Vehicle auxiliary braking control method and device, medium, vehicle and chip

Abstract

The present disclosure relates to the field of automatic driving, in particular, to a control method and device of vehicle auxiliary braking, a medium, a vehicle and a chip. The method comprises: obtaining driving state information of a target vehicle, wherein the target vehicle is a driving vehicle in front of the vehicle; determining whether the target vehicle is in an abnormal state according to the driving state information; and controlling a braking system of the vehicle to perform pre-filling of braking pressure in the case of determining that the target vehicle is in the abnormal state, wherein the braking pressure is used for braking assistance of the vehicle. Thus, accurate monitoring of the driving state of the preceding vehicle can be realized, and in the case of determining that the target vehicle is in the abnormal state, the braking system of the vehicle is controlled to perform pre-filling of braking pressure and braking assistance according to the driving state of the preceding vehicle in a timely manner, so as to facilitate quick response of vehicle braking upon receiving a braking signal, improve the response speed of the braking system, and improve the safety performance of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving, and in particular to a control method, device, medium, vehicle, and chip for vehicle auxiliary braking. Background Technology

[0002] The vehicle auxiliary braking system is a type of driver assistance function used to assist the driver in braking the vehicle in order to avoid collisions with obstacles in emergency situations and thus protect the driver.

[0003] In related technologies, the braking system in a vehicle is usually triggered and controlled based on detected environmental information. For example, if there is an obstacle in front of the vehicle in its lane, the obstacle can usually only be detected after the vehicle in front of the vehicle has changed lanes, so that the vehicle can brake. This can easily lead to safety hazards due to untimely braking. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a control method, device, medium, vehicle, and chip for vehicle auxiliary braking.

[0005] According to a first aspect of the present disclosure, a control method for vehicle auxiliary braking is provided, comprising:

[0006] Obtain the driving status information of the target vehicle, wherein the target vehicle is the vehicle driving directly in front of this vehicle;

[0007] Based on the driving status information, determine whether the target vehicle is in an abnormal state;

[0008] If it is determined that the target vehicle is in an abnormal state, the braking system of the vehicle is controlled to pre-fill the braking pressure, wherein the braking pressure is used to provide braking assistance to the vehicle.

[0009] Optionally, the driving status information includes driving information and indicator light information;

[0010] The step of determining whether the target vehicle is in an abnormal state based on the driving status information includes:

[0011] Determine whether the driving information meets the abnormal lane change conditions;

[0012] If the driving information is determined to meet the abnormal lane change conditions, the indicator light information is used to determine whether the target vehicle is in an abnormal state.

[0013] Optionally, the driving information includes lateral acceleration, lateral velocity, and the longitudinal distance between the target vehicle and the vehicle; determining whether the driving information meets the abnormal lane change conditions includes:

[0014] If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than a third threshold, then the driving information is determined to meet the abnormal lane change conditions, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0015] Optionally, the indicator light information is turn signal information;

[0016] The step of determining whether the target vehicle is in an abnormal state based on the indicator light information includes:

[0017] If the turn signal is on, then the target vehicle is determined to be in an abnormal state.

[0018] If the turn signal information is off, the driving status information of the target vehicle is continuously acquired for a first preset duration, and if the driving information in the continuously acquired driving status information meets the abnormal lane change conditions, the target vehicle is determined to be in an abnormal state.

[0019] Optionally, the driving information includes lateral acceleration, lateral velocity, longitudinal distance and lateral distance between the target vehicle and the vehicle; the indicator light information is hazard warning flasher information;

[0020] Determining whether the driving information meets the abnormal lane change conditions includes:

[0021] If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, the absolute value of the change in longitudinal distance is not greater than a third threshold, and the lateral distance is greater than a fourth threshold, then the driving information is determined to meet the abnormal lane change condition. Wherein, the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0022] The step of determining whether the target vehicle is in an abnormal state based on the indicator light information includes:

[0023] If the hazard warning flasher is on, then the target vehicle is determined to be in an abnormal state.

[0024] Optionally, the driving status information includes the longitudinal distance between the target vehicle and the vehicle itself, and hazard warning light information;

[0025] The step of determining whether the target vehicle is in an abnormal state based on the driving status information includes:

[0026] If the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than the third threshold, and the hazard warning flasher is on, then the target vehicle is determined to be in an abnormal state, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0027] Optionally, the method further includes:

[0028] If no braking signal is received within a second preset time period after the braking system of the vehicle has pre-filled the braking pressure, the braking system of the vehicle will release the braking pressure.

[0029] Optionally, obtaining the driving status information of the target vehicle includes:

[0030] The vehicle acquires camera data and radar data information corresponding to the target vehicle collected by the vehicle itself. The radar data information includes first radar information collected based on millimeter-wave radar and / or second radar information collected based on lidar.

[0031] Based on the camera data and radar data, the driving status information of the target vehicle is determined.

