.

其中，目标车辆行驶信息包括以下一项或者多项：Among them, the target vehicle driving information includes one or more of the following:

目标车辆的减速度、目标车辆的速度、目标车辆周围是否有障碍物、目标车辆与障碍物之间的距离、目标车辆的制动踏板行程、目标车辆的制动踏板行程的变化率、目标车辆周围的交通信号信息、目标车辆的主动悬架四轮高度。The deceleration of the target vehicle, the speed of the target vehicle, whether there are obstacles around the target vehicle, the distance between the target vehicle and obstacles, the brake pedal stroke of the target vehicle, the change rate of the brake pedal stroke of the target vehicle, the target vehicle Surrounding traffic signal information, active suspension four-wheel height of the target vehicle.

具体的，通过收集制动ECU中存储的信息(舒适制动功能上一次启动的状态)、车辆仪表或按键输入、驾驶员输入信息(油门踏板、制动踏板行程等)、车辆传感器模块(轮速车速、加速度等)、网联模块(周围车辆信息等)、环境感知模块(有无障碍物，与障碍物距离、红绿灯斑马线信息等)和关联ECU(主动悬架四轮高度等)等模块实时监测信息，并且进行融合处理，以得到目标车辆的行驶状态信息。Specifically, by collecting the information stored in the brake ECU (the state of the last activation of the comfort braking function), vehicle instrument or button input, driver input information (accelerator pedal, brake pedal stroke, etc.), vehicle sensor module (wheel Vehicle speed, acceleration, etc.), network module (surrounding vehicle information, etc.), environmental perception module (obstacle presence, distance from obstacles, traffic light zebra crossing information, etc.) and associated ECU (active suspension four-wheel height, etc.) and other modules Real-time monitoring information and fusion processing to obtain the driving status information of the target vehicle.

判断模块603，用于基于目标车辆的行驶状态信息判断目标车辆是否进行舒适制动。A judging module 603, configured to judge whether the target vehicle performs comfortable braking based on the driving state information of the target vehicle.

具体判断过程可以参见上述步骤S201的相关内容，在此不再叙述。For the specific determination process, reference may be made to the relevant content of the above-mentioned step S201, which will not be described here.

控制模块604，如果目标车辆配有主动悬架，并且有外部响应接口，那么在整个行车制动过程中，都能和液压制动配合以达到舒适制动的效果；如果目标车辆配有普通悬架，并且已判断为需要进行舒适制动时，由制动ECU对液压进行动态调节，指定由液压单元提供的制动压力按规定曲线进行调节，可以与目标车辆的制动踏板的行程相应的制动压力或者自动制动***请求的制动压力不同；当目标车辆静止后，指定制动压力恢复到能使目标车辆保持静止的压力，而不一定是智能驾驶***请求或者驾驶员制动踏板行程对应的压力。这里的制动压力是指目标车辆制动主缸的压力。Control module 604, if the target vehicle is equipped with an active suspension and has an external response interface, it can cooperate with the hydraulic brake to achieve the effect of comfortable braking during the entire driving braking process; if the target vehicle is equipped with an ordinary suspension When it is judged that comfortable braking is required, the brake ECU dynamically adjusts the hydraulic pressure, and the brake pressure provided by the hydraulic unit is specified to be adjusted according to the specified curve, which can correspond to the stroke of the brake pedal of the target vehicle The braking pressure or the braking pressure requested by the automatic braking system is different; when the target vehicle is stationary, the specified braking pressure is restored to the pressure that can keep the target vehicle stationary, not necessarily the intelligent driving system request or the driver's brake pedal The pressure corresponding to the stroke. The brake pressure here refers to the pressure of the brake master cylinder of the target vehicle.

执行模块605，用于根据上述预设压力曲线调整目标车辆制动主缸的压力，不限定具体的调整方式，可以使用解耦制动***或者非解耦制动***。The execution module 605 is used to adjust the pressure of the master brake cylinder of the target vehicle according to the above-mentioned preset pressure curve. The specific adjustment method is not limited, and a decoupled braking system or a non-decoupled braking system can be used.

监控模块602，用于根据检测模块601采集的数据及目标车辆的整车状态，实时监控目标车辆是否处于欠制动状态或者过制动状态。The monitoring module 602 is used to monitor in real time whether the target vehicle is in an under-braking state or an over-braking state according to the data collected by the detection module 601 and the vehicle state of the target vehicle.

