Automatic braking method, device, vehicle and storage medium for vehicle

Abstract

The present application relates to the field of vehicle safety technology, and in particular to a vehicle automatic braking method, device, vehicle and storage medium, wherein the method comprises: when an obstacle is detected in the direction of vehicle travel, if the intention to avoid the obstacle is not identified, a first braking distance threshold is matched according to the actual speed of the vehicle, and when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold, a first preset level braking action is performed; if the intention to avoid the obstacle is identified, a second braking distance threshold is matched according to the actual speed, and when the actual distance is less than the second braking distance threshold, a second preset level braking action is performed, wherein the first braking distance threshold is greater than the second braking distance threshold, and the braking degree of the first level braking action is higher than the braking degree of the second level braking action. Thus, the problem that the automatic braking is usually triggered immediately when the vehicle is in danger of collision, resulting in a poor driving experience for the user, etc., is solved in the related art.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety technology, and in particular to a vehicle automatic braking method, device, vehicle and storage medium. Background Art

[0002] With the continuous development and growth of automated convenience and comfort technologies, the continuous advancement of automated safety technologies, and the in-depth development of intelligent driving assistance technologies, automatic emergency braking system technologies based on millimeter-wave radars and cameras are becoming increasingly popular in automobiles.

[0003] Automatic emergency braking is an effective means to avoid collisions. The vehicle's automatic emergency braking system can sense the road conditions ahead through perception sensors and transmit the perception results back to the automatic emergency braking (AEB) controller. The AEB controller compares the perception results with the preset threshold and generates a corresponding deceleration request including braking acceleration to the body electronic stability system controller. The ESC controller controls the brake actuator to decelerate according to the deceleration request. Therefore, the accuracy of the deceleration request including braking acceleration generated by the AEB controller based on the perception results plays a vital role in the performance of the entire system.

[0004] However, in the related technology, AEB is usually triggered immediately when the vehicle is in danger of collision. Although it can effectively ensure the safety of the vehicle, it ignores the user's experience during the automatic braking process, resulting in a poor driving experience for the user. Summary of the invention

[0005] The present application provides a vehicle automatic braking method, device, vehicle and storage medium to solve the problems in the related art that automatic braking is usually triggered immediately when the vehicle is in danger of collision, and safety and driving comfort cannot be taken into account at the same time, resulting in poor driving experience for users.

[0006] A first aspect embodiment of the present application provides an automatic braking method for a vehicle, comprising the following steps: when an obstacle is detected in the direction of travel of the vehicle, identifying whether the driver has an intention to avoid the obstacle; if the intention to avoid the obstacle is not identified, matching a first braking distance threshold according to the actual speed of the vehicle, and performing a first preset level braking action when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold; if the intention to avoid the obstacle is identified, matching a second braking distance threshold according to the actual speed, and performing a second preset level braking action when the actual distance is less than the second braking distance threshold, wherein the first braking distance threshold is greater than the second braking distance threshold, and the braking degree of the first level braking action is higher than the braking degree of the second level braking action.

[0007] According to the above-mentioned technical means, the embodiment of the present application can ensure that before the automatic emergency braking is triggered, if the driver has subjectively braked, the braking timing triggered by the automatic emergency braking system will be later, so that the timing of active braking can be determined according to whether the driver originally brakes or not, so as to take into account safety and driving comfort, thereby improving the driver's driving safety and comfort.

[0008] Optionally, the identifying the driver's intention to avoid obstacles includes: detecting whether a brake pedal of the vehicle is triggered; if it is detected that the brake pedal is triggered, determining that the driver has the intention to avoid obstacles, otherwise, determining that the driver does not have the intention to avoid obstacles.

[0009] According to the above technical means, the embodiment of the present application can accurately determine the driver's braking intention based on the triggering of the brake pedal, so as to accurately determine whether the driver has the intention of active braking, and improve the accuracy of subsequent active braking control.

[0010] Optionally, when the actual distance is less than the second braking distance threshold, before executing the second preset level braking action, it also includes: obtaining the actual pedaling angle of the brake pedal; matching the current braking force of the vehicle according to the actual pedaling angle, and correcting the second braking distance threshold according to the current braking force.

