Vehicle brake control method, device, equipment and computer readable storage medium

Abstract

Embodiments of the present application disclose a vehicle braking control method, device, equipment and computer readable storage medium; a dangerous area on a driving path of a target vehicle can be determined, the dangerous area being an area extending from a line-of-sight blind area to the driving path direction; when it is identified that the dangerous area contains a target object, displacement state information of the target object is collected, and a predicted time length when the target object moves to a predicted path position in the driving path is evaluated according to the displacement state information; a driving state parameter of the target vehicle is obtained, and a predicted driving position of the target vehicle in the predicted time length is calculated according to the driving state parameter; when it is detected that a target distance value between the predicted driving position and the predicted path position is less than a preset distance threshold, an emergency braking strategy is controlled to be performed by the target vehicle before a preset distance from the dangerous area. In this way, the phenomenon of frequent braking under non-emergency conditions can be avoided, the generation of invalid braking is reduced, and the experience of vehicle passengers is ensured.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to a vehicle braking control method, device, equipment, and computer-readable storage medium. Background Technology

[0002] The driving environment for automobiles is becoming increasingly complex due to the diversification of roads and buildings, necessitating continuous improvements in vehicle performance. Emergency braking is a crucial technology in automobiles, enabling vehicles to brake suddenly when encountering pedestrians or obstacles, ensuring safety during driving. Existing technologies use sensors to identify sudden emergencies such as pedestrians or obstacles and, upon detection, employ emergency braking strategies to control the vehicle's braking and ensure driving safety.

[0003] However, while current technology can achieve some degree of vehicle braking control when identifying sudden pedestrians or obstacles through relevant sensors, it can still misjudge an emergency when a pedestrian is far away from the vehicle, causing the vehicle to adopt an emergency braking strategy. This can easily lead to the vehicle braking frequently in non-emergency situations, resulting in ineffective emergency braking and affecting the experience of vehicle occupants. Summary of the Invention

[0004] This application provides a vehicle braking control method, device, equipment, and computer-readable storage medium, which can avoid frequent braking in non-emergency situations, reduce the occurrence of ineffective braking, and ensure the experience of vehicle occupants.

[0005] This application provides a vehicle braking control method, including:

[0006] Identify the danger zone along the target vehicle's driving path, whereby the danger zone is the area extending from the blind spot in the direction of the driving path;

[0007] When the danger zone is identified to contain a target object, the displacement state information of the target object is collected, and the predicted time when the target object moves to the predicted path position in the driving path is evaluated based on the displacement state information.

[0008] Obtain the driving status parameters of the target vehicle, and calculate the predicted driving position of the target vehicle during the predicted time period based on the driving status parameters;

[0009] When the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold, the target vehicle is controlled to perform an emergency braking strategy before it is a preset distance away from the danger zone.

[0010] Accordingly, embodiments of this application provide a vehicle braking control device, including:

[0011] The determining unit is used to determine the dangerous area on the driving path of the target vehicle, wherein the dangerous area is the area extending from the blind spot in the direction of the driving path;

[0012] The evaluation unit is used to collect the displacement state information of the target object when the danger zone is identified to contain the target object, and to evaluate the predicted time when the target object moves to the predicted path position in the driving path based on the displacement state information.

[0013] A calculation unit is used to obtain the driving state parameters of the target vehicle and calculate the predicted driving position of the target vehicle during the predicted time period based on the driving state parameters.

[0014] The control unit is configured to control the target vehicle to perform an emergency braking strategy before it is at a preset distance from the danger zone when the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold.

[0015] In some embodiments, the evaluation unit is further configured to:

[0016] Based on the displacement state information, the current initial position, displacement direction, and displacement velocity of the target object are determined;

[0017] When it is detected that the displacement direction intersects with the driving direction of the driving path, the displacement of the target object to the predicted path position in the driving path is calculated according to the displacement direction;

[0018] Based on the displacement velocity and initial position, the predicted time when the target object is displaced to the predicted path position is evaluated.

[0019] In some embodiments, the control unit is further configured to:

[0020] Select a target path location located at a preset distance before the danger zone from the driving path;

[0021] The target path location is determined as the braking trigger location, and when the target vehicle travels to the braking trigger location according to the preset driving path, the target vehicle is controlled to execute an emergency braking strategy.

[0022] In some embodiments, the vehicle braking control device further includes a logic building unit for:

[0023] Obtain the preset driving control logic corresponding to the driving path;

[0024] The emergency braking logic corresponding to the braking trigger position is constructed in the preset driving control logic to obtain the updated target driving control logic.

[0025] The control unit is further configured to, when detecting that the target vehicle has traveled to the braking trigger position, control the target vehicle to execute an emergency braking strategy according to the target driving control logic.

[0026] In some embodiments, the control unit is further configured to:

[0027] Query the preset braking events associated with the emergency braking command from the preset braking event library, and obtain the initial control logic path corresponding to the preset driving control logic;

[0028] Based on the braking trigger position, virtual interception detection information corresponding to the preset braking event is constructed in the initial control logic path;

[0029] A mapping relationship is established between the virtual interception detection information and the emergency braking command to obtain the updated target driving control logic.

[0030] In some embodiments, the determining unit is further configured to:

[0031] Collect the scene area located in front of the target vehicle's driving path;

[0032] Determine a preset blind spot in front of the target vehicle's direction of travel from a preset navigation map;

[0033] The overlapping area between the scene area and the preset blind spot is determined, and the overlapping area is identified as a danger zone.

[0034] In some embodiments, the vehicle braking control device further includes a detection unit for:

[0035] Detect whether there are any living objects within the danger zone;

[0036] If a live object is detected in the danger zone, the detection duration of the live object in the danger zone is determined.

[0037] When the detection duration is less than a preset detection duration threshold, the living object is identified as the target object to be decided.

[0038] In some embodiments, the control unit is further configured to:

[0039] When the target distance between the predicted driving position and the predicted path position is detected to be greater than the preset threshold, the target vehicle is controlled to drive on the driving path according to the driving state parameters.

[0040] Furthermore, this application also provides a computer device, including a processor and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the steps in the vehicle braking control method provided in this application.

[0041] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor to execute steps in any of the vehicle braking control methods provided in embodiments of this application.

[0042] Furthermore, embodiments of this application also provide a computer program product, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps in any of the vehicle braking control methods provided in embodiments of this application.