在此需要指出的是，上述检测模块601、监控模块602、判断模块603、控制模块604和执行模块605的实现过程可参见S201和S202的相关描述，在此不再叙述。It should be pointed out here that the implementation process of the detection module 601 , monitoring module 602 , judging module 603 , control module 604 and execution module 605 can refer to the relevant descriptions of S201 and S202 , and will not be described here.

参见图7，图7为本申请实施例提供的一种用于制动控制装置的结构示意图。如图7所示，该制动控制装置700包括：Referring to FIG. 7 , FIG. 7 is a schematic structural diagram of a braking control device provided by an embodiment of the present application. As shown in Figure 7, the braking control device 700 includes:

检测单元701，用于检测到目标车辆进行舒适制动的控制指令；A detection unit 701, configured to detect a control instruction for the target vehicle to perform comfortable braking;

控制单元702，用于响应所述控制指令，在第一时刻到第二时刻，先增大制动主缸的压力，再减小制动主缸的压力；第一时刻为目标车辆的速度为第一速度的时刻，第一速度为预设速度，在第二时刻制动主缸的压力等于需求压力；需求压力为普通制动时制动主缸的压力；在第二时刻到第三时刻，减小制动主缸的压力，第三时刻为目标车辆静止的起始时刻。The control unit 702 is configured to respond to the control instruction, from the first moment to the second moment, first increase the pressure of the brake master cylinder, and then reduce the pressure of the brake master cylinder; at the first moment, the speed of the target vehicle is At the moment of the first speed, the first speed is the preset speed, and the pressure of the brake master cylinder is equal to the demand pressure at the second moment; the demand pressure is the pressure of the brake master cylinder during normal braking; from the second moment to the third moment , reduce the pressure of the brake master cylinder, and the third moment is the initial moment when the target vehicle is stationary.

在一个可行的实施例中，控制单元702还用于：In a feasible embodiment, the control unit 702 is also used for:

在一个可行的实施例中，制动控制装置700还包括：In a feasible embodiment, the braking control device 700 further includes:

获取单元703，用于获取目标车辆的行驶状态信息；An acquisition unit 703, configured to acquire the driving state information of the target vehicle;

判断单元704，用于根据目标车辆的行驶状态信息判断目标车辆是否进行舒适制动；A judging unit 704, configured to judge whether the target vehicle performs comfortable braking according to the driving state information of the target vehicle;

生成单元705，用于在判断结果为肯定时，生成用于指示目标车辆进行舒适制动的控制指令。The generating unit 705 is configured to generate a control instruction for instructing the target vehicle to perform comfortable braking when the determination result is positive.

在一个可行的实施例中，获取单元703，还用于在目标车辆上电后，获取上次启动时目标车辆的舒服制动功能开关状态；In a feasible embodiment, the acquiring unit 703 is also used to acquire the comfort braking function switch status of the target vehicle at the last start-up after the target vehicle is powered on;

制动控制装置700还包括：The braking control device 700 also includes:

提示单元706，用于若舒适制动功能是开启的，表示目标车辆的舒适制动功能是可用的；若舒适制动功能是关闭的，表示目标车辆的舒适制动功能是不可用的，则向用户发出提示信息，提示信息用于提示用户是否开启目标车辆的舒适制动功能。The prompt unit 706 is used to indicate that the comfort braking function of the target vehicle is available if the comfort braking function is turned on; if the comfort braking function is off, it means that the comfort braking function of the target vehicle is not available, then A prompt message is sent to the user, and the prompt message is used to prompt the user whether to enable the comfort braking function of the target vehicle.

启动单元707，用于若检测单元701检测到用户的开启指令后，开启目标车辆的舒适制动功能。The starting unit 707 is configured to start the comfort braking function of the target vehicle after the detection unit 701 detects a user's starting instruction.

切换单元708，用于在检测单元701检测到舒适制动过程中目标车辆进行舒适制动的时间大于预设时间时，或者，在检测到舒适制动过程中目标车辆行驶的距离大于第一阈值时，退出舒适制动，执行普通制动。A switching unit 708, configured to be used when the detection unit 701 detects that the comfort braking time of the target vehicle during the comfortable braking process is greater than a preset time, or, when it detects that the target vehicle travels a distance greater than the first threshold during the comfortable braking process , exit comfort braking and perform normal braking.