[0011] According to the above-mentioned technical means, the embodiment of the present application can determine the timing of triggering automatic braking according to the degree of autonomous braking of the driver during the braking process, reduce the automatic braking system's false interference with the driver's behavior, and improve the driver's driving experience while ensuring driving safety.

[0012] Optionally, when executing a first preset level braking action, it also includes: generating a braking reminder instruction according to the first level braking action, and controlling the vehicle designated target reminder action according to the braking reminder instruction.

[0013] According to the above-mentioned technical means, the embodiment of the present application can remind the driver when active braking is triggered. Since the driver's active braking intention is not detected at this time, the reminder can enable the driver to pay attention to obstacles and driving conditions in time. When automatic braking still cannot avoid obstacles, the driver can take emergency measures in time, thereby improving the intelligence of the vehicle and the user experience.

[0014] A second aspect of the present application provides an automatic braking device for a vehicle, comprising: an identification module, for identifying whether the driver has an intention to avoid the obstacle when an obstacle is detected in the direction of travel of the vehicle; a first braking module, for matching a first braking distance threshold according to the actual vehicle speed when the intention to avoid the obstacle is not identified, and performing a first preset level braking action when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold; a second braking module, for matching the second braking distance threshold according to the actual vehicle speed when the intention to avoid the obstacle is identified, and performing a second preset level braking action when the actual distance is less than the second braking distance threshold, wherein the first braking distance threshold is greater than the second braking distance threshold, and the braking degree of the first level braking action is higher than the braking degree of the second level braking action.

[0015] Optionally, the recognition module is used to: detect whether the brake pedal of the vehicle is triggered; if it is detected that the brake pedal is triggered, determine that the driver has the obstacle avoidance intention, otherwise, determine that the driver does not have the obstacle avoidance intention.

[0016] Optionally, it also includes: a correction module, which is used to obtain the actual pedaling angle of the brake pedal before executing the second preset level braking action when the actual distance is less than the second braking distance threshold; match the current braking force of the vehicle according to the actual pedaling angle, and correct the second braking distance threshold according to the current braking force.

[0017] Optionally, it also includes: a reminder module, which is used to generate a braking reminder instruction according to the first level of braking action when performing a first preset level of braking action, and control the vehicle's designated target reminder action according to the braking reminder instruction.

[0018] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic braking method of the vehicle as described in the above embodiment.

[0019] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the automatic braking method of a vehicle as described in the above embodiment.

[0020] Therefore, this application has at least the following beneficial effects:

[0021] (1) The embodiments of the present application can ensure that if the driver has already braked subjectively before the automatic emergency braking is triggered, the braking timing of the automatic emergency braking system will be triggered later, so that the timing of active braking can be determined according to whether the driver has braked originally, so as to take into account both safety and driving comfort, thereby improving the safety and comfort of the driver's driving;

[0022] (2) The embodiment of the present application can accurately determine the driver's braking intention based on the triggering of the brake pedal, so as to accurately determine whether the driver has the intention of active braking, thereby improving the accuracy of subsequent active braking control;

[0023] (3) The embodiment of the present application can determine the timing of triggering automatic braking according to the degree of autonomous braking by the driver during the braking process, thereby reducing the erroneous interference of the automatic braking system with the driver's behavior, thereby improving the driver's driving experience while ensuring driving safety;

[0024] (4) The embodiments of the present application can remind the driver when active braking is triggered. Since the driver's active braking intention is not detected at this time, the reminder can enable the driver to pay attention to obstacles and driving conditions in a timely manner. When automatic braking still cannot avoid obstacles, the driver can take emergency measures in a timely manner, thereby improving the intelligence of the vehicle and the user experience.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flowchart of an automatic braking method for a vehicle provided according to an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of an automatic braking system for a vehicle provided according to an embodiment of the present application;

[0029] Figure 3 A flowchart of an automatic braking method for a vehicle provided according to an embodiment of the present application;

