A vehicle braking method, device, equipment, and storage medium

Abstract

The present invention discloses a vehicle braking method, device, equipment and storage medium. The method includes: if a collision risk event is detected, determining the current driving mode of the vehicle; determining the current collision safety value of the vehicle according to the driving mode; and controlling the vehicle braking according to the collision safety value. The solution provided by the present invention can determine the corresponding collision safety value based on the determined driving mode of the vehicle and control the vehicle braking. In this way, when a collision risk event of the vehicle is detected, the vehicle braking can be more effectively performed to ensure the driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and particularly to a vehicle braking method, device, equipment and storage medium. Background Art

[0002] With the continuous development of vehicle control technology, it is crucial to monitor the vehicle during driving by using the collision safety function of the vehicle to ensure the safe driving of the vehicle.

[0003] How to determine more accurate relevant parameters to control vehicle braking in combination with the environment where the vehicle is located when a danger occurs ahead, and to ensure the driving safety of the vehicle to the greatest extent, is a problem that needs to be solved urgently at present. Summary of the Invention

[0004] The present invention provides a vehicle braking method, device, equipment and storage medium, which can perform vehicle braking more effectively when a collision risk event of the vehicle is detected, and ensure driving safety.

[0005] According to one aspect of the present invention, a vehicle braking method is provided, including:

[0006] If a collision risk event is detected, determine the current driving mode of the vehicle;

[0007] According to the driving mode, determine the current collision safety value of the vehicle;

[0008] Control vehicle braking according to the collision safety value.

[0009] According to another aspect of the present invention, a vehicle braking device is provided, including:

[0010] A first determination module, configured to determine the current driving mode of the vehicle if a collision risk event is detected;

[0011] A second determination module, configured to determine the current collision safety value of the vehicle according to the driving mode;

[0012] A control module, configured to control vehicle braking according to the collision safety value.

[0013] According to another aspect of the present invention, an electronic device is provided, and the electronic device includes:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor. When executed by the at least one processor, the computer program enables the at least one processor to execute the vehicle braking method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for implementing the vehicle braking method according to any embodiment of the present invention when executed by a processor.

[0018] In the technical solution of the embodiment of the present invention, if a collision risk event is detected, the current driving mode of the vehicle is determined. Further, according to the driving mode, the current collision safety value of the vehicle is determined. Finally, according to the collision safety value, the vehicle braking is controlled. The solution provided by the present invention can determine the corresponding collision safety value based on the determined driving mode of the vehicle and control the vehicle braking. In this way, when a collision risk event of the vehicle is detected, the vehicle braking can be more effectively performed to ensure the driving safety.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of a vehicle braking method provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flowchart of a vehicle braking method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 is a flowchart of a vehicle braking method provided according to Embodiment 3 of the present invention;

[0024] Figure 4A is a structural block diagram of a vehicle braking system provided according to Embodiment 4 of the present invention;

[0025] Figure 4B is a schematic flowchart of vehicle braking provided according to Embodiment 4 of the present invention;

[0026] Figure 5It is a schematic structural diagram of a vehicle braking device provided according to Embodiment 5 of the present invention;

[0027] Figure 6 It is a schematic structural diagram of an electronic device for implementing the vehicle braking method of the embodiment of the present invention. Detailed implementation manners

[0028] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] Figure 1 It is a flowchart of a vehicle braking method provided according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of braking a vehicle according to the collision safety value, especially applicable to the situation of braking a vehicle with a collision safety function in different driving modes. This method can be executed by a vehicle braking device, and the device can be implemented in a software and / or hardware manner and can be integrated into an electronic device with a vehicle braking function, such as a vehicle with a collision safety function. Among them, the vehicle can be an intelligent vehicle equipped with an all-terrain recognition function or an intelligent vehicle equipped with a driving mode selection function. As Figure 1 shown, the method includes:

[0032] S101. If a collision risk event is detected, determine the current driving mode of the vehicle.