[0032] According to a second aspect of the present disclosure, a control device for vehicle auxiliary braking is provided, comprising:

[0033] The acquisition module is configured to acquire the driving status information of a target vehicle, wherein the target vehicle is a vehicle traveling directly in front of the current vehicle;

[0034] The determination module is configured to determine whether the target vehicle is in an abnormal state based on the driving status information.

[0035] The first control module is configured to control the vehicle's braking system to pre-fill the braking pressure when it is determined that the target vehicle is in an abnormal state, wherein the braking pressure is used to provide braking assistance to the vehicle.

[0036] According to a third aspect of the present disclosure, a vehicle is provided, comprising:

[0037] processor;

[0038] Memory used to store processor-executable instructions;

[0039] The processor is configured as follows:

[0040] Obtain the driving status information of the target vehicle, wherein the target vehicle is the vehicle driving directly in front of this vehicle;

[0041] Based on the driving status information, determine whether the target vehicle is in an abnormal state;

[0042] If it is determined that the target vehicle is in an abnormal state, the braking system of the vehicle is controlled to pre-fill the braking pressure, wherein the braking pressure is used to provide braking assistance to the vehicle.

[0043] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of any of the methods provided in the first aspect of the present disclosure.

[0044] According to a fifth aspect of the present disclosure, a chip is provided, including a processor and an interface; the processor is configured to read instructions to execute any of the methods provided in the first aspect of the present disclosure.

[0045] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0046] In the above technical solution, the driving status information of the target vehicle can be acquired to monitor its driving status. When the target vehicle is determined to be in an abnormal state, the braking system of the vehicle itself can be pre-filled with brake pressure to provide braking assistance. This allows for accurate monitoring of the driving status of the vehicle in front and timely braking assistance based on its driving status. It also facilitates rapid braking response upon receiving a braking signal, improving the braking system's response speed, reducing braking response time and distance, and enhancing vehicle safety performance.

[0047] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0049] Figure 1 This is a flowchart illustrating a vehicle auxiliary braking control method according to an exemplary embodiment.

[0050] Figure 2 This is a block diagram illustrating a vehicle auxiliary braking control device according to an exemplary embodiment.

[0051] Figure 3 This is a block diagram illustrating a vehicle auxiliary braking control device according to an exemplary embodiment.

[0052] Figure 4This is a functional block diagram of a vehicle according to an exemplary embodiment. Detailed Implementation

[0053] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0054] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.

[0055] Figure 1 This is a flowchart illustrating a vehicle auxiliary braking control method according to an exemplary embodiment, such as... Figure 1 As shown, the method may include the following steps:

[0056] In step S101, the driving status information of the target vehicle is obtained, wherein the target vehicle is the vehicle driving directly in front of the current vehicle.

[0057] The driving status information can be parameters characterizing the driving status of the target vehicle, such as the target vehicle's lateral velocity, lateral acceleration, longitudinal distance between the target vehicle and the current vehicle, the target vehicle's turn signal status, and the target vehicle's hazard warning light status. For example, the target vehicle can be the closest vehicle in the same lane directly in front of the current vehicle; the current vehicle can be an autonomous vehicle or a user-driven vehicle. This step allows for the perception of the target vehicle's driving status information, enabling subsequent motion control of the current vehicle.

[0058] In step S102, it is determined whether the target vehicle is in an abnormal state based on the driving status information.

[0059] Abnormal states can include abnormal lane changes and abnormal malfunctions. For example, an abnormal lane change scenario could be a target vehicle changing lanes to avoid a vehicle or obstacle appearing on the road ahead, while an abnormal malfunction could be a target vehicle experiencing a malfunction or accident.

[0060] In step S103, if it is determined that the target vehicle is in an abnormal state, the braking system of the vehicle is controlled to pre-fill the braking pressure, wherein the braking pressure is used to provide braking assistance to the vehicle.

[0061] Specifically, when the target vehicle is determined to be in an abnormal state, braking may be necessary for safe driving. Therefore, in this embodiment, the vehicle's braking system can be controlled to pre-fill the brake pressure. For example, a brake pre-fill trigger signal can be sent to the braking system by the controller, causing the braking system to pre-fill the brake pressure upon receiving the signal. By pre-filling the brake pressure, the gap between the friction pads and the brake disc can be reduced in advance. If a braking signal is received subsequently, the system can respond directly to the braking signal, improving the braking system's response speed, reducing braking response time and distance, and enhancing vehicle safety performance.

[0062] In the above technical solution, the driving status information of the target vehicle can be acquired to monitor its driving status. When the target vehicle is determined to be in an abnormal state, the braking system of the vehicle itself can be pre-filled with brake pressure to provide braking assistance. This allows for accurate monitoring of the driving status of the vehicle in front and timely braking assistance based on its driving status. It also facilitates rapid braking response upon receiving a braking signal, improving the braking system's response speed, reducing braking response time and distance, and enhancing vehicle safety performance.