[0030] Figure 4 An exemplary diagram of an automatic braking device for a vehicle provided according to an embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0033] Automatic emergency braking can be divided into partial emergency braking (AEB-P) and moderate emergency braking (AEB-M) according to the danger level. When the AEB function is triggered, the following signals are sent to ESP: AEB target deceleration, AEB deceleration request valid signal and AEB type signal. After receiving the signal, ESP converts the deceleration into braking force to perform braking. When AEB is triggered to stop the vehicle, the warning auxiliary braking system will send an AEB request vehicle stationary signal to ESP as a request, requiring ESP to keep the vehicle stationary, and then send it as a non-request state after a short time. Partial automatic emergency braking means that the warning auxiliary braking system provides the braking system with reliable potential collision risk information at a close distance ahead. If the driver does not respond to the collision warning (including visual and auditory warnings and short braking warnings), the warning auxiliary braking system requires the braking system to apply partial braking force (when the vehicle cuts in at a close distance, the collision warning may not be triggered, but AEB-P or AEB-M may be triggered directly). At present, the AEB logic of the OEMs on the market is that AEB will be triggered immediately when there is a risk of collision, regardless of whether the driver brakes or not, which often gives the driver a bad driving experience.

[0034] In view of the above situation, the embodiments of the present application take into account both safety and comfort, optimize the control of automatic emergency braking of a vehicle, and propose a vehicle automatic braking method, device, vehicle and storage medium. The vehicle automatic braking method, device, vehicle and storage medium of the embodiments of the present application will be described below with reference to the accompanying drawings.

[0035] Specifically, Figure 1 A schematic flow chart of an automatic braking method for a vehicle provided in an embodiment of the present application.

[0036] like Figure 1 As shown, the automatic braking method of the vehicle includes the following steps:

[0037] In step S101 , when an obstacle is detected in the direction of travel of the vehicle, it is identified whether the driver intends to avoid the obstacle.

[0038] The obstacle avoidance intention may be understood as the driver's intention to avoid obstacles, and may include a detour intention or a braking intention, etc., without specific limitation; the braking intention is used as an example for explanation in the following embodiments.

[0039] It can be understood that the embodiment of the present application can further identify whether the driver has a corresponding obstacle avoidance intention when it is obtained that there is an obstacle in the direction of vehicle travel, so as to execute different degrees of automatic braking strategies according to whether there is an obstacle avoidance intention, that is, execute step S102 or execute step S103.

[0040] In an embodiment of the present application, obstacle information in front of the vehicle is identified and obtained, and the driver's intention to avoid obstacles is identified, including: detecting whether the brake pedal of the vehicle is triggered; if the brake pedal is detected to be triggered, it is determined that the driver has the intention to avoid obstacles, otherwise, it is determined that the driver does not have the intention to avoid obstacles.

[0041] It can be understood that the embodiments of the present application can accurately determine the driver's braking intention based on the triggering of the brake pedal, so as to accurately determine whether the driver has the intention of active braking, thereby improving the accuracy of subsequent active braking control.

[0042] Specifically, (1) Obstacle information in front of the car is obtained in real time.

[0043] The obstacle information includes the width of the obstacle, the distance between the obstacle, the speed of the obstacle, and the direction of movement of the obstacle. At the same time, the vehicle status information is obtained in real time, including vehicle speed and steering wheel angle information.

[0044] (2) If there is an obstacle, determine whether the obstacle is on the driving trajectory. If not, do not operate. If on the driving trajectory, execute (3).

[0045] Specifically, based on the width of the obstacle, the width of the vehicle, the distance to the obstacle, combined with the current vehicle speed and the speed and direction of movement, determine whether there is a possibility of collision. If so, calculate the time of collision. If the collision is less than the set time, it is defined as the obstacle ahead is on the driving trajectory.

[0046] (3) Determine whether the driver has stepped on the accelerator. Regardless of whether the driver has stepped on the accelerator, execute step (4).

[0047] It should be noted that the degree to which the driver steps on the accelerator does not affect the car's automatic emergency braking, because the car has no tendency to slow down, which will only increase the risk of a forward collision.

[0048] (4) Determine whether the driver has performed a braking operation. If the driver has performed a braking operation, proceed to step S102; if the driver has not performed a braking operation, proceed to step S103.