[0043] This application embodiment can determine the dangerous area on the driving path of the target vehicle. The dangerous area is the area extending from the blind spot in the direction of the driving path. When the dangerous area is identified to contain the target object, the displacement state information of the target object is collected, and the predicted time when the target object moves to the predicted path position in the driving path is evaluated based on the displacement state information. The driving state parameters of the target vehicle are obtained, and the predicted driving position of the target vehicle in the predicted time is calculated based on the driving state parameters. When the target distance value between the predicted driving position and the predicted path position is detected to be less than a preset distance threshold, the target vehicle is controlled to execute an emergency braking strategy before it is a preset distance away from the dangerous area. Therefore, this solution can first identify dangerous areas with sudden risks along the vehicle's travel direction. When a target object requiring emergency braking is detected in this dangerous area, the predicted time required for the target object to move to the predicted displacement position on the vehicle's travel path is evaluated. The predicted travel position of the target vehicle after the predicted time is determined. Based on the target distance between the predicted travel position and the predicted displacement position, it is determined whether there is a sudden safety hazard relative to the target vehicle's travel process. If the target distance is less than a preset distance threshold, a sudden safety hazard is identified, and the target vehicle is controlled to execute an emergency braking strategy before entering the dangerous area. This avoids frequent braking in non-emergency situations, reduces ineffective braking, and ensures the experience of vehicle occupants. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of a vehicle braking control system provided in an embodiment of this application;

[0046] Figure 2 This is a flowchart illustrating the steps of the vehicle braking control method provided in the embodiments of this application;

[0047] Figure 3 This is a schematic flowchart of another step of the vehicle braking control method provided in the embodiments of this application;

[0048] Figure 4 This is a schematic diagram of a dangerous area provided in an embodiment of this application;

[0049] Figure 5 This is a scenario analysis diagram of the vehicle braking control method provided in the embodiments of this application;

[0050] Figure 6 This is a schematic diagram of a scenario where the target vehicle performs emergency braking, as provided in an embodiment of this application.

[0051] Figure 7 This is a schematic diagram of the vehicle braking control device provided in the embodiments of this application;

[0052] Figure 8 This is a schematic diagram of the structure of the computer device provided in the embodiments of this application. Detailed Implementation

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] This application provides a vehicle braking control method, apparatus, device, and computer-readable storage medium. This application will describe the vehicle braking control device from the perspective of a vehicle braking control device, which can be integrated into a computer device. This computer device can be a terminal device, specifically a terminal device mounted on a transportation vehicle, i.e., an in-vehicle terminal. The in-vehicle terminal can be a television, smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smartwatch, smart wearable device, etc., mounted on the transportation vehicle or a simulated transportation vehicle, or it can be an automatic sweeping robot or an equivalent terminal device, but is not limited to these.

[0055] For example, see Figure 1 This is a schematic diagram of a vehicle braking control system provided in an embodiment of this application. The scenario includes a terminal or a server.

[0056] Specifically, the terminal can be an in-vehicle terminal used to determine dangerous areas on the target vehicle's driving path. The dangerous area is the area extending from the blind spot in the direction of the driving path. When the dangerous area is identified to contain a target object, the displacement state information of the target object is collected, and the predicted time when the target object moves to the predicted position in the driving path is evaluated based on the displacement state information. The driving state parameters of the target vehicle are obtained, and the predicted driving position of the target vehicle in the predicted time is calculated based on the driving state parameters. When the target distance value between the predicted driving position and the predicted path position is detected to be less than a preset distance threshold, the target vehicle is controlled to execute an emergency braking strategy before it is a preset distance from the dangerous area.

[0057] It should be noted that when the vehicle braking control system includes both an onboard terminal and a server, a communication connection can be established between the onboard terminal and the server. The server can receive the positioning information sent by the terminal in real time and determine the danger zone on the target vehicle's driving path based on the positioning information. The danger zone is the area extending from the blind spot in the direction of the driving path. The server receives the target object detection results sent by the terminal and, when it detects that the danger zone contains the target object, it collects the displacement state information of the target object through the terminal and evaluates the predicted time when the target object will move to the predicted position in the driving path based on the displacement state information. The server requests the driving state parameters of the corresponding target vehicle from the terminal and calculates the predicted driving position of the target vehicle within the predicted time based on the driving state parameters. When the server detects that the target distance value between the predicted driving position and the predicted path position is less than a preset distance threshold, it controls the target vehicle to execute an emergency braking strategy before it is at a preset distance from the danger zone.

[0058] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0059] In this embodiment, the description will focus on a vehicle braking control device, which can be integrated into a computer device such as a terminal device or a server. See also Figure 2 , Figure 2 This is a flowchart illustrating the steps of a vehicle braking control method provided in an embodiment of this application. Taking a terminal device as an example, which is a terminal mounted on a vehicle, the specific flow of the vehicle braking control method when the processor on the terminal device executes the program corresponding to the vehicle braking control method is as follows:

[0060] 101. Identify the hazardous areas along the target vehicle's travel path.

[0061] This application embodiment can be applied to emergency braking scenarios where an obstacle suddenly appears. The "sudden appearance of an obstacle" scenario can be understood as a situation where an object suddenly appears in or around the vehicle's path. For example, if there is a wall or other obstruction to the left (right) front or rear side of the vehicle, this wall or obstruction will block the driver's view to the front, and the area related to the wall or obstruction can be considered a blind spot. When the vehicle is within a predetermined range of the wall or obstruction, if a living object (person or animal) suddenly moves from behind the wall or obstruction into or near the vehicle's path, this scenario is considered a "sudden appearance of an obstacle" scenario, which can easily cause sudden accidents during vehicle operation and pose a safety hazard. Therefore, this application embodiment implements an emergency braking strategy for this "sudden appearance of an obstacle" scenario to reduce the accident rate and minimize the occurrence of accidents in this scenario.

[0062] In this embodiment of the application, for the scenario of "sudden appearance of an interceptor" during vehicle operation, the area with potential safety hazards corresponding to the scenario can be identified first, and when the target object is detected in the area, it can be determined whether to use an emergency braking strategy to control the vehicle to perform emergency braking.

[0063] The target vehicle may be equipped with an on-board terminal that can implement a "vehicle braking control" scheme.

[0064] The danger zone can be the area corresponding to the scenario of "sudden appearance of an obstruction". Specifically, the danger zone is the area that extends from the front or rear side of the target vehicle's driving direction in a direction perpendicular to the vehicle's driving path. In other words, the danger zone is the area that extends from the blind spot in the direction of the driving path.