[0063] In one possible embodiment, the driving status information includes driving information and indicator light information;

[0064] Accordingly, determining whether the target vehicle is in an abnormal state based on the driving status information includes:

[0065] Determine whether the driving status information meets the abnormal lane change conditions.

[0066] In one possible embodiment, the driving information includes lateral acceleration, lateral velocity, and the longitudinal distance between the target vehicle and the vehicle; determining whether the driving information meets the abnormal lane change conditions includes:

[0067] If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than a third threshold, then the driving information is determined to meet the abnormal lane change conditions, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0068] Wherein, lateral acceleration is acceleration perpendicular to the vehicle's direction of travel, lateral velocity is velocity perpendicular to the vehicle's direction of travel, and longitudinal distance is the distance between the target vehicle and the current vehicle parallel to the vehicle's direction of travel. For example, the first threshold, second threshold, and third threshold can be set according to the actual usage scenario, and this disclosure does not impose any limitations. In practical applications, when the target vehicle changes lanes, its lateral acceleration and lateral velocity increase to move to the adjacent lane. If the longitudinal distance between the target vehicle and the current vehicle decreases during this process, the target vehicle's driving state may affect the safe driving of the current vehicle. Therefore, in this technical solution, if the lateral acceleration is greater than a first threshold and the lateral velocity is greater than a second threshold, it indicates that the target vehicle is rapidly changing lanes. If the change in longitudinal distance is negative and the absolute value of the change in longitudinal distance is greater than a third threshold, it means that during the lane change process, the longitudinal distance between the target vehicle and the vehicle decreases significantly, which may cause the longitudinal distance between the target vehicle and the vehicle to decrease drastically. In this case, the target vehicle can be considered to be in an abnormal lane change state, so as to control the operation of the vehicle in a timely manner based on the operation of the target vehicle.

[0069] Therefore, the above scheme can accurately determine the driving status of the target vehicle based on its lateral acceleration, lateral velocity, and longitudinal distance between the target vehicle and the vehicle itself, providing data support for timely and accurate control of the vehicle to ensure its safe driving.

[0070] Furthermore, if the driving information is determined to meet the abnormal lane change conditions, the indicator light information is used to determine whether the target vehicle is in an abnormal state.

[0071] In practical applications, vehicles typically need to activate their turn signals when changing lanes to alert other vehicles. Therefore, in this embodiment, when the vehicle's driving information is determined to meet the abnormal lane-changing conditions based on the vehicle's driving information, the vehicle's indicator light information is further combined to assist in judging the vehicle's true state. This improves the accurate perception of the target vehicle's driving state, ensures accurate control of the vehicle, and enhances the user experience. In one possible embodiment, the indicator light information is turn signal information.

[0072] Accordingly, determining whether the target vehicle is in an abnormal state based on the indicator light information may include:

[0073] If the turn signal is on, the target vehicle is determined to be in an abnormal state.

[0074] As mentioned above, vehicles typically need to activate their turn signals when changing lanes. In this embodiment, if the target vehicle's driving information indicates that the abnormal lane-changing conditions are met and the turn signal is activated, it means that the target vehicle is indeed in the process of changing lanes. At this time, it can be determined that the target vehicle is in an abnormal state, and the vehicle's driving status can be monitored by combining the vehicle's driving information and indicator light information.

[0075] If the turn signal is off, the driving status information of the target vehicle is continuously acquired for a first preset duration. If the driving information acquired in the continuous driving status information meets the lane change conditions, the target vehicle is determined to be in an abnormal state. The first preset duration can be set based on actual application scenarios and is not limited here.

[0076] In this step, if the target vehicle's driving information determines that the abnormal lane-changing conditions are met, but the turn signal is off, this could be because the turn signal was not activated according to driving regulations during the lane-changing process, or it could be that the vehicle is not actually in a lane-changing state. In this case, the target vehicle's driving status information can be acquired again after a first preset time interval, and the acquired driving status information (one or more times) can be used to make a judgment.

[0077] In this scenario, if the driving information obtained again within the first preset time period meets the lane-changing conditions, it can be determined that the target vehicle is in an abnormal state. By obtaining the target vehicle's driving status information again within the first preset time period, its driving status can be judged based on the target vehicle's continuous driving situation, which can improve the accuracy of judging whether the target vehicle is in a lane-changing state to a certain extent. It can be assumed that the failure to detect the indicator light is due to the turn signal not being activated according to regulations at this time.

[0078] Therefore, the above scheme can accurately determine whether a vehicle is in an abnormal state based on turn signal information and abnormal lane change conditions, so that the vehicle can predict the road conditions ahead in advance, thereby enabling the vehicle to avoid collision risks in advance, improve the vehicle's driving safety, and at the same time improve road traffic efficiency to a certain extent.