[0049] In step S102, if the obstacle avoidance intention is not recognized, the first braking distance threshold is matched according to the actual vehicle speed, and when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold, a first preset level braking action is performed.

[0050] Among them, the first braking distance threshold can be specifically calibrated or set without specific limitation; the braking degree corresponding to the first preset level braking action can be calibrated or set without specific limitation.

[0051] It is understandable that when the driver's intention to avoid obstacles is not recognized, the embodiment of the present application can directly initiate automatic braking to ensure driving safety, avoid collision with obstacles, or minimize collision losses when a collision is unavoidable.

[0052] Specifically, the AEB controller compares the perception results with the preset threshold, generates a corresponding deceleration request including braking acceleration and sends it to the body electronic stability system controller. The ESC controller controls the brake actuator to decelerate according to the deceleration request.

[0053] In an embodiment of the present application, when executing a first preset level braking action, it also includes: generating a braking reminder instruction according to the first level braking action, and controlling the vehicle to perform a designated target reminder action according to the braking reminder instruction.

[0054] It can be understood that the embodiments of the present application can remind the driver when active braking is triggered. Since the driver's intention to actively brake is not detected at this time, the reminder can enable the driver to pay attention to obstacles and driving conditions in a timely manner. When automatic braking still cannot avoid obstacles, the driver can take emergency measures in time, thereby improving the intelligence of the vehicle and the user experience.

[0055] In step S103, if the obstacle avoidance intention is identified, the second braking distance threshold is matched according to the actual vehicle speed, and when the actual distance is less than the second braking distance threshold, the second preset level braking action is performed, wherein the first braking distance threshold is greater than the second braking distance threshold, and the braking degree of the first level braking action is higher than the braking degree of the second level braking action.

[0056] Among them, the second braking distance threshold can be specifically calibrated or set without specific limitation; the braking degree of the second preset level braking action can be specifically calibrated or set without specific limitation.

[0057] It can be understood that the embodiments of the present application can ensure that if the driver has subjectively braked before the automatic emergency braking is triggered, the braking timing triggered by the automatic emergency braking system will be later, so that the timing of active braking can be determined according to whether the driver originally brakes or not, so as to take into account safety and driving comfort, thereby improving the driver's driving safety and comfort.

[0058] Specifically, the AEB controller compares the braking deceleration triggered by the driver with the perception result and the preset threshold, and generates a corresponding deceleration request including braking acceleration to the electronic stability system controller. The ESC controller controls the brake actuator to decelerate according to the deceleration request. At this time, the braking command triggered by AEB is later and the braking distance is shorter, which can effectively improve the safety and comfort of the driver.

[0059] It should be noted that after executing an automatic emergency braking instruction once, the embodiment of the present application can also count and trigger the automatic emergency braking instruction to be executed a second time within a set time.

[0060] In an embodiment of the present application, when the actual distance is less than the second braking distance threshold, before executing the second preset level braking action, it also includes: obtaining the actual pedaling angle of the brake pedal; matching the current braking force of the vehicle according to the actual pedaling angle, and correcting the second braking distance threshold according to the current braking force.

[0061] It can be understood that the embodiments of the present application can determine the timing of triggering automatic braking according to the degree of autonomous braking of the driver during the braking process, thereby reducing the automatic braking system's false interference with the driver's behavior, thereby improving the driver's driving experience while ensuring driving safety.

[0062] According to the automatic braking method of the vehicle proposed in the embodiment of the present application, it can be ensured that before the automatic emergency braking is triggered, if the driver has already braked subjectively, the braking timing triggered by the automatic emergency braking system will be later, so that the timing of active braking can be determined according to whether the driver originally brakes or not, so as to take into account both safety and driving comfort, thereby improving the driver's driving safety and comfort; the driver's braking intention can be accurately determined based on the triggering of the brake pedal, so as to accurately determine whether the driver originally has the intention of active braking, and improve the accurate control of subsequent active braking; the timing of triggering automatic braking can be determined according to the degree of autonomous braking of the driver during the braking process, so as to reduce the automatic braking system's false interference with the driver's behavior, and improve the driver's driving experience while ensuring driving safety; the driver can be reminded when active braking is triggered. Since the driver's active braking intention is not detected at this time, the reminder can enable the driver to pay attention to obstacles and driving conditions in time, and when automatic braking still cannot avoid obstacles, the driver can take emergency measures in time, thereby improving the intelligence of the vehicle and the user's experience.