[0033] Among them, a collision risk event refers to an event where a vehicle has a collision risk. A driving mode is a mode that characterizes the driving manner of a vehicle. The driving mode may include a normal mode and a snow mode. The normal mode refers to the driving mode of the vehicle when the ground where the vehicle is located is normal ground. The snow mode refers to the driving mode of the vehicle when the ground where the vehicle is located is ice and snow ground.

[0034] Optionally, during the operation of the vehicle, when receiving a signal sent by a perception module carried by the vehicle when detecting a collision risk between the vehicle itself and a target ahead, it can be considered that a collision risk event is detected; or when receiving a signal sent by a perception module carried by the vehicle when detecting a collision risk between the vehicle itself and a target ahead (such as other vehicles other than the vehicle itself), first, according to a preset rule, automatically trigger an audible and visual alarm to remind the driver to take over the vehicle in time. When the driver fails to take over the entire vehicle in time and the collision risk persists, it is considered that the vehicle needs to perform an emergency brake, that is, at this time, it is considered that a collision risk event is detected.

[0035] Optionally, after determining that a collision risk event is detected, if the vehicle is an intelligent vehicle equipped with an all-terrain recognition function, the driving mode corresponding to the terrain recognition result can be determined according to the terrain recognition result, that is, the current driving mode of the vehicle is determined; if the vehicle is an intelligent vehicle equipped with a driving mode selection function, the selected driving mode is directly used as the current driving mode of the vehicle, that is, the current driving mode of the vehicle is determined.

[0036] S102. Determine the current collision safety value of the vehicle according to the driving mode.

[0037] Among them, the collision safety value refers to the collision safety (TTC, time to collision) time value of the vehicle braking.

[0038] Optionally, after the collision safety control module of the vehicle determines the current driving mode of the vehicle, the current collision safety value of the vehicle can be calculated based on a preset calculation rule in different driving modes. Exemplarily, in the normal mode, the ratio of the distance between the vehicle and the target vehicle ahead to the relative vehicle speed is used as the collision safety value. In the snow mode, the ratio of the distance between the vehicle and the target vehicle ahead to the relative vehicle speed is multiplied by a preset sensitivity coefficient, and the finally determined product is the current collision safety value of the vehicle.

[0039] Optionally, after determining the driving mode, the current collision safety value of the vehicle can also be determined based on a preset rule according to the pre-stored collision safety value. Specifically, determining the current collision safety value of the vehicle according to the driving mode includes: if the driving mode is the normal mode, the current collision safety value of the vehicle is determined according to the current vehicle speed, the collision safety risk level, and the emergency brake activation status.

[0040] Among them, the collision safety risk level refers to the risk level of the vehicle's Forward Collision Warning (FCW). The collision safety risk level includes high-level forward collision warning and low-level forward collision warning. The emergency braking activation status indicates whether the vehicle activates the Autonomous Emergency Braking (AEB) system.

[0041] Optionally, if the driving mode is the normal mode, the current vehicle speed, the collision safety risk level, and the emergency braking activation status can be directly input into a pre-trained model to output the current collision safety value of the vehicle, that is, to determine the current collision safety value of the vehicle; if the driving mode is the normal mode, the current collision safety value of the vehicle can also be determined from the pre-stored collision safety values according to a preset rule. Specifically, the emergency braking activation status can be determined first. If the vehicle activates the emergency braking, the current collision safety value of the vehicle is determined only based on the current vehicle speed from the pre-stored collision safety values, that is, to determine the current collision safety value of the vehicle. If the vehicle does not activate the emergency braking, the current collision safety value of the vehicle is determined from the pre-stored collision safety values according to the current vehicle speed and the collision safety risk level, that is, to determine the current collision safety value of the vehicle.

[0042] Exemplarily, if the vehicle activates the emergency braking, the corresponding relationship between the pre-stored vehicle speed and the collision safety value can be as shown in Table 1 below:

[0043] Table 1: Corresponding relationship table of vehicle speed and collision safety value

[0044] 30 km / h 40 km / h 50 km / h 60 km / h AEB 0.7s 0.8s 1s 1.1s

[0045] Optionally, the collision safety value can be determined from the collision safety values pre-stored in Table 1 according to the current vehicle speed, that is, to determine the current collision safety value of the vehicle.