[0065] In some implementations, it is necessary to determine the danger zone based on the driving scenario of the target vehicle and a map. For example, step 101, "determine the danger zone on the driving path of the target vehicle," may include: collecting the scene area located in front of the driving path of the target vehicle; determining the preset blind spot located in front of the driving direction of the target vehicle from the preset navigation map; determining the overlapping area between the scene area and the preset blind spot, and defining the overlapping area as the danger zone.

[0066] The scene area can be the scene area located in front of the target vehicle in the direction of travel during the real-time driving process, such as the scene area on the left front side or the scene area on the right front side of the target vehicle's forward driving path, or the scene area on the left front side or the scene area on the right front side of the target vehicle's backward driving path.

[0067] The preset navigation map can be a high-precision map or a regular navigation map. This map contains layout information of fixed objects, roads, and lanes in the real-world scene, such as building, landmark, and road information. For example, in a parking lot scenario, the preset navigation map could include the distribution information of buildings (walls, square columns, round columns), parking lanes, etc., within the target parking lot.

[0068] The preset blind spot can be a blind spot located at the edge of a preset lane or within a preset distance. The blind spot is determined by walls, other buildings or obstructions in the real scene. Specifically, it can be a partial area of ​​visual obstruction behind a wall, other building or obstruction. In addition, the preset blind spot can also be an area where the partial area of ​​visual obstruction extends perpendicular to the preset lane.

[0069] Specifically, to determine the danger zone corresponding to the scenario of "sudden appearance of an obstacle" while the target vehicle is traveling, this embodiment of the application can collect the scene area in front of the vehicle's travel path direction using infrared sensors or cameras in the target vehicle. Specifically, this can be the scene area to the front side of the target vehicle's current travel direction, which can be either forward or backward. Then, a preset blind spot corresponding to the front side of the target vehicle's travel path direction is obtained from a preset navigation map, and the blind spot in the target vehicle's travel direction is determined based on the distribution of scene entities on the map. Finally, the scene area is merged with the preset blind spot, causing them to overlap, and the overlapping area is determined as the danger zone of the target vehicle in its travel direction. It should be noted that since the "sudden appearance of an interceptor" scenario refers to the blind spot in the direction of travel of the target vehicle appearing on or near the path of travel within a short period of time (e.g., 2 seconds), it is necessary to combine the scene area in front of the target vehicle's path of travel with the preset blind spot to determine the danger zone, so as to exclude other objects that do not belong to the "sudden appearance of an interceptor" scenario area, thereby effectively avoiding the target vehicle from frequently triggering the emergency braking strategy automatically during driving, which would affect the experience of the vehicle occupants.

[0070] In some implementations, the blind spot of the target vehicle in the driving direction can be determined based on the distribution of scene entities in the map. The specific process is as follows: obtain the layout information of scene entities located in front of the target vehicle in the current driving path direction in the preset navigation map, and when the scene entity layout information contains a pre-calibrated obstruction, determine that the pre-calibrated obstruction is at the target position, determine the visible angle between the target vehicle and the pre-calibrated obstruction based on the target position of the pre-calibrated obstruction, the current driving position of the target vehicle and the driving path direction, and when the visible angle is detected to be less than a preset angle threshold, determine the area located behind the pre-calibrated obstruction and extending vertically to the driving path as the preset blind spot.

[0071] By using the above methods, a dangerous area located in front of the target vehicle's direction of travel can be identified. This dangerous area can then be used as a key area of ​​focus for the target vehicle during its travel. It can be understood as the decision area for the target vehicle to implement an emergency braking strategy in its current direction of travel, so as to decide whether the target vehicle should perform emergency braking in front of this area.

[0072] In this application, after identifying the danger zone located in front of the target vehicle's direction of travel, target object detection can be performed on the current danger zone. Specifically, the target vehicle's infrared sensors, cameras, and / or thermal imagers can be used to detect whether the danger zone contains the target object that needs to be decided. The type of the target object is not limited to living objects (such as people or animals), motorized equipment (such as intelligent robots or robot dogs), or other moving equipment carriers. Then, based on the detection results of the target object, a decision is made on whether the target vehicle should subsequently trigger an emergency braking strategy.

[0073] In some implementations, taking a living object as the target object as an example, the process of detecting the target object can be as follows: detecting whether a living object exists in the danger zone; if a living object is detected in the danger zone, determining the detection duration of the living object in the danger zone; when it is identified that the detection duration is less than a preset detection duration threshold, the living object is identified as the target object to be decided.

[0074] When detecting the presence of a living object in a dangerous area, a pre-set liveness detection model can be used. For example, a target image of the dangerous area can be acquired in real time using the target vehicle's camera. Then, the target image and the location to be confirmed are input into the pre-set liveness detection model, which uses image depth processing to obtain the depth information corresponding to the target image and determines whether a living object exists based on the depth information. Alternatively, other methods can be used to detect the presence of a living object, which are not limited here.

[0075] It should be noted that when a live object is detected in a danger zone, its suitability for decision-making can be determined based on the duration of its observation within that zone. Specifically, when a live object is detected in a danger zone ahead of the vehicle while it is in motion, the duration for which the object was observed (i.e., the detection duration) is calculated and compared to a preset detection duration threshold. This comparison determines whether the object represents a suddenly appearing entity. Furthermore, if the detection duration is less than the preset threshold, it indicates that the object has been in the driver's line of sight for a relatively short time, meaning it has been detected by the relevant sensors in the vehicle for a short period. In this case, the object can be defined as a target in a "suddenly appearing interceptor" scenario, thus requiring decision-making.

[0076] In addition, when determining whether there is a target object requiring decision-making in a dangerous area, the specific process can also be as follows: when a live object is detected in the dangerous area, the detection time of the live object in the dangerous area is determined, and if the detection time is less than a preset detection time threshold, the live object is further detected to see if it is in motion. When the live object is detected to be in motion, the live object is identified as the target object to be decided.

[0077] By identifying target objects within the danger zone that require decision-making, it becomes possible to determine whether to implement an emergency braking strategy for the target vehicle based on the target object's motion state.

[0078] 102. When a dangerous area is identified to contain a target object, the displacement status information of the target object is collected, and the predicted time when the target object moves to the predicted position in the driving path is evaluated based on the displacement status information.

[0079] In this embodiment of the application, for the target object to be decided, it can be determined whether it is in motion and the direction of motion based on the displacement of the target object within a preset time, and the time it may take for the target object to move to the path of the target vehicle's driving direction can be predicted, so as to subsequently determine whether to control the target vehicle to execute an emergency braking strategy.