[0063] It should be noted that the method of the embodiment of the present application can be applied to Figure 2In the automobile automatic emergency braking execution system shown in the figure, the system is composed of modules such as the whole vehicle, millimeter-wave radar, camera, brake pedal, central control host (IHU), ESP (electronic stability system - braking), steering wheel angle sensor, etc. The whole vehicle is equipped with a system controller that works in coordination with the system. The system controller can be set up separately or developed using existing controllers, such as a body controller, millimeter-wave radar controller, etc.

[0064] In the specific implementation, a camera and a millimeter radar for collecting information about obstacles in front are installed in front of the car. The camera and the millimeter radar are connected to the system controller and transmit the collected signals to the system controller. The system controller collects information from the brake pedal sensor and obtains the travel signal. The system controller is connected to the steering wheel angle sensor and obtains the steering signal. The system controller is connected to the EPS and issues an emergency braking command. The car's automatic emergency braking execution system executes the car's automatic emergency braking execution method.

[0065] Specifically, if Figure 2 As shown in the figure, the millimeter-wave radar is used to detect the distance and movement state of the obstacle ahead, and the camera is used to identify the obstacle ahead of the vehicle. The system controller obtains the signals of the two sensors, compares the obtained camera signals through images, and determines whether there is an obstacle ahead and the movement state of the obstacle. Through deep learning, the obstacle type is determined, and then the obstacle information is sent to the millimeter-wave radar for fusion judgment: determine the type of obstacle, obstacle distance, movement direction and speed, etc. The fusion of millimeter-wave radar and camera can increase the system's credibility in obstacle recognition and judgment, and reduce the system's false interference with driver behavior.

[0066] The brake pedal is used to collect the brake pedal status and send it to the system controller to determine whether the driver has taken braking measures. ESP (Electronic Stability System - Braking) is used to issue emergency braking instructions from the system controller, brake smoothly, and provide the system controller with vehicle speed and ESP status information. The steering wheel angle sensor is used to collect the steering wheel angle and send it to the system controller.

[0067] The system controller receives the steering wheel steering angle information, calculates the vehicle's running track based on the vehicle width, and determines whether the obstacle is within the vehicle's running track. It receives the brake pedal information to determine whether the driver has taken braking measures. It receives the pedal information to determine whether the driver has stepped on the pedal in an emergency. It receives the ESP information to determine whether the automatic emergency braking function is available at this time. The above related information is used to comprehensively determine whether emergency braking is required.

[0068] On the premise that the AEB function is turned on in the central control host (IHU-Function Setting), the vehicle is traveling within the speed range where the automatic emergency braking function is available and the ESP function is in normal status. When the camera and millimeter-wave radar information are fused to identify the existence of an obstacle in front of the vehicle, and the steering wheel steering angle information is used to predict that the obstacle is within the vehicle's motion trajectory and there is a risk of collision, the driver has not taken any measures to avoid or reduce the risk of collision. At this time, the automatic emergency braking immediately issues an emergency braking command, and ESP immediately brakes (to a stop) after receiving the command; if the driver takes measures to brake or avoid risky collisions, the automatic emergency braking (AEB) system will sense the driver's behavior, and then calculate partial emergency braking or moderate emergency braking based on the current vehicle speed and collision distance. This method will sensitively sense the driver's deceleration behavior, will not interfere too much with the driver's behavior, and improve the comfort of the driving experience.

[0069] based on Figure 2 The system shown in the figure, the automatic braking method of the vehicle is as follows Figure 3 As shown, the details are as follows:

[0070] (1) The camera detects and the millimeter-wave radar identifies obstacles in front of the vehicle. The millimeter-wave radar detects the distance and movement status of the obstacles in front and sends them to the system controller.

[0071] (2) The system controller integrates the obstacle information to determine what the obstacle is (people, cars, trees, or other obstacles), the distance of the obstacle, the direction of movement, and the speed.

