Vehicle braking method, device and equipment and readable storage medium

Abstract

The invention provides a vehicle braking method, device and equipment and a readable storage medium. The vehicle braking method comprises the steps that information data of an obstacle is obtained through an ultrasonic radar sensor and a millimeter wave radar sensor; obtaining the track of the obstacle according to the position information, the speed information and the moving direction information of the obstacle included in the obtained information data of the obstacle; adding the track of the obstacle into the established coordinate system; obtaining the track of the vehicle; adding the track of the vehicle into the established coordinate system; detecting whether the track of the obstacle coincides with the track of the vehicle or not; and when the track of the obstacle coincides with the track of the vehicle, the collision time is calculated, and when the collision time is smaller than a set threshold value, a braking strategy is executed. According to the invention, the ultrasonic radar sensor and the millimeter wave radar sensor are fused for obstacle detection, so that collision can be effectively avoided, and the safety during reversing is improved.

Description

technical field [0001] The present invention relates to the field of vehicles, in particular to a vehicle braking method, device, equipment and readable storage medium. Background technique [0002] A large number of vehicle scratches and collision accidents occur when the vehicle is reversing, and the blind area of ​​sight is the main reason for the occurrence of vehicle scratches and collision accidents. When the driver is reversing, due to the existence of rear side blind spots, it is easy to scratch or collide with vehicles passing through the rear side, pedestrians or stationary obstacles, or when the vehicle slides on the slope, the driver does not notice , It is easy to collide with the vehicle behind, so a low-speed emergency braking system is very necessary. [0003] At present, most of the existing technical solutions use ultrasonic radar to detect obstacles to prevent vehicles from scratching and colliding when reversing. Ultrasonic radar has the characteristics ...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a vehicle braking method, device, equipment and readable storage medium, aiming to solve the problem of the current ultrasonic radar detection of obstacles on the rear side due to the existence of blind spots when the driver is reversing the vehicle. The distance is small, and it is impossible to effectively detect the lateral long-distance and fast-moving obstacles, and it is prone to technical problems of collision

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