Emergency braking warning method, device, electronic device and storage medium

Abstract

The present application relates to an emergency braking warning method, device, electronic device, and storage medium, and relates to the field of commercial vehicle collision avoidance technology. The method includes the following steps: when a first target vehicle is detected within a first preset distance of the current vehicle, obtaining the vehicle driving information of the first target vehicle and the real-time distance from the current vehicle; based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle, obtaining the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle; and outputting a warning instruction based on the real-time distance, the warning trigger distance, and the alarm trigger distance. This method can be used to obtain the warning trigger distance and the alarm trigger distance based on the driving information of the vehicle itself and the target vehicle in front, thereby outputting different types of warning information, thereby effectively warning the driver in the commercial vehicle field that the current vehicle is about to rear-end the vehicle in front.

Description

Technical Field

[0001] The present application relates to the field of vehicle collision avoidance technology, and in particular to an emergency braking warning method, device, electronic device, and storage medium. Background Art

[0002] Cars are becoming more and more popular in people's lives and have become a very important means of transportation. However, as the number of cars increases, vehicle collision accidents are also increasing. Many of these accidents are caused by people's delayed reaction speed, resulting in untimely braking and no time to take emergency measures. Once an accident occurs, it will cause immeasurable losses to personal and property safety.

[0003] As the automotive industry gradually enters the era of intelligence, consumers are increasingly favoring vehicles with intelligent assistance features. AEB systems, which prevent rear-end collisions, are particularly popular. In the commercial vehicle sector, automatic emergency braking systems, which prevent rear-end collisions, are also highly sought after. However, current research in China on automatic emergency braking systems primarily focuses on passenger vehicles, while research on automatic braking systems for commercial vehicles has progressed more slowly.

[0004] Therefore, how to effectively warn drivers in the commercial vehicle field when the current car rear-ends the vehicle in front is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The present application provides an emergency braking warning method, device, electronic device and storage medium, thereby effectively warning the driver in the commercial vehicle field when the current vehicle rear-ends the vehicle in front.

[0006] To achieve the above objectives, this application provides the following solutions.

[0007] In a first aspect, the present application provides an emergency braking warning method, the method comprising the following steps:

[0008] When detecting that a first target vehicle is within a first preset distance of the current vehicle, obtaining vehicle driving information of the first target vehicle and a real-time distance to the first target vehicle;

[0009] Based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle, obtaining a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle;

[0010] Based on the real-time distance, the early warning triggering distance, and the alarm triggering distance, a warning instruction is output.

[0011] Furthermore, the obtaining of the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle includes the following steps:

[0012] Acquiring an acceleration value and an initial speed value based on vehicle driving information of the first target vehicle;

[0013] When the acceleration value is less than zero, obtaining a warning driving distance and an alarm driving distance of the first target vehicle based on a preset warning time, a preset alarm time, and an initial speed value and an acceleration value of the first target vehicle;

[0014] Based on the warning driving distance and the alarm driving distance, the warning triggering distance and the alarm triggering distance of the current vehicle are obtained.

[0015] Furthermore, the step of obtaining the warning triggering distance and the alarm triggering distance of the current vehicle based on the warning driving distance and the alarm driving distance includes the following steps:

[0016] When the current vehicle is in emergency braking, obtaining a full braking trigger distance between the current vehicle and the first target vehicle;

[0017] Based on the relative position relationship between the current vehicle and the first target vehicle and the full braking trigger distance, a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle are obtained.

[0018] Furthermore, the obtaining of the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle includes the following steps:

[0019] parsing an initial speed value of the current vehicle from the vehicle driving information of the current vehicle;

[0020] When the initial speed value is less than a preset initial speed value, the warning triggering distance between the current vehicle and the first target vehicle is obtained by a table lookup method.

[0021] Furthermore, the outputting of a warning instruction based on the real-time distance, the warning trigger distance, and the alarm trigger distance comprises the following steps:

[0022] Comparing the real-time distance with the warning trigger distance and the alarm trigger distance to obtain a real-time comparison result;

[0023] Based on the real-time comparison result, obtaining the warning instruction type;

[0024] Based on the warning instruction type, a warning instruction corresponding to the warning instruction type is output.

[0025] Furthermore, obtaining the warning instruction type based on the real-time comparison result includes the following steps:

[0026] When the real-time distance is less than the warning trigger distance and greater than the alarm trigger distance, a warning instruction is output;

[0027] When the real-time distance is less than the alarm triggering distance, an alarm instruction is output.