切换单元708，用于在检测单元701检测到目标车辆在舒适制动时估算的制动距离与第一距离之间的差值的绝对值大于第二阈值时，出舒适制动，执行普通制动，其中，第一距离为目标车辆在采用踏板制动或者自动制动的方式进行制动时的制动距离。The switching unit 708 is configured to perform comfortable braking when the detection unit 701 detects that the absolute value of the difference between the estimated braking distance and the first distance of the target vehicle during comfortable braking is greater than a second threshold value, and perform normal braking. Wherein, the first distance is the braking distance of the target vehicle when the target vehicle is braked by means of pedal braking or automatic braking.

切换单元708，用于在检测单元701检测到第二距离与目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值或者目标车辆在舒适制动时估算的制动距离大于第二距离时，出舒适制动，执行普通制动，其中，第二距离为目标车辆与障碍物之间的距离。A switching unit 708, configured to detect that the difference between the second distance and the estimated braking distance of the target vehicle during comfortable braking is smaller than a third threshold or the estimated braking distance of the target vehicle during comfortable braking when the detection unit 701 detects When the distance is greater than the second distance, comfortable braking is performed and normal braking is performed, wherein the second distance is the distance between the target vehicle and the obstacle.

切换单元708，用于在检测单元701检测到舒适制动过程中目标车辆的减速度的变化量大于第四阈值时，出舒适制动，执行普通制动。The switching unit 708 is configured to, when the detection unit 701 detects that the change in deceleration of the target vehicle during the comfortable braking process is greater than the fourth threshold, perform comfortable braking and perform normal braking.

需要说明的是，上述各单元(检测单元701、控制单元702、获取单元703、判断单元704、生成单元705、提示单元706、启动单元707和切换单元708)用于执行上述方法的相关步骤。比如检测单元701、获取单元703、判断单元704、生成单元705、提示单元706和启动单元707用于执行S201的相关内容，检测单元701、控制单元702和切换单元708用于执行步骤S202的相关内容。It should be noted that the above-mentioned units (detection unit 701, control unit 702, acquisition unit 703, judgment unit 704, generation unit 705, prompt unit 706, start-up unit 707, and switching unit 708) are used to execute relevant steps of the above-mentioned method. For example, the detection unit 701, the acquisition unit 703, the judgment unit 704, the generation unit 705, the prompt unit 706, and the start unit 707 are used to execute the related content of S201, and the detection unit 701, the control unit 702, and the switching unit 708 are used to execute the related content of step S202. content.

在本实施例中，制动控制装置700是以单元的形式来呈现。这里的“单元”可以指特定应用集成电路(application-specific integrated circuit，ASIC)，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。此外，以上检测单元701、控制单元702、获取单元703、判断单元704、生成单元705、提示单元706、启动单元707和切换单元708可通过图8所示的制动控制装置的处理器801来实现。In this embodiment, the brake control device 700 is presented in the form of a unit. The "unit" here may refer to an application-specific integrated circuit (ASIC), a processor and memory executing one or more software or firmware programs, an integrated logic circuit, and/or other devices that can provide the above functions . In addition, the above detecting unit 701, control unit 702, acquiring unit 703, judging unit 704, generating unit 705, prompting unit 706, starting unit 707 and switching unit 708 can be realized by the processor 801 of the braking control device shown in FIG. accomplish.

参考图8，图8是本申请实施例提供的一种制动控制装置的结构示意图。图8所示的制动控制装置800(该装置800具体可以是一种计算机设备)包括存储器802、处理器801以及通信接口803。其中，存储器802、处理器801和通信接口803通过总线实现彼此之间的通信连接。Referring to FIG. 8 , FIG. 8 is a schematic structural diagram of a braking control device provided by an embodiment of the present application. The braking control device 800 shown in FIG. 8 (the device 800 may specifically be a computer device) includes a memory 802 , a processor 801 and a communication interface 803 . Wherein, the memory 802, the processor 801 and the communication interface 803 are connected to each other through a bus.