[0072] (3) The system controller receives the steering wheel angle information, calculates the vehicle's running trajectory based on the vehicle width, determines whether the obstacle is within the vehicle's range of motion, and then receives related information such as the brake pedal information and the central control host AEB function setting information to comprehensively determine whether emergency braking is required.

[0073] (4) If there is an obstacle in front of the vehicle and the driver does not take braking or other measures to avoid (or reduce) collision with the obstacle, the automatic emergency braking (AEB) system will determine that the driver has not taken any braking measures and will issue an emergency braking command. After receiving the command, ESP (Electronic Stability Program - Braking) will perform emergency braking.

[0074] (5) When the driver steps on the brake pedal, the automatic emergency braking (AEB) system responds to the driver's behavior, senses the driver's behavior, and then calculates partial emergency braking or moderate emergency braking based on the current vehicle speed and collision distance. At this time, the vehicle has stopped or has significantly slowed down after emergency braking. If a collision occurs at this time, the damage caused by the accident will be much reduced (lighter).

[0075] In summary, the embodiments of the present application can integrate the camera with the millimeter-wave radar, which can improve the credibility of obstacle recognition and effectively solve the problem that the driver does not step on the brake pedal, causing the automatic emergency braking to affect the driving experience; after the vehicle driver subjectively brakes for the first time, the vehicle has slowed down, and the automatic emergency braking (AEB) system senses the driver's behavior, and then calculates partial emergency braking or moderate emergency braking based on the current vehicle speed and collision distance. It can keenly feel the driver's deceleration behavior in one operation, will not interfere too much with the driver's behavior, and improve the comfort of the driving experience.

[0076] Next, the automatic braking device of a vehicle proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0077] Figure 4 It is a block diagram of an automatic braking device for a vehicle according to an embodiment of the present application.

[0078] like Figure 4 As shown, the automatic braking device 10 of the vehicle includes: an identification module 100 , a first braking module 200 and a second braking module 300 .

[0079] Among them, the identification module 100 is used to identify whether the driver has the intention to avoid the obstacle when an obstacle is detected in the direction of vehicle travel; the first braking module 200 is used to match the first braking distance threshold according to the actual vehicle speed when the intention to avoid the obstacle is not identified, and to perform a first preset level of braking action when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold; the second braking module 300 is used to match the second braking distance threshold according to the actual vehicle speed when the intention to avoid the obstacle is identified, and to perform a second preset level of braking action when the actual distance is less than the second braking distance threshold, wherein the first braking distance threshold is greater than the second braking distance threshold, and the braking degree of the first level braking action is higher than the braking degree of the second level braking action.

[0080] In an embodiment of the present application, the identification module 100 is used to: detect whether the brake pedal of the vehicle is triggered; if it is detected that the brake pedal is triggered, it is determined that the driver has the intention to avoid obstacles, otherwise, it is determined that the driver does not have the intention to avoid obstacles.

[0081] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: a correction module. The correction module is used to obtain the actual pedaling angle of the brake pedal before performing the second preset level braking action when the actual distance is less than the second braking distance threshold; match the current braking force of the vehicle according to the actual pedaling angle, and correct the second braking distance threshold according to the current braking force.

[0082] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: a reminder module. The reminder module is used to generate a braking reminder instruction according to the first level braking action when performing the first preset level braking action, and control the vehicle to perform a designated target reminder action according to the braking reminder instruction.

[0083] It should be noted that the above explanation of the embodiment of the automatic braking method for a vehicle is also applicable to the automatic braking device of the vehicle in this embodiment, and will not be repeated here.