[0028] Furthermore, the method further comprises the following steps:

[0029] When the real-time distance is greater than the warning trigger distance, no warning instruction is output.

[0030] In a second aspect, the present application provides an emergency brake warning device, the device comprising:

[0031] a data acquisition module configured to acquire vehicle driving information of the first target vehicle and a real-time distance to the first target vehicle when detecting that the first target vehicle is within a first preset distance of the current vehicle;

[0032] a distance acquisition module, configured to acquire a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle;

[0033] An instruction output module is used to output a warning instruction based on the real-time distance, the early warning trigger distance and the alarm trigger distance.

[0034] Furthermore, the data acquisition module includes:

[0035] a driving information acquisition submodule, configured to acquire an acceleration value and an initial speed value based on the driving information of the first target vehicle;

[0036] a travel distance acquisition submodule, configured to acquire, when the acceleration value is less than zero, a warning travel distance and an alarm travel distance of the first target vehicle based on a preset warning time, a preset alarm time, and an initial speed value and an acceleration value of the first target vehicle;

[0037] The trigger distance calculation submodule is used to obtain the warning trigger distance and the alarm trigger distance of the current vehicle based on the warning driving distance and the alarm driving distance.

[0038] Furthermore, the trigger distance calculation submodule further includes:

[0039] a trigger distance prediction unit, configured to predict a full braking trigger distance between the current vehicle and the first target vehicle when the current vehicle is in emergency braking;

[0040] A calculation unit is used to obtain a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle based on a geometric relationship between the current vehicle and the first target vehicle and the full braking trigger distance.

[0041] Furthermore, the instruction output module includes:

[0042] A comparison result acquisition submodule, which is used to compare the real-time distance with the warning trigger distance and the alarm trigger distance to obtain a real-time comparison result;

[0043] An instruction type acquisition submodule, which is used to acquire the warning instruction type based on the real-time comparison result;

[0044] An output submodule is configured to output a warning instruction corresponding to the warning instruction type based on the warning instruction type.

[0045] Furthermore, the instruction type acquisition submodule includes:

[0046] a first instruction output unit, configured to output an early warning instruction when the real-time distance is less than the early warning trigger distance and greater than the alarm trigger distance;

[0047] The second instruction output unit is configured to output an alarm instruction when the real-time distance is smaller than the alarm triggering distance.

[0048] Furthermore, the instruction type acquisition submodule further includes:

[0049] The third instruction output unit is configured to not output a warning instruction when the real-time distance is greater than the warning trigger distance.

[0050] The beneficial effects of the technical solution provided by this application include:

[0051] When a vehicle controller detects a first target vehicle within a first preset distance of the current vehicle, it obtains the first target vehicle's driving information and the real-time distance to the first target vehicle. Based on the current vehicle's driving information and the first target vehicle's driving information, it obtains the warning trigger distance and alarm trigger distance between the current vehicle and the first target vehicle. Based on the real-time distance, the warning trigger distance, and the alarm trigger distance, the controller outputs a warning instruction. This method can be used to obtain the warning trigger distance and the alarm trigger distance based on the driving information of the current vehicle and the target vehicle ahead, thereby outputting different types of warning information. This method effectively warns drivers in the commercial vehicle sector of the possibility of rear-ending the vehicle ahead. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 This is a flowchart of the steps of the emergency braking warning method provided in an embodiment of the present application;

[0054] Figure 2 This is a diagram of the relative position relationship between the current vehicle and the first target vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0057] The embodiments of the present application provide an emergency braking warning method, device, electronic device, and storage medium, which effectively warn drivers in the commercial vehicle field to rear-end the vehicle in front.

[0058] This application uses a data acquisition unit to obtain the relative distance between the current vehicle and the target vehicle, the speed of the current vehicle and the target vehicle, the acceleration of the current vehicle and the target vehicle, and the braking reaction time; to determine the braking distance at the most dangerous moment; and to calculate the warning, alarm, and emergency braking stage distances based on the order in which the current vehicle stops and the target vehicle stops, and whether the time required for the target vehicle and the self-vehicle to stop is within the braking reaction time.