[0080] It should be noted that when the target object is stationary, it will not affect the normal driving of the target vehicle; therefore, there is no need to control the target vehicle to execute an emergency braking strategy. For a target object in motion, it is necessary to determine whether the movement of the target object poses a potential safety hazard to the driving of the target vehicle, and thus determine whether it is necessary to control the target vehicle to execute an emergency braking strategy.

[0081] The displacement state information may include the target object's direction of motion, speed of motion, and initial position at the current moment.

[0082] Specifically, when a target object is identified within a hazardous area, its movement can be detected. This can be determined by observing the object's swaying motion; for a living object, this can be determined by observing its limb movements. Alternatively, it can be determined by observing whether the object displaces within a preset timeframe (e.g., 0.5 seconds, 1 second). Furthermore, once the object is determined to be moving, its displacement information within the preset timeframe can be collected. This displacement information is then used to assess the time required for the object to align with the target vehicle's path, i.e., the predicted time, to subsequently determine whether to implement an emergency braking strategy for the target vehicle.

[0083] In some implementations, the displacement direction and velocity of the target object can be determined based on the displacement state information, thereby estimating the time it takes for the target object to move onto the target strategy's travel path based on the displacement direction and velocity. For example, step 102, "estimating the predicted time for the target object to move to the target path position in the travel path based on the displacement state information," may include: determining the target object's current initial position, displacement direction, and displacement velocity based on the displacement state information; when an intersection of the displacement direction and the travel direction of the travel path is detected, calculating the predicted path position of the target object in the travel path according to the displacement direction; and estimating the predicted time for the target object to move to the predicted path position based on the displacement velocity and the initial position.

[0084] Specifically, after obtaining the displacement state information of the target object, the initial position, displacement direction, and displacement velocity of the target object at the current moment can be determined from this information. A virtual displacement path of the target object is then extended according to this displacement direction to determine whether the virtual displacement path intersects with the driving direction of the vehicle's path. Furthermore, if the virtual displacement path intersects with the driving path, it is determined that the displacement direction of the target object intersects with the driving direction of the target vehicle. At this point, it is necessary to determine whether there is a risk of collision between the target object and the target vehicle. To this end, the position of the target object on the path leading to the target vehicle's driving direction can be predicted according to this displacement direction, i.e., the predicted path position. Further, the displacement distance between the initial position and the predicted path position can be determined. Based on the displacement distance and displacement velocity, the time required for the target object to move to the predicted path position can be calculated, and this predicted time can be used to determine the subsequent driving position of the target vehicle.

[0085] By using the above methods, it is possible to predict the time required for the target object to move to the path of the target vehicle in the direction of travel, and then determine the position of the target vehicle after the predicted time, so as to determine whether to control the target vehicle to execute an emergency braking strategy.

[0086] 103. Obtain the driving status parameters of the target vehicle, and calculate the predicted driving position of the target vehicle within the predicted time based on the driving status parameters.

[0087] To determine whether it is necessary to control the target vehicle to execute an emergency braking strategy, this embodiment of the application, after assessing the predicted time of the target object's displacement to the target vehicle's driving direction, can obtain the target vehicle's current driving state parameters. These driving state parameters are not limited to parameters such as the target vehicle's driving speed and driving direction. Then, based on the target vehicle's current driving speed, driving direction, and the assessed predicted time, the predicted driving position is calculated, which is the path position it will reach after the predicted time. This predicted driving position is then combined with the predicted path position of the target object to determine whether it is necessary to control the target vehicle to execute an emergency braking strategy.

[0088] It should be noted that after calculating the predicted driving position of the target vehicle after the predicted duration, the target distance value between the predicted driving position of the target vehicle and the predicted path position of the target object can be used to determine whether there is a collision risk between the target object and the target vehicle after the predicted duration. Specifically, the target distance value is compared with a pre-set distance threshold to determine whether it is necessary to control the target vehicle to implement an emergency braking strategy. In this way, for the phenomenon that there is a target object in a dangerous area ahead of the target vehicle, by predicting whether there is a collision risk between the target vehicle and the target object, it can be determined whether it is necessary to control the target vehicle to implement an emergency braking strategy, thereby effectively reducing the frequency of emergency braking of the target vehicle and improving the experience of vehicle occupants.

[0089] 104. When the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold, control the target vehicle to execute an emergency braking strategy before it is a preset distance from the danger zone.

[0090] In this embodiment, when the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold, it indicates that, based on the current motion state of the target object and the target vehicle, the distance between them is relatively close after the predicted time. For example, the target object is located within a preset range (e.g., 1 meter, 2 meters, 3 meters, etc.) in front of the target vehicle's driving direction path, or the target object is located within a preset range (e.g., 1 meter, 2 meters, 3 meters, etc.) behind the target vehicle's driving direction path. That is, the target vehicle has not moved away from the target object on the driving path. Therefore, for any of the above situations, it can be determined that the target object currently in the danger zone will cause a driving safety accident to the target vehicle in motion. Therefore, it is necessary to control the target vehicle to execute an emergency braking strategy.

[0091] In some implementations, to improve the safety of the target vehicle during driving, it is necessary to complete emergency braking before the target vehicle reaches the path position corresponding to the danger zone. For this purpose, the emergency braking position of the target vehicle can be set. For example, the step 104 of "controlling the target vehicle to execute an emergency braking strategy before reaching a preset distance from the danger zone" may include: (104.1) selecting a target path position located at a preset distance from the danger zone from the driving path; (104.2) determining the target path position as the braking trigger position, and controlling the target vehicle to execute the emergency braking strategy when the target vehicle travels to the braking trigger position according to the preset driving path.

[0092] Specifically, to avoid delays in emergency braking of the target vehicle, a target path location located before the danger zone can be selected within the target vehicle's travel path. Specifically, the target path location can be chosen at a predetermined distance from the danger zone within the road segment between the danger zone and the target vehicle's current position. This target path location is then determined as the braking trigger point for the target vehicle's emergency braking strategy, and the vehicle's progress is monitored. Upon detecting that the target vehicle has reached this braking trigger point, the emergency braking strategy is executed. For example, in an autonomous driving scenario, the travel path can be pre-planned. When the target vehicle travels along the pre-planned path to the braking trigger point, the emergency braking strategy can be executed.

[0093] In some implementations, to enable the emergency braking strategy to be executed at the braking trigger position along the target vehicle's travel path, the target vehicle's driving control logic can be modified to embed braking logic. For example, before step (104.2), the following steps may be included: (104.2.a.1) obtaining the preset driving control logic corresponding to the travel path; (104.2.a.2) constructing the emergency braking logic corresponding to the braking trigger position in the preset driving control logic to obtain the updated target driving control logic. Then step (104.2) may include: when the target vehicle is detected to have traveled to the braking trigger position, controlling the target vehicle to execute the emergency braking strategy according to the target driving control logic.