存储器802可以是只读存储器(Read Only Memory，ROM)，静态存储设备，动态存储设备或者随机存取存储器(Random Access Memory，RAM)。存储器802可以存储程序，当存储器802中存储的程序被处理器801执行时，处理器801和通信接口803用于执行本申请实施例的制动控制方法的各个步骤。The memory 802 may be a read-only memory (Read Only Memory, ROM), a static storage device, a dynamic storage device or a random access memory (Random Access Memory, RAM). The memory 802 may store programs, and when the programs stored in the memory 802 are executed by the processor 801, the processor 801 and the communication interface 803 are used to execute various steps of the braking control method of the embodiment of the present application.

处理器801可以采用通用的中央处理器(Central Processing Unit，CPU)，微处理器，应用专用集成电路(Application Specific Integrated Circuit，ASIC)，图形处理器(graphics processing unit，GPU)或者一个或多个集成电路，用于执行相关程序，以实现本申请实施例的制动控制装置700中的单元所需执行的功能，或者执行本申请方法实施例的制动控制方法，或者实现本申请实施例的制动控制装置600中的模块所需执行的功能。The processor 801 may be a general-purpose central processing unit (Central Processing Unit, CPU), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a graphics processing unit (graphics processing unit, GPU) or one or more The integrated circuit is used to execute related programs to realize the functions required by the units in the braking control device 700 of the embodiment of the present application, or execute the braking control method of the method embodiment of the present application, or realize the braking control method of the embodiment of the present application. Functions to be performed by the modules in the brake control device 600 .

处理器801还可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，本申请的制动控制方法的各个步骤可以通过处理器801中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器801还可以是通用处理器、数字信号处理器(Digital Signal Processing，DSP)、专用集成电路(ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器802，处理器801读取存储器802中的信息，结合其硬件完成本申请实施例的车载装置中包括的单元所需执行的功能，或者执行本申请方法实施例的舒适制动控制交流的方法。The processor 801 may also be an integrated circuit chip, which has a signal processing capability. During implementation, each step of the braking control method of the present application may be completed by an integrated logic circuit of hardware in the processor 801 or instructions in the form of software. The above-mentioned processor 801 can also be a general-purpose processor, a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (ASIC), a ready-made programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices , discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory 802, and the processor 801 reads the information in the memory 802, and combines its hardware to complete the functions required by the units included in the vehicle-mounted device of the embodiment of the present application, or perform the comfort braking of the method embodiment of the present application A method of controlling communication.

通信接口803使用例如但不限于收发器一类的收发装置，来实现制动控制装置800与其他设备或通信网络之间的通信。The communication interface 803 implements communication between the braking control device 800 and other devices or communication networks by using a transceiver device such as but not limited to a transceiver.

总线可包括在制动控制装置800各个部件(例如，存储器802、处理器801、通信接口803)之间传送信息的通路。The bus may include pathways for transferring information between various components of the brake control device 800 (eg, memory 802 , processor 801 , communication interface 803 ).

应理解，制动控制装置700中的检测单元701、控制单元702、获取单元703、判断单元704、生成单元705、提示单元706、启动单元707和切换单元708可以相当于处理器801。It should be understood that the detecting unit 701 , control unit 702 , acquiring unit 703 , judging unit 704 , generating unit 705 , prompting unit 706 , starting unit 707 and switching unit 708 in the braking control device 700 may be equivalent to the processor 801 .

应注意，尽管图8所示的制动控制装置800仅仅示出了存储器、处理器、通信接口，但是在具体实现过程中，本领域的技术人员应当理解，装置800还包括实现正常运行所必须的其他器件。同时，根据具体需要，本领域的技术人员应当理解，装置800还可包括实现其他附加功能的硬件器件。此外，本领域的技术人员应当理解，装置800也可仅仅包括实现本申请实施例所必须的器件，而不必包括图8中所示的全部器件。It should be noted that although the brake control device 800 shown in FIG. 8 only shows a memory, a processor, and a communication interface, in the specific implementation process, those skilled in the art should understand that the device 800 also includes other devices. Meanwhile, according to specific needs, those skilled in the art should understand that the apparatus 800 may also include hardware devices for implementing other additional functions. In addition, those skilled in the art should understand that the device 800 may also only include the devices necessary to realize the embodiment of the present application, and does not necessarily include all the devices shown in FIG. 8 .