[0046] Exemplarily, if the vehicle does not activate the emergency braking, the corresponding relationship between the pre-stored vehicle speed, the collision safety risk level, and the collision safety value can be as shown in Table 2 below:

[0047] Table 2: Corresponding relationship table of vehicle speed, collision safety risk level, and collision safety value

[0048] 30 km / h 40 km / h 50 km / h 60 km / h FCW - High 2s 2.7s 2.8s 2.85s FCW - Low 1.5s 2s 2.1s 2.2s

[0049] Among them, FCW-High represents high-level forward collision warning, and FCW-Low represents low-level forward collision warning.

[0050] Optionally, according to the current vehicle speed and the collision safety risk level, a collision safety value can be determined from the collision safety values pre-stored in Table 2, that is, the current collision safety value of the vehicle is determined.

[0051] Optionally, if the current vehicle speed is within the vehicle's speed range, such as 35 km / h, the current collision safety value of the vehicle can be determined by linear curve interpolation or in proportion. For example, if it is determined from the table that the collision safety value is 1.5 s when the vehicle speed is 30 km / h and 2 s when the vehicle speed is 40 km / h, then in proportion, for the vehicle speed of 35 km / h within the vehicle's speed range, its collision safety value is 1.75 s.

[0052] S103. Control the vehicle to brake according to the collision safety value.

[0053] Optionally, after the collision safety control module of the vehicle determines the collision safety value, it can, based on the determined collision safety value and a preset rule, perform an emergency braking with a large deceleration on the vehicle to ensure to the greatest extent that the whole vehicle does not collide with the target in front, that is, control the vehicle to perform an emergency braking; or it can, while controlling the vehicle to perform an emergency braking, reduce the collision level between the vehicle and the target in front, thereby reducing the collision damage.

[0054] Specifically, controlling the vehicle to brake according to the collision safety value and based on a preset rule includes: determining the vehicle's overall control curve according to the collision safety value; based on the vehicle's overall control curve, using the vehicle's execution module to execute the corresponding vehicle's overall control curve to control the vehicle to brake.

[0055] Among them, the vehicle's overall control curve refers to the vehicle's braking curve. The vehicle's execution module refers to the module on the vehicle used to perform the braking operation.

[0056] Optionally, the collision safety value can be substituted into a preset calculation formula to obtain the functional formula of the vehicle's overall control curve, that is, determine the vehicle's overall control curve. Further, the determined vehicle's overall control curve is sent to the vehicle's execution module to control the execution module to run the vehicle's overall control curve to complete the vehicle braking, that is, based on the vehicle's overall control curve, using the vehicle's execution module to execute the corresponding vehicle's overall control curve to control the vehicle to brake.

[0057] For the technical solution of the embodiment of the present invention, if a collision risk event is detected, the current driving mode of the vehicle is determined. Further, according to the driving mode, the current collision safety value of the vehicle is determined. Finally, according to the collision safety value, the vehicle is controlled to brake. The solution provided by the present invention can determine the corresponding collision safety value based on the determined driving mode of the vehicle and control the vehicle to brake. In this way, when a collision risk event of the vehicle is detected, the vehicle can be braked more effectively to ensure the safety of driving.

[0058] Embodiment 2

[0059] Figure 2 It is a flowchart of a vehicle braking method provided according to Embodiment 2 of the present invention. On the basis of the above embodiment, this embodiment further provides a detailed explanation of "determining the current collision safety value of the vehicle according to the driving mode", as Figure 2 shown, the method includes:

[0060] S201. If a collision risk event is detected, determine the current driving mode of the vehicle.

[0061] S202. If the driving mode is the snow mode, determine the collision safety value coefficient according to the current vehicle speed.

[0062] Among them, the collision safety value coefficient refers to the coefficient representing the collision safety sensitivity.