[0084] According to the automatic braking device of the vehicle proposed in the embodiment of the present application, it can be ensured that before the automatic emergency braking is triggered, if the driver has already braked subjectively, the braking timing triggered by the automatic emergency braking system will be later, so that the timing of active braking can be determined according to whether the driver originally brakes or not, so as to take into account both safety and driving comfort, thereby improving the driver's driving safety and comfort; the driver's braking intention can be accurately determined based on the triggering of the brake pedal, so as to accurately determine whether the driver originally has the intention of active braking, and improve the accurate control of subsequent active braking; the timing of triggering automatic braking can be determined according to the degree of autonomous braking of the driver during the braking process, so as to reduce the automatic braking system's false interference with the driver's behavior, and improve the driver's driving experience while ensuring driving safety; the driver can be reminded when active braking is triggered. Since the driver's active braking intention is not detected at this time, the reminder can enable the driver to pay attention to obstacles and driving conditions in time, and when automatic braking still cannot avoid obstacles, the driver can take emergency measures in time, thereby improving the intelligence of the vehicle and the user's experience.

[0085] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0086] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0087] When the processor 502 executes the program, the automatic braking method for the vehicle provided in the above embodiment is implemented.

[0088] Furthermore, the vehicle also includes:

[0089] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0090] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0091] The memory 501 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0092] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0093] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0094] The processor 502 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0095] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned automatic braking method for a vehicle.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0097] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0098] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0099] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0100] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0101] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for automatic braking of a vehicle, characterized in that: The following steps are involved: When an obstacle is detected in the direction of the vehicle's travel, identify whether the driver intends to avoid the obstacle; If the obstacle avoidance intention is not identified, matching a first braking distance threshold according to the actual vehicle speed, and performing a first preset level braking action when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold; If the obstacle avoidance intention is identified, a second braking distance threshold is matched according to the actual vehicle speed, and when the actual distance is less than the second braking distance threshold, a second preset level braking action is performed, wherein the first braking distance threshold is greater than the second braking distance threshold, and the braking degree of the first preset level braking action is greater than the braking degree of the second preset level braking action; When the actual distance is less than the second braking distance threshold, before executing the second preset level braking action, the method further includes: Get the actual pedal angle of the brake pedal; The current braking force of the vehicle is matched according to the actual pedaling angle, and the second braking distance threshold is corrected according to the current braking force.

2. The method according to claim 1, characterized in that The identifying the driver's obstacle avoidance intention includes: Detecting whether a brake pedal of the vehicle is triggered; If it is detected that the brake pedal is triggered, it is determined that the driver has the obstacle avoidance intention; otherwise, it is determined that the driver does not have the obstacle avoidance intention.

3. The method according to any one of claims 1 to 2, characterized in that: When executing the first preset level braking action, it also includes: A braking reminder instruction is generated according to the first preset level braking action, and the vehicle designated target reminder action is controlled according to the braking reminder instruction.

4. An automatic braking device for a vehicle, characterized in that: include: A recognition module is used to identify whether the driver intends to avoid obstacles when an obstacle is detected in the direction of the vehicle's travel; a first braking module, configured to match a first braking distance threshold according to an actual vehicle speed of the vehicle when the obstacle avoidance intention is not identified, and to perform a first preset level braking action when the actual distance between the vehicle and the obstacle is less than the first braking distance threshold; a second braking module, configured to match a second braking distance threshold according to the actual vehicle speed when the obstacle avoidance intention is identified, and to perform a second preset level braking action when the actual distance is less than the second braking distance threshold, wherein the first braking distance threshold is greater than the second braking distance threshold, and a braking degree of the first preset level braking action is greater than a braking degree of the second preset level braking action; A correction module is used to obtain an actual pedaling angle of the brake pedal before executing a second preset level of braking action when the actual distance is less than the second braking distance threshold; match the current braking force of the vehicle according to the actual pedaling angle, and correct the second braking distance threshold according to the current braking force.

5. The device according to claim 4, characterized in that The identification module is used for: Detecting whether a brake pedal of the vehicle is triggered; If it is detected that the brake pedal is triggered, it is determined that the driver has the obstacle avoidance intention; otherwise, it is determined that the driver does not have the obstacle avoidance intention.

6. The device according to any one of claims 4 to 5, characterized in that: Also includes: The reminder module is used to generate a braking reminder instruction according to the first preset level braking action when executing the first preset level braking action, and control the vehicle designated target reminder action according to the braking reminder instruction.

7. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic braking method for a vehicle as described in any one of claims 1 to 3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the automatic braking method for a vehicle as described in any one of claims 1 to 3.

Images