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

本申请实施例还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时可以实现包括上述方法实施例中记载的任何制动控制方法的部分或全部步骤。前述的存储介质包括：U盘、只读存储器(英文：read-only memory)、随机存取存储器(英文：random access memory，RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。The embodiment of the present application also provides a computer storage medium, wherein the computer storage medium can store a program, and when the program is executed, some or all steps of any brake control method described in the above method embodiments can be realized. The aforementioned storage media include: U disk, read-only memory (English: read-only memory), random access memory (English: random access memory, RAM), mobile hard disk, magnetic disk or optical disk, etc., which can store program codes. medium.

需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by this application.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

以上所述，以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions described in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the various embodiments of the application.

Claims

一种制动控制方法，其特征在于，包括：A braking control method, characterized by comprising:

检测到目标车辆进行舒适制动的控制指令；A control instruction for comfortable braking of the target vehicle is detected;

响应所述控制指令，在第一时刻到第二时刻，先增大所述制动主缸的压力，再减小所述制动主缸的压力；所述第一时刻为所述目标车辆的速度为第一速度的时刻，所述第一速度为预设速度，在第二时刻所述制动主缸的压力等于需求压力；所述需求压力为普通制动时所述制动主缸的压力；In response to the control instruction, from the first moment to the second moment, first increase the pressure of the brake master cylinder, and then reduce the pressure of the brake master cylinder; the first moment is the pressure of the target vehicle When the speed is the first speed, the first speed is the preset speed, and the pressure of the brake master cylinder is equal to the required pressure at the second moment; the required pressure is the pressure of the brake master cylinder during normal braking. pressure;

在所述第二时刻到第三时刻，减小所述制动主缸的压力，所述第三时刻为所述目标车辆静止的起始时刻。The pressure of the brake master cylinder is reduced from the second moment to the third moment, and the third moment is an initial moment when the target vehicle is stationary.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, further comprising:

在所述第三时刻之后，增大所述制动主缸的压力，直至达到预设压力，所述预设压力为维持所述目标车辆静止所需的压力。After the third moment, the pressure of the brake master cylinder is increased until reaching a preset pressure, which is the pressure required to keep the target vehicle stationary.
根据权利要求2所述的方法，其特征在于，所述方法还包括：The method according to claim 2, further comprising:

在所述制动主缸的压力达到所述预设压力时，启动目标车辆的自动驻车***。When the pressure of the brake master cylinder reaches the preset pressure, an automatic parking system of the target vehicle is activated.
根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-3, wherein the method further comprises:

获取目标车辆的行驶状态信息；Obtain the driving status information of the target vehicle;

根据所述目标车辆的行驶状态信息，判断所述目标车辆是否进行舒适制动；According to the driving state information of the target vehicle, it is judged whether the target vehicle performs comfortable braking;

在判断结果为肯定时，生成用于指示所述目标车辆进行舒适制动的所述控制指令。When the determination result is affirmative, the control instruction for instructing the target vehicle to perform comfortable braking is generated.
根据权利要求1-4任一项所述的方法，其特征在于，所述目标车辆的行驶状态信息包括以下一项或者多项：The method according to any one of claims 1-4, wherein the driving state information of the target vehicle includes one or more of the following:

所述目标车辆的减速度、所述目标车辆的速度、所述目标车辆的周围是否有障碍物、所述目标车辆与所述障碍物之间的距离、所述目标车辆的制动踏板行程、所述目标车辆的制动踏板行程的变化率、所述目标车辆周围的交通信号信息、所述目标车辆的主动悬架四轮高度信息。The deceleration of the target vehicle, the speed of the target vehicle, whether there is an obstacle around the target vehicle, the distance between the target vehicle and the obstacle, the brake pedal travel of the target vehicle, The change rate of the brake pedal stroke of the target vehicle, the traffic signal information around the target vehicle, and the four-wheel height information of the active suspension of the target vehicle.
根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-5, wherein the method further comprises:

在所述目标车辆上电后，获取上次启动时所述目标车辆的舒服制动功能开关状态；After the target vehicle is powered on, obtain the comfort braking function switch state of the target vehicle when it was started last time;

若所述舒适制动功能是开启的，表示所述目标车辆的舒适制动功能是可用的；If the comfort braking function is turned on, it means that the comfort braking function of the target vehicle is available;