[0063] Optionally, after determining that the driving mode is the snow mode, the current vehicle speed can be directly input into a pre-trained model to output the current collision safety value coefficient of the vehicle, that is, determine the collision safety value coefficient; it is also possible to determine the collision safety value coefficient corresponding to the current vehicle speed from the pre-stored collision safety value coefficients according to a preset rule. For example, if the current vehicle speed is 30 km / h, the collision safety value coefficient is determined to be 110%, if the current vehicle speed is 40 km / h, the collision safety value coefficient is determined to be 105%, if the current vehicle speed is 50 km / h, the collision safety value coefficient is determined to be 105%, and if the current vehicle speed is 30 km / h, the collision safety value coefficient is determined to be 100%.

[0064] Optionally, if the current vehicle speed is within the vehicle speed range, such as 35 km / h, the current collision safety value coefficient of the vehicle can be determined by linear curve interpolation or in proportion. For example, if it is determined by looking up a table that the collision safety value coefficient is 110% when the vehicle speed is 30 km / h and 105% when the vehicle speed is 40 km / h, then in proportion, for the vehicle speed of 35 km / h within the vehicle speed range, its collision safety value is 107.5%.

[0065] Optionally, if the driving mode is the snow mode, determining the collision safety value coefficient according to the current vehicle speed includes: if the driving mode is the snow mode, determine whether the current vehicle speed is less than the vehicle speed threshold; if so, determine the collision safety value coefficient according to the current vehicle speed.

[0066] Among them, the vehicle speed threshold is a preset threshold for characterizing whether the current vehicle speed of the vehicle is too high.

[0067] Optionally, when the vehicle determines that the driving mode is the snow mode, it may first determine whether the current vehicle speed is less than the vehicle speed threshold (such as 60 km / h). When the current vehicle speed is less than the vehicle speed threshold, based on the method of determining the collision safety value coefficient according to the current vehicle speed described in this embodiment, the collision safety value coefficient is determined, that is, the collision safety value coefficient is determined according to the current vehicle speed.

[0068] Optionally, considering that when the driving mode is the snow mode, the ground is a snow road surface. At this time, the driver will drive the vehicle more carefully, and the road itself has certain speed limit requirements. At the same time, in order to ensure the safety of emergency braking at high speeds, for the case where the current vehicle speed is greater than the vehicle speed threshold, such as a vehicle speed above 60 km / h, there is no need to adjust the collision safety value, that is, the collision safety value coefficient is directly determined to be 1.

[0069] S203. Determine the current collision safety value of the vehicle according to the collision safety value coefficient, the current vehicle speed, the collision safety risk level, and the emergency braking activation situation.

[0070] Optionally, the collision safety value coefficient, the current vehicle speed, the collision safety risk level, and the emergency braking activation situation can be directly input into a pre-trained model to output the corresponding collision safety value, that is, to determine the current collision safety value of the vehicle; it is also possible to determine the current collision safety value of the vehicle from the pre-stored collision safety values according to a preset rule. Specifically, the emergency braking activation situation can be determined first. If the vehicle activates emergency braking, then only according to the current vehicle speed and the collision safety value coefficient, the current collision safety value of the vehicle is determined from the pre-stored collision safety values, that is, the current collision safety value of the vehicle is determined. If the vehicle does not activate emergency braking, then according to the current vehicle speed, the collision safety value coefficient, and the collision safety risk level, the current collision safety value of the vehicle is determined from the pre-stored collision safety values, that is, the current collision safety value of the vehicle is determined.