[0094] The preset driving control logic can be the control logic for the target vehicle during its driving process. It is used to control the target vehicle to perform driving operations according to the preset driving path and to execute relevant vehicle event services during the driving process. For example, during the autonomous or non-autonomous driving process of the target vehicle, the relevant user can preset the destination position of the target vehicle, so that the on-board terminal can pre-generate a driving path based on the current vehicle position and the preset destination position. The pre-generated driving path has corresponding driving control logic to prompt the driver's driving operation, such as prompting the driver to control the target vehicle to drive straight for a preset distance, turn and turn on the turn signal, pay attention to traffic light precautions, traffic violation camera prompts, etc., or to control the target vehicle to perform autonomous driving according to the generated driving path and execute relevant vehicle service events such as deceleration, turning on the turn signal, and honking the horn. The above is only an example and is not limited here.

[0095] Specifically, the emergency braking logic can be a control logic path that controls the target vehicle to perform emergency braking. When the on-board terminal reaches this emergency braking logic according to the control logic path, it instructs the target vehicle to execute the emergency braking strategy.

[0096] Specifically, in order to execute an emergency braking strategy at the braking trigger position on the target vehicle's driving path, this embodiment of the application can obtain a preset driving control logic corresponding to a pre-set driving path, and parse the preset driving control logic to obtain a sequence of control position points in the driving path. This sequence of control position points includes multiple path position points. Then, the control position point sequence is queried to see if it contains a target control position point corresponding to the braking trigger position. If it is not found, the braking trigger position is added to the corresponding sorting position in the control position point sequence to obtain an updated target control position point sequence. Next, the control logic path in the preset driving control logic is updated according to the control position point order of the braking trigger position in the target control position point sequence. Specifically, an emergency braking strategy is added / embedded in the logic path corresponding to the control position point order. This can be understood as establishing an emergency braking strategy in the relevant control sequence in the control logic path to obtain the target driving control logic. For example, the control logic path is "go straight for 100 meters -- turn right -- go straight for 300 meters -- arrive at the destination", and the braking trigger position is located in the driving path segment of "go straight for 100 meters" and the path of "turn right". Between the "go straight for 100 meters" sub-control logic and the "turn right" sub-control logic, an emergency braking strategy is added, resulting in an updated target control logic path of "go straight for 100 meters -- emergency braking -- turn right -- go straight for 300 meters -- reach the destination". Alternatively, if the braking trigger point is located at the 70-meter mark of the "go straight for 100 meters" path, the updated target control logic path is "go straight for 70 meters -- emergency braking -- go straight for 30 meters -- turn right -- go straight for 300 meters -- reach the destination", and this target control logic path is used as the target driving control logic. Finally, when the target vehicle is detected to have reached the braking trigger point, the target driving control logic is used to control the target vehicle to execute an emergency braking strategy, enabling the target vehicle to brake before reaching the danger zone, thus addressing the "sudden appearance of an obstacle" scenario and improving driving safety.

[0097] In some implementations, step (104.2.a.2) "constructing emergency braking logic corresponding to the braking trigger position in the preset driving control logic to obtain the updated target driving control logic" may include: querying the preset braking event associated with the emergency braking command from the preset braking event library, and obtaining the initial control logic path corresponding to the preset driving control logic; constructing virtual intercept detection information corresponding to the preset braking event in the initial control logic path based on the braking trigger position; establishing a mapping relationship between the virtual intercept detection information and the emergency braking command to obtain the updated target driving control logic.

[0098] The preset braking event can be an event that triggers braking in response to an emergency during vehicle operation. It can be understood as an emergency braking event detected by the target vehicle during operation, and this event can be preset and stored in a braking event database. For example, the emergency braking event could be the appearance of an obstacle ahead, such as a wall, pedestrian, animal, or barrier. When the target vehicle detects this emergency event, it needs to execute an emergency braking strategy.

[0099] Specifically, when constructing an emergency braking strategy within the preset driving control logic, the preset braking event that requires the target vehicle to execute the emergency braking strategy can be determined first. Then, the preset driving control logic is parsed to obtain the corresponding initial control logic path. Virtual obstacle detection information is added to the control logic sequence corresponding to the braking trigger position within the initial control logic path. This virtual obstacle detection information can be understood as the detection of an obstacle at the braking trigger position; it can be a "virtual wall," thus representing the emergency braking event of a detected real obstacle in a virtual way. Next, by establishing the mapping relationship between this virtual obstacle detection information and the emergency braking command, the updated target driving control logic is obtained. In this way, the emergency braking strategy is constructed within the preset driving control logic, enabling the target vehicle to execute the emergency braking strategy at the braking trigger position.

[0100] In some implementations, when the target distance between the predicted driving position and the predicted path position is detected to be greater than a preset threshold, the target vehicle is controlled to travel along the driving path based on driving state parameters. Specifically, when the target distance between the predicted driving position and the predicted path position is detected to be greater than the preset threshold, it indicates that, based on the current motion state of the target vehicle and the target object, the distance between them after the prediction time is relatively large. This means that the target object currently in the danger zone will not cause a driving safety accident to the moving target vehicle. Therefore, the target vehicle can be controlled to travel along the driving path based on the driving state parameters. This effectively reduces unnecessary emergency braking during the target vehicle's movement, lowers the risk of emergency braking, and improves the passenger experience.

[0101] By using the above methods, it is possible to predict whether there is a collision risk between the target vehicle and the target object, thereby determining whether it is necessary to control the target vehicle to implement an emergency braking strategy, so as to effectively reduce the frequency of emergency braking of the target vehicle and improve the experience of vehicle occupants.

[0102] As can be seen from the above, the embodiments of this application can determine the dangerous area on the driving path of the target vehicle. The dangerous area is the area extending from the blind spot in the direction of the driving path. When the dangerous area is identified to contain the target object, the displacement state information of the target object is collected, and the predicted time when the target object moves to the predicted path position in the driving path is evaluated based on the displacement state information. The driving state parameters of the target vehicle are obtained, and the predicted driving position of the target vehicle in the predicted time is calculated based on the driving state parameters. When the target distance value between the predicted driving position and the predicted path position is detected to be less than a preset distance threshold, the target vehicle is controlled to execute an emergency braking strategy before it is a preset distance away from the dangerous area. Therefore, this solution can first identify dangerous areas with sudden risks along the vehicle's travel direction. When a target object requiring emergency braking is detected in this dangerous area, the predicted time required for the target object to move to the predicted displacement position on the vehicle's travel path is evaluated. The predicted travel position of the target vehicle after the predicted time is determined. Based on the target distance between the predicted travel position and the predicted displacement position, it is determined whether there is a sudden safety hazard relative to the target vehicle's travel process. If the target distance is less than a preset distance threshold, a sudden safety hazard is identified, and the target vehicle is controlled to execute an emergency braking strategy before entering the dangerous area. This avoids frequent braking in non-emergency situations, reduces ineffective braking, and ensures the experience of vehicle occupants.