[0079] In one possible embodiment, the driving information includes lateral acceleration, lateral velocity, longitudinal distance and lateral distance between the target vehicle and the vehicle; the indicator light information is hazard warning flasher information;

[0080] The step of determining whether the driving information meets the abnormal lane change conditions may include:

[0081] If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, the absolute value of the change in longitudinal distance is not greater than a third threshold, and the lateral distance is greater than a fourth threshold, then the driving information is determined to meet the abnormal lane change conditions. Here, the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0082] As shown above, if the lateral acceleration is greater than the first threshold and the lateral velocity is greater than the second threshold, it indicates that the target vehicle is deviating from the side lane. At this time, the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is not greater than the third threshold, and the lateral distance is greater than the fourth threshold. This indicates that the decrease in longitudinal distance between the vehicle and the target vehicle is small, but the deviation of the target vehicle from the side lane is large, indicating that the vehicle has deviated from the side lane. It can be considered that the target vehicle may have made a quick lane change due to a temporary malfunction or an obstacle in front. At this time, the driving information of the target vehicle can be considered to meet the abnormal lane change situation.

[0083] Determining whether the target vehicle is in an abnormal state based on the indicator light information may include:

[0084] Furthermore, if the hazard warning lights are on when the target vehicle's driving information indicates an abnormal lane change, this further indicates an abnormality in the vehicle, thus confirming that the target vehicle is in an abnormal state. Therefore, through the above technical solution, the driving status of the target vehicle can be pre-determined by combining the vehicle's driving information and indicator light information, providing effective support for the safety control of the vehicle and ensuring its safe operation.

[0085] In some possible embodiments, the driving status information includes the longitudinal distance between the target vehicle and the vehicle itself, and hazard warning flasher information;

[0086] The step of determining whether the target vehicle is in an abnormal state based on the driving status information includes:

[0087] If the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than the third threshold, and the hazard warning flasher is on, then the target vehicle is determined to be in an abnormal state, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0088] In this embodiment, under normal driving conditions, when a vehicle malfunctions or is involved in a traffic accident, the hazard warning lights can be activated to alert other vehicles. Therefore, when a target vehicle activates its hazard warning lights and the change in longitudinal distance between the vehicle and the target vehicle is negative, and the absolute value of this change in longitudinal distance is greater than a third threshold, it indicates that the target vehicle has malfunctioned and the decrease in longitudinal distance between it and the vehicle is significant—that is, the longitudinal distance between the target vehicle and the vehicle decreases sharply and significantly. At this point, the target vehicle can be determined to be in an abnormal state. Thus, by detecting the status of the hazard warning lights and the change in longitudinal distance, the state of the target vehicle can be determined, allowing the vehicle to monitor and predict the state of the target vehicle. This enables the vehicle to take timely countermeasures against the target vehicle's abnormalities, improving driving safety and reducing the risk of accidents.

[0089] In one possible embodiment, the method may further include:

[0090] If no braking signal is received within a second preset time period after the braking system of the vehicle has pre-filled the braking pressure, the braking system of the vehicle will release the braking pressure.

[0091] The second preset duration can be set based on actual application scenarios and is not limited here. After the braking system of this vehicle has pre-filled the brake pressure, if a braking signal is received, the vehicle can be directly controlled to brake. At this time, since the brake pressure has been pre-filled, the gap between the friction pads and the brake disc can be reduced in advance, improving the braking system response speed, reducing braking response time and response distance, and improving vehicle safety performance. If no braking signal is received within the second preset duration, it means that the vehicle does not need to brake in the current state. At this time, the brake pressure can be released to reset the gap between the friction pads and the brake disc, ensuring normal vehicle operation and extending vehicle life.

[0092] In one possible embodiment, the step of obtaining the driving status information of the target vehicle may include:

[0093] The vehicle acquires camera data and radar data information corresponding to the target vehicle collected by the vehicle itself. The radar data information includes first radar information collected based on millimeter-wave radar and / or second radar information collected based on lidar.

[0094] The camera data information can be video information captured by a camera. By processing the video information, the lateral velocity, lateral acceleration, longitudinal distance between the target vehicle and the current vehicle, the status of the target vehicle's turn signals, and the status of the target vehicle's hazard warning lights can be obtained. For example, the video information can be frame-by-frame extracted, and velocity, acceleration, and longitudinal distance information can be obtained based on the vehicle's position in the image frame and the adjacent time intervals between image frames. The status of relevant traffic lights within the vehicle can be determined by recognizing the image frames. This can be determined using image recognition and image processing methods commonly used in this field, which will not be elaborated upon here. Correspondingly, the target vehicle's velocity, acceleration, and longitudinal distance can be obtained by processing information from the first and second radar systems.

[0095] Then, based on the camera data and radar data, the driving status information of the target vehicle is determined.

[0096] As an example, for each piece of driving status information to be determined, the information determined based on each source data can be fused to obtain the final fused information. Taking the lateral speed of the target vehicle as an example, the lateral speed V1 can be determined based on camera data, V2 can be determined based on the first radar information, and V3 can be determined based on the second radar information. The average value of V1, V2, and V3 can be used as the lateral speed of the target vehicle, or the weighted value of V1, V2, and V3 can be used as the lateral speed of the target vehicle. The weights corresponding to each source data, namely camera data, first radar information, and second radar information, can be set based on the actual application scenario and are not limited thereto. For another example, regarding indicator light information, the indicator light information determined based on camera data can be directly used as the indicator light information corresponding to the target vehicle.