[0071] Exemplarily, if the vehicle activates emergency braking, the corresponding relationship between the pre-stored vehicle speed, collision safety value coefficient, and collision safety value can be as shown in Table 3 below:

[0072] Table 3: Corresponding relationship table of vehicle speed, collision safety value coefficient, and collision safety value

[0073] 30 km / h 40 km / h 50 km / h 60 km / h AEB 0.7 s × 110% 0.8 s × 105% 1 s × 105% 1.1 s × 100%

[0074] Exemplarily, if the vehicle does not activate emergency braking, the corresponding relationship between the pre-stored vehicle speed, collision safety risk level, collision safety value coefficient, and collision safety value can be as shown in Table 4 below:

[0075] Table 4: Corresponding relationship table of vehicle speed, collision safety risk level, collision safety value coefficient, and collision safety value

[0076] 30 km / h 40 km / h 50 km / h 60 km / h FCW - High 2 s × 110% 2.7 s × 105% 2.8 s × 105% 2.85 s × 100% FCW - Low 1.5 s × 110% 2 s × 105% 2.1 s × 105% 2.2 s × 100%

[0077] S204. Control vehicle braking according to the collision safety value.

[0078] In the technical solution of the embodiment of the present invention, if a collision risk event is detected, the current driving mode of the vehicle is determined. If the driving mode is the snow mode, the collision safety value coefficient is determined according to the current vehicle speed. According to the collision safety value coefficient, the current vehicle speed, the collision safety risk level, and the emergency braking activation situation, the current collision safety value of the vehicle is determined. Finally, vehicle braking is controlled according to the collision safety value. The solution provided by the present invention gives an implementable way to determine the corresponding collision safety value and control vehicle braking when the determined driving mode of the vehicle is the snow mode. In this way, when a collision risk event of the vehicle is detected, vehicle braking can be carried out more effectively and flexibly, thereby ensuring the safety of driving.

[0079] Embodiment III

[0080] Figure 3 is a flowchart of a vehicle braking method provided according to Embodiment III of the present invention. On the basis of the above embodiments, this embodiment further explains in detail the process of how to determine the current driving mode of the vehicle, as Figure 3 shown, the method includes:

[0081] S301. Determine the ground type according to the vehicle dynamics model information, and determine the current driving mode of the vehicle according to the ground type.

[0082] Among them, the vehicle dynamics model information refers to the information that can characterize the vehicle dynamics characteristics and is used to construct the vehicle dynamics model. The vehicle dynamics model information may include information such as vehicle speed, steering angle, yaw angle, and vehicle attitude. The ground type refers to the type of the road surface where the vehicle is currently located, and the ground type may include normal ground and ice and snow ground.

[0083] Optionally, if the vehicle is an intelligent vehicle without an all-terrain recognition function, the operation of determining the current driving mode of the vehicle described in this embodiment may be performed by the collision safety control module of the vehicle. If the vehicle is an intelligent vehicle with an all-terrain recognition function, the operation of determining the current driving mode of the vehicle described in this embodiment may be performed by the all-terrain recognition control module of the vehicle.

[0084] Optionally, if a collision risk event is detected, the ground type is determined according to the vehicle dynamics model information, including: determining the ground adhesion according to the vehicle dynamics model information; determining the ground type according to the relationship between the ground adhesion and the adhesion threshold.

[0085] Among them, the ground adhesion refers to the adhesion between the ground and the vehicle. The adhesion threshold refers to the threshold that can characterize whether the adhesion is too high.

[0086] Optionally, information such as the determined vehicle speed, steering angle, yaw angle, and vehicle attitude can be input into a pre-trained model to output the ground adhesion, that is, determine the ground adhesion according to the vehicle dynamics model information; or according to a preset calculation rule, substitute information such as the vehicle speed, steering angle, yaw angle, and vehicle attitude into the ground adhesion calculation formula to calculate the corresponding ground adhesion, that is, determine the ground adhesion according to the vehicle dynamics model information.

[0087] Optionally, after determining the ground adhesion, the ground type can be determined according to the relationship between the ground adhesion and the adhesion threshold. Specifically, if the determined ground adhesion is less than the preset adhesion threshold, the ground type is determined to be an ice and snow ground; if the determined ground adhesion is greater than the preset adhesion threshold, the ground type is determined to be a normal ground.