[0103] Based on the method described in the above embodiments, the following examples will provide further detailed explanations.

[0104] This application uses a vehicle braking control device as an example to further describe the vehicle braking control method provided in this application. Among them, Figure 3 This is a schematic flowchart of another step in the vehicle braking control method provided in this application embodiment. Figure 4 This is a schematic diagram of a dangerous area provided in an embodiment of this application; Figure 5 This is a scenario analysis diagram of the vehicle braking control method provided in the embodiments of this application. Figure 6 This is a schematic diagram of a scenario where the target vehicle performs emergency braking, as provided in an embodiment of this application. For ease of understanding, this embodiment of the application incorporates... Figure 3-6 Describe it.

[0105] In this embodiment, the description will focus on a vehicle braking control device, which can be integrated into a computer device such as an in-vehicle terminal. When the processor on the in-vehicle terminal executes the program instructions corresponding to the vehicle braking control method, the specific flow of the vehicle braking control method is as follows:

[0106] 201. Collect the scene area located in front of the target vehicle's driving path.

[0107] 202. Determine the preset blind spot in front of the target vehicle's driving direction from the preset navigation map.

[0108] 203. Determine the overlapping area between the scene area and the preset blind spot, and identify the overlapping area as the danger zone.

[0109] 204. When a live object awaiting decision is detected within a hazardous area, determine the detection duration of the live object within the hazardous area.

[0110] 205. When the detection duration is less than the preset detection duration threshold, the live object is identified as the target object to be decided.

[0111] 206. Collect the displacement status information of the target object, and evaluate the prediction time when the target object moves to the predicted position in the driving path based on the displacement status information.

[0112] 207. Obtain the driving status parameters of the target vehicle, and calculate the predicted driving position of the target vehicle within the predicted time based on the driving status parameters.

[0113] Specifically, after calculating the predicted driving position of the target vehicle after the predicted time, the target distance value between the predicted driving position of the target vehicle and the predicted path position of the target object can be determined. The target distance value is then compared with a preset distance threshold to determine whether to control the target vehicle to execute an emergency braking strategy based on the comparison result. For example, when the target distance value is less than the preset distance threshold, step 208 is executed; when the target distance value is greater than or equal to the preset distance threshold, step 209 is executed.

[0114] 208. When the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold, control the target vehicle to execute an emergency braking strategy before it is a preset distance from the danger zone.

[0115] 209. When the target distance between the predicted driving position and the predicted path position is detected to be greater than a preset threshold, the target vehicle is controlled to drive on the driving path according to the driving status parameters.

[0116] It should be noted that the description of the embodiments regarding process steps 201-209 is the same as or equivalent to the description of the previous embodiment. For details, please refer to the description of the previous embodiment, which will not be repeated here.

[0117] To facilitate understanding of the embodiments of this application, specific application scenario examples will be used to describe the embodiments of this application. Specifically, by performing the above steps 201-209, and in conjunction with... Figures 4-6The following describes an example of this application scenario. Taking vehicle braking control based on autonomous driving as an example, such as vehicle braking control in a parking lot, the specific application scenario example is as follows:

[0118] In this vehicle braking control application scenario, the application process mainly includes: (1) identifying the danger zone; (2) identifying the target object to be decided within the danger zone; (3) predicting whether there is a collision risk between the target object and the target vehicle; and (4) executing the emergency braking strategy. Specifically, as follows:

[0119] (1) When determining the danger zone, first determine the Vehicle Region of Interest (vROI). "Vehicle" can be understood as the target vehicle itself, and the vROI is the area located in front of the target vehicle. See details... Figure 4 Region 10 represents the region of interest for the vehicle; furthermore, the map region of interest (mROI) located in front of the target vehicle's driving direction is determined from the preset navigation map. This map region of interest is the aforementioned preset blind spot. Figure 4 Region 20 is used as the reference point. Finally, the overlapping area between the vehicle's region of interest and the map's region of interest is taken as the decision region of interest (ROI), which is the danger zone.

[0120] (2) When determining the target object to be decided in the danger zone, it can be determined based on the duration of the object's presence in the danger zone. For example, taking a pedestrian as an example, if a pedestrian appears in the danger zone and is detected for a duration less than the preset detection duration (such as 3 seconds), then the pedestrian is determined as the target object to be decided.

[0121] (3) When predicting whether there is a collision risk between a target object and a target vehicle, the main focus is on predicting whether the target object and the vehicle will reach the same location on the vehicle's travel path at the same time, thereby determining whether a collision risk exists. For example, taking a pedestrian as the target object to be decided, assuming the pedestrian is walking at a target walking speed (e.g., 2 m / s) in the direction the vehicle is traveling, it is predicted that the pedestrian will reach the center of the road in x seconds, and the vehicle will reach position y in x seconds; see [link to relevant documentation]. Figure 5As shown, if the pedestrian reaches the center of the road far behind position y, it means that when the pedestrian reaches the center of the road at the target walking speed, the vehicle has already moved away from the pedestrian, and there is no driving safety hazard. In this case, the vehicle can be directly controlled not to execute the emergency braking strategy. Conversely, if the pedestrian reaches the center of the road close to position y, such as within 5 meters, it means that when the pedestrian reaches the center of the road at the target walking speed, the vehicle has not moved away from the pedestrian. In this case, there is a driving safety hazard, and the vehicle needs to be controlled not to execute the emergency braking strategy.

[0122] (4) When implementing emergency braking strategies, please refer to Figure 6 As shown, taking pedestrians as the target object, a virtual wall is generated at a preset distance (such as 3 meters, 5 meters, 8 meters, etc.) when the pedestrian walks to the center of the lane, forcing the vehicle to brake suddenly in front of the virtual wall to avoid the pedestrian.

[0123] Through the above application scenarios, the following effects can be achieved: balancing the safety and comfort of the vehicle while driving, accurately and meticulously distinguishing the scenarios requiring braking by utilizing the existing location information of pedestrians and the vehicle, as well as future location predictions, effectively avoiding excessive and frequent braking, and improving the experience of vehicle occupants.