[0097] As another example, determining the target vehicle's driving status information based on camera data and radar data can be achieved by pre-setting data sources for each driving status information. For instance, the data source for the vehicle's lateral speed and lateral acceleration can be set as the second radar information, and the data source for the longitudinal distance can be set as the first radar information. When the lateral speed and lateral acceleration are determined based on the second radar information, they can be directly determined as the target vehicle's lateral speed and lateral acceleration. Similarly, when the longitudinal distance is determined based on the first radar information, it can be directly determined as the target vehicle's longitudinal distance. It should be noted that if the driving status information cannot be determined based on its corresponding data source, it can be further determined based on information from other collected data sources. For example, if the longitudinal distance cannot be determined based on the first radar information, it can be further determined based on the second radar information, and the determined longitudinal distance can be used as the target vehicle's longitudinal distance.

[0098] The above approach allows for data collection from relevant sensors installed on the vehicle. By fusing the data collected from each sensor, the final driving status information can be obtained. On the one hand, it eliminates the need to install new components on the vehicle, saving workload and simplifying the deployment process. On the other hand, multi-source data fusion can further improve the accuracy of the target vehicle's driving status information, thereby providing data support for accurate judgment of the target vehicle's driving status, further improving the timeliness and accuracy of vehicle auxiliary braking control, and enhancing the user experience.

[0099] Figure 2 This is a block diagram illustrating a vehicle auxiliary braking control device according to an exemplary embodiment. (Refer to...) Figure 2 The device 500 includes:

[0100] The acquisition module 510 is configured to acquire the driving status information of a target vehicle, wherein the target vehicle is a vehicle traveling directly in front of the current vehicle.

[0101] The determination module 520 is configured to determine whether the target vehicle is in an abnormal state based on the driving status information.

[0102] The first control module 530 is configured to control the braking system of the vehicle to pre-fill the braking pressure when it is determined that the target vehicle is in an abnormal state, wherein the braking pressure is used to provide braking assistance to the vehicle.

[0103] Optionally, the driving status information includes driving information and indicator light information;

[0104] The determining module includes:

[0105] The first determining submodule is configured to determine whether the driving information meets the abnormal lane change conditions;

[0106] The second determining submodule is configured to determine whether the target vehicle is in an abnormal state based on the indicator light information when the driving information is determined to meet the abnormal lane change conditions.

[0107] Optionally, the driving information includes lateral acceleration, lateral velocity, and the longitudinal distance between the target vehicle and the vehicle itself; the first determining submodule is used for:

[0108] If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than a third threshold, then the driving information is determined to meet the abnormal lane change conditions, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0109] Optionally, the indicator light information is turn signal information;

[0110] The second determining submodule includes:

[0111] The third determination submodule is configured to determine that the target vehicle is in an abnormal state if the turn signal information is on.

[0112] The fourth determination submodule is configured to continuously acquire the driving status information of the target vehicle for a first preset time period if the turn signal information is off, and determine that the target vehicle is in an abnormal state if the driving information in the continuously acquired driving status information meets the abnormal lane change conditions.

[0113] Optionally, the driving information includes lateral acceleration, lateral velocity, longitudinal distance and lateral distance between the target vehicle and the vehicle; the indicator light information is hazard warning flasher information;

[0114] The first determining submodule is used for:

[0115] If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, the absolute value of the change in longitudinal distance is not greater than a third threshold, and the lateral distance is greater than a fourth threshold, then the driving information is determined to meet the abnormal lane change condition. Wherein, the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0116] The second determining submodule is used for:

[0117] If the hazard warning flasher is on, then the target vehicle is determined to be in an abnormal state.

[0118] Optionally, the driving status information includes the longitudinal distance between the target vehicle and the vehicle itself, and hazard warning light information;

[0119] The determining module includes:

[0120] The fifth determination submodule is configured to determine that the target vehicle is in an abnormal state if the change in the longitudinal distance is negative, the absolute value of the change in the longitudinal distance is greater than the third threshold, and the hazard warning flashing light is turned on. The change in the longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

[0121] Optionally, the device further includes:

[0122] The second control module is configured to release the braking pressure of the vehicle if no braking signal is received within a second preset time period after the braking system of the vehicle has pre-filled the braking pressure.

[0123] Optionally, the acquisition module includes:

[0124] The acquisition submodule is configured to acquire camera data information and radar data information corresponding to the target vehicle collected by the vehicle itself. The radar data information includes first radar information collected based on millimeter-wave radar and / or second radar information collected based on lidar.

[0125] The sixth determining submodule is configured to determine the driving status information of the target vehicle based on the camera data information and the radar data information.

[0126] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0127] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle auxiliary braking control method provided in this disclosure.