[0088] Optionally, determine the current driving mode of the vehicle, including: determining the ground type according to the vehicle dynamics model information, and determining the current driving mode of the vehicle according to the ground type; and / or determining the current driving mode of the vehicle according to the driving mode selected by the driver. That is to say, the present invention can determine the ground type according to the vehicle dynamics model information and determine the current driving mode of the vehicle according to the ground type; or the driver can directly select the corresponding driving mode according to the subjectively recognized road conditions, that is, determine the current driving mode of the vehicle; it is also possible to determine the driving mode based on the above two methods at the same time. If the driving modes determined by the two methods are different, the driving mode selected by the driver is used as the finally determined driving mode.

[0089] S302. Determine the current collision safety value of the vehicle according to the driving mode.

[0090] S303. Control the vehicle braking according to the collision safety value.

[0091] In the technical solution of the embodiment of the present invention, if a collision risk event is detected, the ground type is determined according to the vehicle dynamics model information, and the current driving mode of the vehicle is determined according to the ground type; and / or the current driving mode of the vehicle is determined according to the driving mode selected by the driver. Then, the current collision safety value of the vehicle is determined according to the driving mode, and finally, the vehicle braking is controlled according to the collision safety value. The solution provided by the present invention gives an implementable way to determine the current driving mode of the vehicle, which is convenient for subsequently determining a more accurate and effective collision safety value to control the vehicle braking, thereby ensuring the safety of driving.

[0092] Embodiment 4

[0093] Figure 4A It is a structural block diagram of a vehicle braking system provided according to Embodiment 4 of the present invention. Figure 4B It is a schematic flow diagram of vehicle braking provided according to Embodiment 4 of the present invention. On the basis of the above embodiments, this embodiment further gives a preferred example of vehicle braking through the interaction of modules such as the ultrasonic radar module, the intelligent front view camera control module, and the braking control module of the vehicle.

[0094] As Figure 4A shown, the vehicle braking system may include: an environmental condition detection module, an ultrasonic radar module, an intelligent front view camera control module, a driving mode / all-terrain control module (i.e., an all-terrain recognition control module), an instrument module, and a braking control module.

[0095] The environmental condition detection module can be used to detect the target objects around the vehicle. When a target object is detected in front of the vehicle, such as a target vehicle, the environmental condition detection module can send the information of the target object to the ultrasonic radar module for target recognition, and at the same time send the information of the target object to the visual perception module in the intelligent front view camera control module, so that the visual perception module also performs target recognition. Finally, the fusion module in the front view camera control module fuses the target recognition results of the ultrasonic radar module and the visual perception module to obtain the target recognition status, and then sends the target recognition status to the collision safety control module in the front view camera control module.

[0096] The collision safety control module is used to alarm the driver, notify the braking control module to perform braking control, determine the collision safety value based on the sensitivity adjustment situation (i.e., determine the collision safety value according to the collision safety value coefficient), etc.

[0097] After detecting the road surface condition, the environmental condition detection module can send the detected road surface condition to the all-terrain control module, so that the all-terrain control module automatically recognizes the road surface and determines the driving mode. It can also display the road surface condition, so that the driver can independently select the driving mode based on the road surface condition. After the environmental condition detection module determines the driving mode, it can send the determined driving mode to the collision safety control module, so that the collision safety control module executes the process of determining the collision safety value described in the present invention, and then determines the braking control instruction according to the collision safety value and sends it to the braking control module and the instrument module to realize vehicle braking and display.

[0098] Exemplarily, if the vehicle is pre-configured with a terrain recognition function, then as Figure 4B shown, during the process of the driver driving the vehicle, after turning on the collision safety function of the vehicle, the driver can select the auto gear (Automatic Transmission) of all-terrain recognition.

[0099] When the all-terrain is recognized as normal road surface (i.e., the driving mode is normal mode), the sensitivity control of the collision safety control module maintains the original collision TTC (collision safety value), that is, the collision safety value is determined based on Table 1 and Table 2 provided by the invention. When the all-terrain is recognized as ice and snow road surface (i.e., the driving mode is snow mode), the sensitivity control of the collision safety control module needs to adjust or increase the sensitivity weight (i.e., the collision safety value coefficient) to determine the collision TTC (collision safety value), that is, the collision safety value is determined based on Table 3 and Table 4 provided by the invention.