[0124] As can be seen from the above, this solution first identifies dangerous areas with sudden risks along the vehicle's travel direction. When a target object requiring emergency braking is detected in this dangerous area, the predicted time taken for the target object to move to the predicted displacement position on the vehicle's travel path is evaluated. The predicted travel position of the target vehicle after the predicted time is determined. Based on the target distance between the predicted travel position and the predicted displacement position, it is determined whether there is a sudden safety hazard relative to the target vehicle's travel process. Furthermore, when the target distance is less than a preset distance threshold, a sudden safety hazard is identified, and the target vehicle is controlled to execute an emergency braking strategy before entering the dangerous area. This avoids frequent braking in non-emergency situations, reduces ineffective braking, and ensures the experience of vehicle occupants.

[0125] To better implement the above methods, this application also provides a vehicle braking control device that can be integrated into computer equipment, such as a server or terminal.

[0126] For example, such as Figure 7 As shown, the vehicle braking control device may include a determination unit 301, an evaluation unit 302, a calculation unit 303, and a control unit 304.

[0127] The determining unit 301 is used to determine the dangerous area on the driving path of the target vehicle. The dangerous area is the area that extends from the blind spot in the direction of the driving path.

[0128] The evaluation unit 302 is used to collect the displacement status information of the target object when the dangerous area is identified to contain the target object, and to evaluate the prediction time when the target object is displaced to the predicted path position in the driving path based on the displacement status information.

[0129] The calculation unit 303 is used to obtain the driving state parameters of the target vehicle and calculate the predicted driving position of the target vehicle during the prediction time based on the driving state parameters.

[0130] The control unit 304 is used to control the target vehicle to perform an emergency braking strategy before it is at a preset distance from the danger zone when the target distance value between the predicted driving position and the predicted path position is less than a preset distance threshold.

[0131] In some embodiments, the evaluation unit 302 is further configured to: determine the current initial position, displacement direction, and displacement velocity of the target object based on the displacement state information; when the displacement direction is detected to intersect with the driving direction of the driving path, calculate the predicted path position of the target object in the driving path according to the displacement direction; and evaluate the predicted time when the target object is moved to the predicted path position based on the displacement velocity and the initial position.

[0132] In some embodiments, the control unit 304 is further configured to: select a target path position located at a preset distance before the danger zone from the driving path; determine the target path position as the braking trigger position; and control the target vehicle to execute an emergency braking strategy when the target vehicle travels to the braking trigger position according to the preset driving path.

[0133] In some embodiments, the vehicle braking control device further includes a logic building unit, configured to: obtain a preset driving control logic corresponding to the driving path; construct an emergency braking logic corresponding to the braking trigger position in the preset driving control logic to obtain an updated target driving control logic;

[0134] The control unit 304 is also used to control the target vehicle to execute an emergency braking strategy according to the target driving control logic when the target vehicle is detected to have traveled to the braking trigger position.

[0135] In some implementations, the control unit 304 is further configured to: query a preset braking event associated with an emergency braking command from a preset braking event database, and obtain an initial control logic path corresponding to the preset driving control logic; construct virtual obstacle detection information corresponding to the preset braking event in the initial control logic path based on the braking trigger position; establish a mapping relationship between the virtual obstacle detection information and the emergency braking command, and obtain the updated target driving control logic.

[0136] In some embodiments, the determining unit 301 is further configured to: collect a scene area located in front of the driving path of the target vehicle; determine a preset blind spot located in front of the driving direction of the target vehicle from a preset navigation map; determine the overlapping area between the scene area and the preset blind spot, and determine the overlapping area as a danger area.

[0137] In some implementations, the vehicle braking control device further includes a detection unit for: detecting whether a living object exists in the danger zone; if a living object is detected in the danger zone, determining the detection duration of the living object in the danger zone; and when the detection duration is less than a preset detection duration threshold, identifying the living object as a target object to be decided.

[0138] In some embodiments, the control unit is further configured to: when the target distance between the predicted driving position and the predicted path position is detected to be greater than a preset threshold, control the target vehicle to drive on the driving path according to the driving state parameters.

[0139] As can be seen from the above, the embodiments of this application can first identify dangerous areas with sudden risks in the vehicle's driving direction, and when a target object requiring an emergency braking strategy is detected in the dangerous area, the predicted time taken for the target object to move to the predicted displacement position on the vehicle's driving path is evaluated, and the predicted driving position of the target vehicle after the predicted time is determined according to the driving path. Thus, based on the target distance value between the predicted driving position and the predicted displacement position, it is determined whether there is a sudden safety hazard in the target object's current motion state relative to the target vehicle's driving process. Furthermore, when the target distance value is less than a preset distance threshold, it is determined that there is a sudden safety hazard, and the target vehicle is controlled to execute an emergency braking strategy before entering the dangerous area to control the target vehicle's emergency braking. In this way, the phenomenon of frequent braking in non-emergency situations can be avoided, the occurrence of ineffective braking can be reduced, and the experience of vehicle occupants can be ensured.

[0140] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0141] This application also provides a computer device, such as... Figure 8 As shown, it illustrates a structural schematic diagram of the computer device involved in the embodiments of this application, specifically:

[0142] The computer device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 8 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0143] The processor 401 is the control center of the computer device. It connects various parts of the computer device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, thereby providing overall monitoring of the computer device. Optionally, the processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 401.

[0144] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and vehicle braking control by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0145] The computer device also includes a power supply 403 that supplies power to the various components. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0146] The computer device may also include an input unit 404, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0147] Although not shown, the computer device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 401 in the computer device loads the executable files corresponding to the processes of one or more applications into the memory 402 according to the following instructions, and the processor 401 runs the applications stored in the memory 402 to realize various functions, as follows:

[0148] The system identifies hazardous areas along the target vehicle's travel path, defined as blind spots extending into the direction of the travel path. When a target object is detected within a hazardous area, the system collects the target object's displacement status information and assesses the predicted time it will take for the target object to move to a predicted position within the travel path. The system also acquires the target vehicle's travel status parameters and calculates the target vehicle's predicted travel position within the predicted time. When the target distance between the predicted travel position and the predicted path position is detected to be less than a preset distance threshold, the system controls the target vehicle to execute an emergency braking strategy before it reaches a preset distance from the hazardous area.