[0128] Figure 3 This is a block diagram illustrating a control device 800 for vehicle auxiliary braking according to an exemplary embodiment. For example, device 800 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0129] Reference Figure 3 The device 800 may include one or more of the following components: a processing component 802, a first memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0130] Processing component 802 typically controls the overall operation of device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 802 may include one or more first processors 820 to execute instructions to complete all or part of the steps of the vehicle auxiliary braking control method. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0131] The first memory 804 is configured to store various types of data to support the operation of the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phonebook data, messages, pictures, videos, etc. The first memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0132] Power supply component 806 provides power to various components of device 800. Power supply component 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to device 800.

[0133] Multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0134] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in first memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0135] Input / output (I / O) interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0136] Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of device 800. For example, sensor assembly 814 may detect the on / off state of device 800, the relative positioning of components such as the display and keypad of device 800, changes in the position of device 800 or a component of device 800, the presence or absence of user contact with device 800, the orientation or acceleration / deceleration of device 800, and temperature changes of device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0137] Communication component 816 is configured to facilitate wired or wireless communication between device 800 and other devices. Device 800 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0138] In an exemplary embodiment, the device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing a control method for vehicle auxiliary braking.

[0139] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a first memory 804 including instructions that can be executed by a first processor 820 of the device 800 to complete a vehicle auxiliary braking control method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0140] The aforementioned device can be a standalone electronic device or a part of a standalone electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be a single IC or a collection of multiple ICs. The chip can include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and SoC (System on Chip). The aforementioned integrated circuit or chip can be used to execute executable instructions (or code) to implement the aforementioned vehicle auxiliary braking control method. The executable instructions can be stored in the integrated circuit or chip or obtained from other devices or equipment. For example, the integrated circuit or chip includes a processor, memory, and an interface for communicating with other devices. The executable instructions can be stored in the processor, and when the executable instructions are executed by the processor, the above-mentioned vehicle auxiliary braking control method is implemented; or, the integrated circuit or chip can receive the executable instructions through the interface and transmit them to the processor for execution to implement the above-mentioned vehicle auxiliary braking control method.

[0141] See Figure 4 , Figure 4 This is a functional block diagram illustrating a vehicle 600 as an exemplary embodiment. The vehicle 600 can be configured for fully or partially autonomous driving modes. For example, the vehicle 600 can acquire environmental information about its surroundings through a perception system 620, and based on the analysis of the surrounding environmental information, derive an autonomous driving strategy to achieve fully autonomous driving, or present the analysis results to the user to achieve partial autonomous driving.

[0142] Vehicle 600 may include various subsystems, such as infotainment system 610, perception system 620, decision control system 630, drive system 640, and computing platform 650. Optionally, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of vehicle 600 may be interconnected via wired or wireless means.

[0143] In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

[0144] Communication system 611 may include a wireless communication system that can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system may utilize WiFi or a wireless local area network (WLAN) to communicate. In some embodiments, the wireless communication system may utilize an infrared link, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols, such as various vehicle communication systems, may also be used. For example, the wireless communication system may include one or more dedicated short-range communications (DSRC) devices that can enable public and / or private data communication between vehicles and / or roadside stations.

[0145] The entertainment system 612 may include a display device, a microphone, and speakers, allowing users to listen to the radio and play music in the vehicle; or connect their mobile phones to the vehicle and project their screens onto the display device, which may be touch-sensitive, allowing users to operate the system by touching the screen.

[0146] In some cases, the user's voice signal can be acquired through a microphone, and based on the analysis of the voice signal, the user can control certain aspects of the vehicle 600, such as adjusting the interior temperature. In other cases, music can be played to the user through the audio system.

[0147] The navigation system 613 may include map services provided by a map provider to provide navigation for the vehicle 600. The navigation system 613 can be used in conjunction with the vehicle's global positioning system 621 and inertial measurement unit 622. The map services provided by the map provider can be two-dimensional maps or high-precision maps.

[0148] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system 621 (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU) 622, a lidar 623, a millimeter-wave radar 624, an ultrasonic radar 625, and a camera device 626. The perception system 620 may also include sensors for the internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a critical function for the safe operation of the vehicle 600.

[0149] The Global Positioning System 621 is used to estimate the geographical location of vehicle 600.

[0150] The inertial measurement unit 622 is used to sense changes in the pose of the vehicle 600 based on inertial acceleration. In some embodiments, the inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

[0151] The lidar 623 uses lasers to sense objects in the environment in which the vehicle 600 is located. In some embodiments, the lidar 623 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0152] The millimeter-wave radar 624 uses radio signals to sense objects in the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 can also be used to sense the speed and / or direction of travel of objects.

[0153] The ultrasonic radar 625 can use ultrasonic signals to sense objects around the vehicle 600.

[0154] The camera device 626 is used to capture image information of the surrounding environment of the vehicle 600. The camera device 626 may include a monocular camera, a binocular camera, a structured light camera, and a panoramic camera, etc. The image information acquired by the camera device 626 may include still images or video stream information.