[0100] For the technical solution of the embodiment of the present invention, if a collision risk event is detected, the current driving mode of the vehicle is determined, and further, according to the driving mode, the current collision safety value of the vehicle is determined. Finally, according to the collision safety value, the vehicle braking is controlled. The solution provided by the present invention can determine the corresponding collision safety value based on the determined vehicle driving mode and control the vehicle braking. In this way, when a collision risk event of the vehicle is detected, the vehicle braking can be more effectively performed to ensure the driving safety.

[0101] Embodiment Five

[0102] Figure 5 FIG. is a schematic structural diagram of a vehicle braking device according to Embodiment Five of the present invention. The vehicle braking device provided by the embodiment of the present invention can execute the vehicle braking method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0103] As Figure 5 shown, the device includes:

[0104] A first determination module 501, configured to determine the current driving mode of the vehicle if a collision risk event is detected;

[0105] A second determination module 502, configured to determine the current collision safety value of the vehicle according to the driving mode;

[0106] A control module 503, configured to control the vehicle braking according to the collision safety value.

[0107] For the technical solution of the embodiment of the present invention, if a collision risk event is detected, the current driving mode of the vehicle is determined, and further, according to the driving mode, the current collision safety value of the vehicle is determined. Finally, according to the collision safety value, the vehicle braking is controlled. The solution provided by the present invention can determine the corresponding collision safety value based on the determined vehicle driving mode and control the vehicle braking. In this way, when a collision risk event of the vehicle is detected, the vehicle braking can be more effectively performed to ensure the driving safety.

[0108] Further, the second determination module 502 is specifically configured to:

[0109] If the driving mode is the normal mode, determine the current collision safety value of the vehicle according to the current vehicle speed, the collision safety risk level, and the enabling condition of emergency braking.

[0110] Further, the second determination module 502 includes:

[0111] A first determination unit, configured to determine a collision safety value coefficient according to the current vehicle speed if the driving mode is the snow mode;

[0112] A second determination unit, configured to determine the current collision safety value of the vehicle according to the collision safety value coefficient, the current vehicle speed, the collision safety risk level, and the enabling condition of emergency braking.

[0113] Further, the first determination unit is specifically configured to:

[0114] If the driving mode is the snow mode, determine whether the current vehicle speed is less than the vehicle speed threshold;

[0115] If so, determine a collision safety value coefficient according to the current vehicle speed.

[0116] Further, the first determination module 501 is specifically configured to:

[0117] Determine the ground type according to the vehicle dynamics model information, and determine the current driving mode of the vehicle according to the ground type; and / or

[0118] Determine the current driving mode of the vehicle according to the driving mode selected by the driver.

[0119] Further, determining the ground type according to the vehicle dynamics model information includes:

[0120] Determine the ground adhesion according to the vehicle dynamics model information;

[0121] Determine the ground type according to the relationship between the ground adhesion and the adhesion threshold.

[0122] Further, the control module 503 is specifically configured to:

[0123] Determine the vehicle control curve according to the collision safety value;

[0124] Based on the vehicle control curve, use the execution module of the vehicle to execute the corresponding vehicle control curve to control the braking of the vehicle.

[0125] Embodiment Six

[0126] Figure 6 It is a schematic structural diagram of an electronic device for implementing the vehicle braking method according to an embodiment of the present invention. Figure 6The structural schematic diagram of an electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0127] As Figure 6 shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0128] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0129] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle braking method.

[0130] In some embodiments, the vehicle braking method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle braking method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle braking method by any other suitable means (e.g., by means of firmware).