若所述舒适制动功能是关闭的，表示所述目标车辆的舒适制动功能是不可用的，则向用户发出提示信息，所述提示信息用于提示所述用户是否开启所述目标车辆的舒适制动功能。If the comfort braking function is off, it means that the comfort braking function of the target vehicle is unavailable, then send a prompt message to the user, the prompt message is used to prompt the user whether to turn on the target vehicle Comfort braking function.
根据权利要求6所述的方法，其特征在于，所述方法还包括：The method according to claim 6, further comprising:

若检测到所述用户的开启指令，开启所述目标车辆的舒适制动功能。If the user's activation instruction is detected, the comfort braking function of the target vehicle is activated.
根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-7, wherein the method further comprises:

在检测到舒适制动过程中所述目标车辆进行舒适制动的时间大于预设时间时，或者，在检测到舒适制动过程中所述目标车辆行驶的距离大于第一阈值时，退出舒适制动，执行普通制动。When it is detected that the comfort braking time of the target vehicle is greater than the preset time during the comfort braking process, or when it is detected that the target vehicle travels a distance greater than the first threshold during the comfort braking process, exit the comfort mode to perform normal braking.
根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-7, wherein the method further comprises:

在检测到所述目标车辆在舒适制动时估算的制动距离与第一距离之间的差值的绝对值大于第二阈值时，出舒适制动，执行普通制动，其中，所述第一距离为所述目标车辆在采用踏板制动或者自动制动的方式进行制动时的制动距离。When it is detected that the absolute value of the difference between the estimated braking distance of the target vehicle during comfortable braking and the first distance is greater than a second threshold, perform comfortable braking and perform normal braking, wherein the first A distance is the braking distance of the target vehicle when braking by means of pedal braking or automatic braking.
根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-7, wherein the method further comprises:

在检测到第二距离与所述目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值或者所述目标车辆在舒适制动时估算的制动距离大于所述第二距离时，出舒适制动，执行普通制动，其中，所述第二距离为所述目标车辆与障碍物之间的距离。When it is detected that the difference between the second distance and the estimated braking distance of the target vehicle during comfortable braking is smaller than a third threshold or the estimated braking distance of the target vehicle during comfortable braking is greater than the second When the distance is selected, perform comfortable braking and perform normal braking, wherein the second distance is the distance between the target vehicle and the obstacle.
根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-7, wherein the method further comprises:

在检测到舒适制动过程中所述目标车辆的减速度的变化量大于第四阈值时，出舒适制动，执行普通制动。When it is detected that the change in the deceleration of the target vehicle is greater than the fourth threshold during the comfortable braking process, the comfortable braking is performed and normal braking is performed.
一种制动控制装置，其特征在于，包括：A brake control device, characterized in that it comprises:

检测单元，用于检测到目标车辆进行舒适制动的控制指令；A detection unit is used to detect a control instruction for a target vehicle to perform comfortable braking;

控制单元，用于响应所述控制指令，在第一时刻到第二时刻，先增大所述制动主缸的压力，再减小所述制动主缸的压力；所述第一时刻为所述目标车辆的速度为第一速度的时刻，所述第一速度为预设速度，在第二时刻所述制动主缸的压力等于需求压力；所述需求压力为普通制动时所述制动主缸的压力；在所述第二时刻到第三时刻，减小所述制动主缸的压力，所述第三时刻为所述目标车辆静止的起始时刻。The control unit is configured to respond to the control command, and from the first moment to the second moment, first increase the pressure of the brake master cylinder, and then reduce the pressure of the brake master cylinder; the first moment is When the speed of the target vehicle is the first speed, the first speed is the preset speed, and the pressure of the brake master cylinder is equal to the required pressure at the second moment; the required pressure is the required pressure during normal braking. The pressure of the brake master cylinder; reduce the pressure of the brake master cylinder from the second moment to the third moment, and the third moment is the initial moment when the target vehicle is stationary.
根据权利要求12所述的装置，其特征在于，所述控制单元还用于：The device according to claim 12, wherein the control unit is further used for:

在所述第三时刻之后，增大所述制动主缸的压力，直至达到预设压力，所述预设压力为维持所述目标车辆静止所需的压力。After the third moment, the pressure of the brake master cylinder is increased until reaching a preset pressure, which is the pressure required to keep the target vehicle stationary.
根据权利要求13所述的装置，其特征在于，所述控制单元还用于：The device according to claim 13, wherein the control unit is further used for:

在所述制动主缸的压力达到所述预设压力时，启动目标车辆的自动驻车***。When the pressure of the brake master cylinder reaches the preset pressure, an automatic parking system of the target vehicle is activated.
根据权利要求12-14任一项所述的装置，其特征在于，所述装置包括：The device according to any one of claims 12-14, wherein the device comprises:

获取单元，用于目标车辆的行驶状态信息；an acquisition unit, used for the driving state information of the target vehicle;

判断单元，用于根据所述目标车辆的行驶状态信息，判断所述目标车辆是否进行舒适制动；A judging unit, configured to judge whether the target vehicle performs comfortable braking according to the driving state information of the target vehicle;

生成单元，用于在判断结果为肯定时，生成用于指示所述目标车辆进行舒适制动的所述控制指令。A generating unit, configured to generate the control instruction for instructing the target vehicle to perform comfortable braking when the determination result is positive.
根据权利要求12-15任一项所述的装置，其特征在于，所述目标车辆的行驶状态信息包括以下一项或者多项：The device according to any one of claims 12-15, wherein the driving state information of the target vehicle includes one or more of the following:

所述目标车辆的减速度、所述目标车辆的速度、所述目标车辆的周围是否有障碍物、所述目标车辆与所述障碍物之间的距离、所述目标车辆的制动踏板行程、所述目标车辆的制动踏板行程的变化率、所述目标车辆周围的交通信号信息、所述目标车辆的主动悬架四轮高度信息。The deceleration of the target vehicle, the speed of the target vehicle, whether there is an obstacle around the target vehicle, the distance between the target vehicle and the obstacle, the brake pedal travel of the target vehicle, The change rate of the brake pedal stroke of the target vehicle, the traffic signal information around the target vehicle, and the four-wheel height information of the active suspension of the target vehicle.
根据权利要求12-16任一项所述的装置，其特征在于，The device according to any one of claims 12-16, characterized in that,

所述获取单元，还用于在所述目标车辆上电后，获取上次启动时所述目标车辆的舒服制动功能开关状态；The obtaining unit is also used to obtain the comfort braking function switch state of the target vehicle at the last startup after the target vehicle is powered on;

所述装置还包括：The device also includes:

提示单元，用于若所述舒适制动功能是关闭的，表示所述目标车辆的舒适制动功能是不可用的，则向用户发出提示信息，所述提示信息用于提示所述用户是否开启所述目标车辆的舒适制动功能；若检测到所述用户针对所述目标车辆的舒适制动功能的开启指令后，开启所述目标车辆的舒适制动功能，其中，所述舒适制动功能是开启的，表示所述目标车辆的舒适制动功能是可用的。A prompting unit, configured to send prompt information to the user if the comfort braking function of the target vehicle is off, indicating that the comfort braking function of the target vehicle is not available, and the prompt information is used to prompt the user whether to enable it The comfort braking function of the target vehicle; if an instruction to enable the comfort braking function of the target vehicle is detected by the user, the comfort braking function of the target vehicle is turned on, wherein the comfort braking function is on, indicating that the comfort braking function of the target vehicle is available.
根据权利要求17所述的装置，其特征在于，所述装置还包括：The device according to claim 17, further comprising:

启动单元，用于若所述检测单元检测到所述用户的开启指令，开启所述目标车辆的舒适制动功能。An activation unit, configured to enable the comfort braking function of the target vehicle if the detection unit detects the user's activation instruction.
根据权利要求12-18任一项所述的装置，其特征在于，所述装置还包括：The device according to any one of claims 12-18, wherein the device further comprises:

切换单元，用于在所述检测单元检测到舒适制动过程中所述目标车辆进行舒适制动的时间大于预设时间时，或者，在检测到舒适制动过程中所述目标车辆行驶的距离大于第一阈值时，退出舒适制动，执行普通制动。A switching unit, used for when the detection unit detects that the comfort braking time of the target vehicle during the comfort braking process is greater than a preset time, or, when the comfort braking process is detected, the target vehicle travels a distance When it is greater than the first threshold, exit the comfortable braking and perform normal braking.
根据权利要求12-18任一项所述的装置，其特征在于，所述装置还包括：The device according to any one of claims 12-18, wherein the device further comprises:

切换单元，用于在所述检测单元检测到所述目标车辆在舒适制动时估算的制动距离与第一距离之间的差值的绝对值大于第二阈值时，出舒适制动，执行普通制动，其中，所述第一距离为所述目标车辆在采用踏板制动或者自动制动的方式进行制动时的制动距离。a switching unit, configured to perform comfortable braking when the detecting unit detects that the absolute value of the difference between the estimated braking distance of the target vehicle during comfortable braking and the first distance is greater than a second threshold; Ordinary braking, wherein the first distance is the braking distance of the target vehicle when the target vehicle is braked by means of pedal braking or automatic braking.
根据权利要求12-18任一项所述的装置，其特征在于，所述装置还包括：The device according to any one of claims 12-18, wherein the device further comprises:

切换单元，用于在所述检测单元检测到第二距离与所述目标车辆在舒适制动时估算的制动距离之间的差值小于第三阈值或者所述目标车辆在舒适制动时估算的制动距离大于所述第二距离时，出舒适制动，执行普通制动，其中，所述第二距离为所述目标车辆与障碍物之间的距离。A switching unit, configured to detect that the difference between the second distance and the braking distance estimated by the target vehicle during comfortable braking is smaller than a third threshold or the target vehicle estimated during comfortable braking When the braking distance is greater than the second distance, comfortable braking is performed and normal braking is performed, wherein the second distance is the distance between the target vehicle and the obstacle.
根据权利要求12-18任一项所述的装置，其特征在于，所述装置还包括：The device according to any one of claims 12-18, wherein the device further comprises:

切换单元，用于在所述检测单元检测到舒适制动过程中所述目标车辆的减速度的变化量大于第四阈值时，出舒适制动，执行普通制动。A switching unit, configured to enable comfortable braking and perform normal braking when the detection unit detects that the change in deceleration of the target vehicle during the comfortable braking process is greater than a fourth threshold.
一种制动控制装置，其特征在于，包括处理器和存储器，其中，所述处理器和存储器相连，其中，所述存储器用于存储程序代码，所述处理器用于调用所述程序代码，以执行如权利要求1至6任一项所述的制动控制方法。A braking control device, characterized in that it includes a processor and a memory, wherein the processor is connected to the memory, wherein the memory is used to store program codes, and the processor is used to call the program codes to Executing the braking control method according to any one of claims 1 to 6.
一种芯片***，其特征在于，所述芯片***应用于电子设备；所述芯片***包括一个或多个接口电路，以及一个或多个处理器；所述接口电路和所述处理器通过线路互联；所述接口电路用于从所述电子设备的存储器接收信号，并向所述处理器发送所述信号，所述信号包括所述存储器中存储的计算机指令；当所述处理器执行所述计算机指令时，所述电子设备执行如权利要求1-11中任意一项所述的制动控制方法。A chip system, characterized in that the chip system is applied to electronic equipment; the chip system includes one or more interface circuits, and one or more processors; the interface circuits and the processors are interconnected through lines The interface circuit is used to receive a signal from the memory of the electronic device and send the signal to the processor, the signal including a computer instruction stored in the memory; when the processor executes the computer When instructed, the electronic device executes the brake control method according to any one of claims 1-11.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行以实现如权利要求1至11任一项所述的制动控制方法。A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the brake control method according to any one of claims 1 to 11 .
一种计算机程序，其特征在于，所述计算机程序被处理器执行以实现如权利要求1至11任一项所述的制动控制方法。A computer program, characterized in that the computer program is executed by a processor to implement the braking control method according to any one of claims 1 to 11.
一种集成式助力器，其特征在于，所述集成式助力器包括踏板行程传感器、制动主缸、电机、推杆机构及执行如权利要求1-11中任意一项所述的制动控制方法的电子控制单元ECU。An integrated booster, characterized in that the integrated booster includes a pedal stroke sensor, a brake master cylinder, a motor, a push rod mechanism, and performs the braking control described in any one of claims 1-11 Method electronic control unit ECU.
一种制动***，其特征在于，所述制动***包括制动踏板、制动执行器、制动液管及如权利要求27所述的集成式助力器。A braking system, characterized in that the braking system comprises a brake pedal, a brake actuator, a brake fluid pipe and the integrated booster as claimed in claim 27.