[0155] The decision control system 630 includes a computing system 631 that analyzes and makes decisions based on information acquired by the sensing system 620. The decision control system 630 also includes a vehicle controller 632 that controls the power system of the vehicle 600, as well as a steering system 633, a throttle 634, and a braking system 635 for controlling the vehicle 600.

[0156] The computing system 631 is operable to process and analyze various information acquired by the perception system 620 to identify targets, objects, and / or features in the environment surrounding the vehicle 600. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other techniques. In some embodiments, the computing system 631 may be used to map the environment, track objects, estimate object speeds, etc. The computing system 631 can analyze the acquired information and derive a control strategy for the vehicle.

[0157] The vehicle controller 632 can be used to coordinate the control of the vehicle's power battery and engine 641 to improve the power performance of the vehicle 600.

[0158] The steering system 633 is operable to adjust the forward direction of the vehicle 600. For example, in one embodiment, it can be a steering wheel system.

[0159] Throttle 634 is used to control the operating speed of engine 641 and thus the speed of vehicle 600.

[0160] Braking system 635 is used to control the deceleration of vehicle 600. Braking system 635 can use friction to slow down wheel 644. In some embodiments, braking system 635 can convert the kinetic energy of wheel 644 into electric current. Braking system 635 may also take other forms to slow down the rotational speed of wheel 644 to control the speed of vehicle 600.

[0161] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission system 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air-compressed engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine 641 converts the energy source 642 into mechanical energy.

[0162] Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 642 can also provide energy to other systems of vehicle 600.

[0163] The drivetrain 643 transmits mechanical power from the engine 641 to the wheels 644. The drivetrain 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the drivetrain 643 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 644.

[0164] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one second processor 651, which can execute instructions 653 stored in a non-transitory computer-readable medium such as second memory 652. In some embodiments, computing platform 650 may also be multiple computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

[0165] The second processor 651 can be any conventional processor, such as a commercially available CPU. Alternatively, the second processor 651 may also include a graphics processing unit (GPU), a field-programmable gate array (FPGA), a system-on-a-chip (SoC), an application-specific integrated circuit (ASIC), or a combination thereof. Although Figure 4 The processor, memory, and other components of a computer within the same block are functionally illustrated; however, those skilled in the art will understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical enclosure. For example, memory may be a hard disk drive or other storage media located in an enclosure different from that of the computer. Therefore, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor, which performs calculations only related to the component's specific function.

[0166] In this embodiment of the disclosure, the second processor 651 can execute the above-described vehicle auxiliary braking control method.

[0167] In various aspects described herein, the second processor 651 may be located remotely from the vehicle and communicate wirelessly with the vehicle. In other aspects, some of the processes described herein are executed on a processor located within the vehicle, while others are executed by a remote processor, including taking the necessary steps to perform a single operation.

[0168] In some embodiments, the second memory 652 may contain instructions 653 (e.g., program logic) that can be executed by the second processor 651 to perform various functions of the vehicle 600. The second memory 652 may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the infotainment system 610, perception system 620, decision control system 630, and drive system 640.

[0169] In addition to instruction 653, the second memory 652 may also store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. This information can be used by vehicle 600 and computing platform 650 during operation of vehicle 600 in autonomous, semi-autonomous, and / or manual modes.

[0170] The computing platform 650 can control the functions of the vehicle 600 based on inputs received from various subsystems, such as the drive system 640, the perception system 620, and the decision control system 630. For example, the computing platform 650 can utilize inputs from the decision control system 630 to control the steering system 633 to avoid obstacles detected by the perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.

[0171] Optionally, one or more of these components may be installed separately from or associated with the vehicle 600. For example, the second memory 652 may exist partially or completely separately from the vehicle 600. The components may be communicatively coupled together in a wired and / or wireless manner.

[0172] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 4 This should not be construed as a limitation on the embodiments disclosed herein.

[0173] Autonomous vehicles traveling on roads, such as vehicle 600 above, can identify objects in their surroundings to determine adjustments to their current speed. These objects can be other vehicles, traffic control equipment, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's individual characteristics, such as its current speed, acceleration, and distance from the vehicle, the speed adjustment to be made by the autonomous vehicle can be determined.

[0174] Optionally, vehicle 600 or its associated perception and computing devices (e.g., computing system 631, computing platform 650) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of the others, so all identified objects can be considered together to predict the behavior of a single identified object. Vehicle 600 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what steady state the vehicle needs to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered in determining the speed of vehicle 600, such as the lateral position of vehicle 600 in the road, the curvature of the road, the proximity of static and dynamic objects, etc.

[0175] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of the vehicle 600 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

[0176] The vehicle 600 described above can be any type of vehicle, such as a car, truck, motorcycle, bus, boat, airplane, helicopter, recreational vehicle, train, etc. This disclosure does not impose any particular limitation.

[0177] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle auxiliary braking control method when executed by the programmable device.