[0149] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0150] As can be seen from the above, the embodiments of this application can first identify dangerous areas with sudden risks in the vehicle's driving direction, and when a target object requiring an emergency braking strategy is detected in the dangerous area, the predicted time taken for the target object to move to the predicted displacement position on the vehicle's driving path is evaluated, and the predicted driving position of the target vehicle after the predicted time is determined according to the driving path. Therefore, based on the target distance value between the predicted driving position and the predicted displacement position, it is determined whether there is a sudden safety hazard in the target object's current motion state relative to the target vehicle's driving process. Furthermore, when the target distance value is less than a preset distance threshold, it is determined that there is a sudden safety hazard, and the target vehicle is controlled to execute an emergency braking strategy before entering the dangerous area to control the target vehicle's emergency braking. In this way, the phenomenon of frequent braking in non-emergency situations can be avoided, the occurrence of ineffective braking can be reduced, and the experience of vehicle occupants can be ensured.

[0151] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0152] Therefore, embodiments of this application provide a computer-readable storage medium storing a plurality of instructions that can be loaded by a processor to execute steps in any of the vehicle braking control methods provided in embodiments of this application. For example, the instructions can execute the following steps:

[0153] The system identifies hazardous areas along the target vehicle's travel path, defined as blind spots extending into the direction of the travel path. When a target object is detected within a hazardous area, the system collects the target object's displacement status information and assesses the predicted time it will take for the target object to move to a predicted position within the travel path. The system also acquires the target vehicle's travel status parameters and calculates the target vehicle's predicted travel position within the predicted time. When the target distance between the predicted travel position and the predicted path position is detected to be less than a preset distance threshold, the system controls the target vehicle to execute an emergency braking strategy before it reaches a preset distance from the hazardous area.

[0154] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0155] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0156] This application also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle braking control method provided in the various optional implementations of the above embodiments.

[0157] Since the instructions stored in the computer-readable storage medium can execute the steps of any of the vehicle braking control methods provided in the embodiments of this application, the beneficial effects that any of the vehicle braking control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0158] The foregoing has provided a detailed description of a vehicle braking control method, apparatus, device, and computer-readable storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle braking control method, characterized in that, include: Identify the danger zone along the target vehicle's driving path, whereby the danger zone is the area extending from the blind spot in the direction of the driving path; Detect whether there are any living objects within the danger zone; If a live object is detected in the danger zone, the detection duration of the live object in the danger zone is determined. When the detection duration is found to be less than a preset detection duration threshold, the live object is identified as the target object to be decided. When the target object is identified as being located within the danger zone, the displacement state information of the target object is collected, and the predicted time when the target object moves to the predicted path position in the driving path is evaluated based on the displacement state information. Obtain the driving status parameters of the target vehicle, and calculate the predicted driving position of the target vehicle during the predicted time period based on the driving status parameters; When the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold, the target vehicle is controlled to perform an emergency braking strategy before it is a preset distance away from the danger zone.

2. The method according to claim 1, characterized in that, The step of estimating the predicted time for the target object to move to the target path position in the driving path based on the displacement state information includes: Based on the displacement state information, the current initial position, displacement direction, and displacement velocity of the target object are determined; When it is detected that the displacement direction intersects with the driving direction of the driving path, the displacement of the target object to the predicted path position in the driving path is calculated according to the displacement direction; Based on the displacement velocity and initial position, the predicted time when the target object is displaced to the predicted path position is evaluated.

3. The method according to claim 1, characterized in that, The method of controlling the target vehicle to perform an emergency braking strategy before it reaches a preset distance from the danger zone includes: Select a target path location located a preset distance before the danger zone from the driving path; The target path location is determined as the braking trigger location, and when the target vehicle travels to the braking trigger location according to the preset driving path, the target vehicle is controlled to execute an emergency braking strategy.

4. The method according to claim 3, characterized in that, Before controlling the target vehicle to execute an emergency braking strategy when the target vehicle travels along the preset driving path to the braking trigger position, the method further includes: Obtain the preset driving control logic corresponding to the driving path; The emergency braking logic corresponding to the braking trigger position is constructed in the preset driving control logic to obtain the updated target driving control logic. When the target vehicle travels along the preset driving path to the braking trigger position, controlling the target vehicle to execute an emergency braking strategy includes: When the target vehicle is detected to have traveled to the braking trigger position, the target vehicle is controlled to execute an emergency braking strategy according to the target driving control logic.

5. The method according to claim 4, characterized in that, The step of constructing emergency braking logic at the brake trigger position in the preset driving control logic to obtain the updated target driving control logic includes: Retrieve preset braking events associated with emergency braking commands from the preset braking event library, and obtain the initial control logic path corresponding to the preset driving control logic; Based on the braking trigger position, virtual interception detection information corresponding to the preset braking event is constructed in the initial control logic path; A mapping relationship is established between the virtual interception detection information and the emergency braking command to obtain the updated target driving control logic.

6. The method according to claim 1, characterized in that, The determination of the danger zone along the target vehicle's travel path includes: Collect the scene area located in front of the target vehicle's driving path; Determine a preset blind spot in front of the target vehicle's direction of travel from a preset navigation map; The overlapping area between the scene area and the preset blind spot is determined, and the overlapping area is identified as a danger zone.

7. The method according to claim 1, characterized in that, Also includes: When the target distance between the predicted driving position and the predicted path position is detected to be greater than the preset distance threshold, the target vehicle is controlled to drive on the driving path according to the driving state parameters.

8. A vehicle braking control device, characterized in that, include: The determining unit is used to determine the dangerous area on the driving path of the target vehicle, wherein the dangerous area is the area extending from the blind spot in the direction of the driving path; The detection unit is used to detect whether there is a living object in the dangerous area; if a living object is detected in the dangerous area, the detection duration of the living object in the dangerous area is determined. When the detection duration is found to be less than a preset detection duration threshold, the live object is identified as the target object to be decided. An evaluation unit is used to collect the displacement state information of the target object when the danger zone is identified to contain the target object, and to evaluate the predicted time when the target object moves to the predicted path position in the driving path based on the displacement state information. A calculation unit is used to obtain the driving state parameters of the target vehicle and calculate the predicted driving position of the target vehicle during the predicted time period based on the driving state parameters. The control unit is configured to control the target vehicle to perform an emergency braking strategy before it is at a preset distance from the danger zone when the target distance between the predicted driving position and the predicted path position is less than a preset distance threshold.

9. A computer device, characterized in that, It includes a processor and a memory, the memory storing a computer program, and the processor running the computer program in the memory to implement the steps of the vehicle braking control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is computer-readable and stores a plurality of instructions adapted for loading by a processor to perform the steps of the vehicle braking control method according to any one of claims 1 to 7.

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