[0131] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0132] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0133] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0134] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0135] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0136] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0137] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0138] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle braking method, characterized in that, Including: If a collision risk event is detected, determine the current driving mode of the vehicle; According to the driving mode, determine the current collision safety value of the vehicle, including: if the driving mode is the normal mode, determine the current collision safety value of the vehicle according to the current vehicle speed, the collision safety risk level, and the emergency braking activation situation; the collision safety risk level refers to the risk level of the vehicle's forward collision warning system; the collision safety risk level includes a high-level forward collision warning and a low-level forward collision warning; the emergency braking activation situation represents whether the vehicle activates the automatic emergency braking system; the driving mode includes a normal mode and a snow mode; the normal mode refers to the driving mode of the vehicle when the ground where the vehicle is located is normal ground; the snow mode refers to the driving mode of the vehicle when the ground where the vehicle is located is ice and snow ground; Control the braking of the vehicle according to the collision safety value; Among them, determining the current collision safety value of the vehicle according to the current vehicle speed, the collision safety risk level, and the emergency braking activation situation includes: if the vehicle activates emergency braking, determine the current collision safety value of the vehicle from the pre-stored collision safety values according to the current vehicle speed; if the vehicle does not activate emergency braking, determine the current collision safety value of the vehicle from the pre-stored collision safety values according to the current vehicle speed and the collision safety risk level.

2. The method according to claim 1, wherein Determine the current collision safety value of the vehicle according to the driving mode, including: If the driving mode is the snow mode, determine the collision safety value coefficient according to the current vehicle speed; Determine the current collision safety value of the vehicle according to the collision safety value coefficient, the current vehicle speed, the collision safety risk level, and the emergency braking activation situation.

3. The method according to claim 2, wherein If the driving mode is the snow mode, determining the collision safety value coefficient according to the current vehicle speed includes: If the driving mode is the snow mode, determine whether the current vehicle speed is less than the vehicle speed threshold; If so, determine the collision safety value coefficient according to the current vehicle speed.

4. The method according to claim 1, wherein Determine the current driving mode of the vehicle, including: According to the vehicle dynamics model information, determine the ground type, and according to the ground type, determine the current driving mode of the vehicle; and / or According to the driving mode selected by the driver, determine the current driving mode of the vehicle.

5. The method according to claim 4, wherein According to the vehicle dynamics model information, determining the ground type includes: According to the vehicle dynamics model information, determine the ground adhesion; According to the relationship between the ground adhesion and the adhesion threshold, determine the ground type.

6. The method according to claim 1, characterized in that, Controlling the braking of the vehicle according to the collision safety value includes: According to the collision safety value, determine the vehicle control curve; Based on the vehicle control curve, use the execution module of the vehicle to execute the corresponding vehicle control curve to control the braking of the vehicle.

7. A vehicle braking device, characterized in that, Including: The first determination module is used to determine the current driving mode of the vehicle if a collision risk event is detected; The driving mode includes a normal mode and a snow mode; the normal mode refers to the driving mode of the vehicle when the ground where the vehicle is located is normal ground; the snow mode refers to the driving mode of the vehicle when the ground where the vehicle is located is ice and snow ground; The second determination module is used to determine the current collision safety value of the vehicle according to the driving mode; A control module for controlling vehicle braking according to the collision safety value; The second determination module is specifically configured to: if the driving mode is the normal mode, determine the current collision safety value of the vehicle according to the current vehicle speed, the collision safety risk level, and the emergency braking activation status; the collision safety risk level refers to the risk level of the vehicle's forward collision warning system; the collision safety risk level includes a high-level forward collision warning and a low-level forward collision warning; the emergency braking activation status indicates whether the vehicle has activated the automatic emergency braking system; Determining the current collision safety value of the vehicle according to the current vehicle speed, the collision safety risk level, and the emergency braking activation status includes: if the vehicle has activated emergency braking, determining the current collision safety value of the vehicle from the pre-stored collision safety values according to the current vehicle speed; if the vehicle has not activated emergency braking, determining the current collision safety value of the vehicle from the pre-stored collision safety values according to the current vehicle speed and the collision safety risk level.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle braking method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to execute the vehicle braking method according to any one of claims 1-6 when executed.

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