[0178] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0179] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method of vehicle auxiliary braking, characterized by, include: Obtain the driving status information of the target vehicle, wherein the target vehicle is the vehicle driving directly in front of the current vehicle, and the driving status information includes driving information and indicator light information, wherein the indicator light information is turn signal information; Determine whether the driving information meets the abnormal lane change conditions; If the driving information meets the abnormal lane change conditions, and the turn signal is on, then the target vehicle is determined to be in an abnormal state. If the turn signal information is off, the driving status information of the target vehicle is continuously acquired for a first preset duration, and if the driving information in the continuously acquired driving status information meets the abnormal lane change conditions, the target vehicle is determined to be in an abnormal state. If it is determined that the target vehicle is in an abnormal state, the braking system of the vehicle is controlled to pre-fill the braking pressure, wherein the braking pressure is used to provide braking assistance to the vehicle.

2. The method according to claim 1, characterized in that, The driving information includes lateral acceleration, lateral velocity, and the longitudinal distance between the target vehicle and the current vehicle; determining whether the driving information meets the abnormal lane change conditions includes: If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than a third threshold, then the driving information is determined to meet the abnormal lane change conditions, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

3. The method according to claim 1, characterized in that, The driving information includes lateral acceleration, lateral velocity, longitudinal distance and lateral distance between the target vehicle and the vehicle; the indicator light information is hazard warning flasher information; Determining whether the driving information meets the abnormal lane change conditions includes: If the lateral acceleration is greater than a first threshold, the lateral velocity is greater than a second threshold, the change in longitudinal distance is negative, the absolute value of the change in longitudinal distance is not greater than a third threshold, and the lateral distance is greater than a fourth threshold, then the driving information is determined to meet the abnormal lane change condition. Wherein, the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance. The step of determining whether the target vehicle is in an abnormal state based on the indicator light information includes: If the hazard warning flasher is on, then the target vehicle is determined to be in an abnormal state.

4. The method according to claim 1, characterized in that, The driving status information includes the longitudinal distance between the target vehicle and the vehicle itself, and hazard warning flasher information; The step of determining whether the target vehicle is in an abnormal state based on the driving status information includes: If the change in longitudinal distance is negative, and the absolute value of the change in longitudinal distance is greater than the third threshold, and the hazard warning flasher is on, then the target vehicle is determined to be in an abnormal state, wherein the change in longitudinal distance is the difference between the longitudinal distance and the previous longitudinal distance.

5. The method according to claim 1, characterized in that, The method further includes: If no braking signal is received within a second preset time period after the braking system of the vehicle has pre-filled the braking pressure, the braking system of the vehicle will release the braking pressure.

6. The method according to claim 1, characterized in that, The acquisition of the target vehicle's driving status information includes: The vehicle acquires camera data and radar data information corresponding to the target vehicle collected by the vehicle itself. The radar data information includes first radar information collected based on millimeter-wave radar and / or second radar information collected based on lidar. Based on the camera data and radar data, the driving status information of the target vehicle is determined.

7. A control device for vehicle auxiliary braking, characterized in that, include: The acquisition module is configured to acquire the driving status information of a target vehicle, wherein the target vehicle is a vehicle traveling directly in front of the current vehicle, and the driving status information includes driving information and indicator light information, wherein the indicator light information is turn signal information; The determination module is configured to determine whether the driving information meets the abnormal lane change conditions; if the driving information meets the abnormal lane change conditions, and the turn signal information is on, then the target vehicle is determined to be in an abnormal state; if the turn signal information is off, then the driving status information of the target vehicle is continuously acquired for a first preset duration, and if the driving information in the continuously acquired driving status information meets the abnormal lane change conditions, then the target vehicle is determined to be in an abnormal state. The first control module is configured to control the vehicle's braking system to pre-fill the braking pressure when it is determined that the target vehicle is in an abnormal state, wherein the braking pressure is used to provide braking assistance to the vehicle.

8. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: Obtain the driving status information of the target vehicle, wherein the target vehicle is the vehicle driving directly in front of the current vehicle, and the driving status information includes driving information and indicator light information, wherein the indicator light information is turn signal information; Determine whether the driving information meets the abnormal lane change conditions; If the driving information meets the abnormal lane change conditions, and the turn signal is on, then the target vehicle is determined to be in an abnormal state. If the turn signal information is off, the driving status information of the target vehicle is continuously acquired for a first preset duration, and if the driving information in the continuously acquired driving status information meets the abnormal lane change conditions, the target vehicle is determined to be in an abnormal state. If it is determined that the target vehicle is in an abnormal state, the braking system of the vehicle is controlled to pre-fill the braking pressure, wherein the braking pressure is used to provide braking assistance to the vehicle.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When executed by a processor, the program instructions implement the steps of the method described in any one of claims 1 to 6.

10. A chip, characterized in that, It includes a processor and an interface; the processor is used to read instructions to execute the method of any one of claims 1 to 6.

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