[0059] The embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0060] See also Figure 1 As shown, an embodiment of the present application provides an emergency braking warning method, which includes the following steps:

[0061] S1. When a first target vehicle is detected within a first preset distance from a current vehicle, obtaining vehicle driving information of the first target vehicle and a real-time distance from the current vehicle;

[0062] The vehicle driving information includes initial speed information and acceleration information of the vehicle. The vehicle driving information includes initial speed information and acceleration information of the current vehicle and initial speed information and acceleration information of a first target vehicle that is within a first preset distance from the current vehicle and may cause a rear-end collision.

[0063] The radar detector on the current vehicle detects whether there are other vehicles within a first preset distance. When the radar detector detects the presence of a first target vehicle within the first preset distance, the speed values ​​of the first target vehicle and the current vehicle at this time are obtained, and the speed value of the first target vehicle at this time is used as the initial speed value of the first target vehicle, and the speed value of the current vehicle at this time is used as the initial speed value of the current vehicle.

[0064] Specifically, during driving, the radar detector installed on the current vehicle detects whether there are other vehicles within a first preset distance during driving. If so, the real-time distance to the first target vehicle is obtained, and then the speed detector is used to obtain the vehicle driving information of the first target vehicle that the current vehicle is about to rear-end.

[0065] S2. Based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle, obtaining a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle;

[0066] It is understandable that the prerequisite for the vehicle controller of the current vehicle to calculate the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle is:

[0067] When the distance between the current vehicle and the first target vehicle reaches the warning trigger distance, the current vehicle travels at a constant speed. When the distance between the current vehicle and the first target vehicle reaches the alarm trigger distance, the current vehicle starts to travel at a constant deceleration. When the distance between the first target vehicle and the current vehicle reaches the warning distance, the current vehicle starts to travel at a constant deceleration.

[0068] Specifically, under this premise, the vehicle controller of the current vehicle obtains the acceleration value and the initial speed value based on the vehicle driving information of the first target vehicle; when the acceleration value is less than zero, the warning driving distance and the alarm driving distance of the first target vehicle are obtained based on the preset warning time, the preset alarm time and the initial speed value and acceleration value of the first target vehicle; based on the warning driving distance and the alarm driving distance, the warning trigger distance and the alarm trigger distance of the current vehicle are obtained.

[0069] S3. Output warning instructions based on the real-time distance, warning trigger distance, and alarm trigger distance.

[0070] Specifically, the vehicle controller of the current vehicle compares the real-time distance with the warning trigger distance and the alarm trigger distance to obtain a real-time comparison result; based on the real-time comparison result, it determines the warning instruction type; and based on the warning instruction type, it outputs a warning instruction corresponding to the warning instruction type. If the real-time distance is less than the warning trigger distance and greater than the alarm trigger distance, a warning instruction is output; if the real-time distance is less than the alarm trigger distance, an alarm instruction is output; if the real-time distance is greater than the warning trigger distance, no warning instruction is output.

[0071] In this embodiment, when a vehicle controller of a current vehicle detects a first target vehicle within a first preset distance of the current vehicle, it obtains the vehicle driving information of the first target vehicle and the real-time distance between the current vehicle and the first target vehicle; based on the vehicle driving information of the current vehicle and the first target vehicle, it obtains the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle; and outputs a warning instruction based on the real-time distance, the warning trigger distance, and the alarm trigger distance. This method uses the driving information of the current vehicle and the target vehicle ahead to obtain the warning trigger distance and the alarm trigger distance, thereby outputting different types of warning information, thereby effectively warning drivers in the commercial vehicle field that they are about to rear-end the vehicle ahead.

[0072] In one embodiment, step S2 includes the following steps:

[0073] S201, acquiring an acceleration value and an initial speed value based on vehicle driving information of a first target vehicle;

[0074] S202: When the acceleration value is less than zero, obtaining a warning driving distance and an alarm driving distance of the first target vehicle based on a preset warning time, a preset alarm time, and an initial speed value and an acceleration value of the first target vehicle;

[0075] S203: Based on the warning driving distance and the alarm driving distance, obtain the warning triggering distance and the alarm triggering distance of the current vehicle.

[0076] When the current vehicle performs emergency braking, the full braking trigger distance between the current vehicle and the first target vehicle is obtained; based on the relative position relationship between the current vehicle and the first target vehicle and the full braking trigger distance, the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle are obtained.

[0077] It can be understood that the relative position relationship between the first target vehicle and the current vehicle is as follows: Figure 2 shown.

[0078] Figure 2 Where A and A' are the positions of the current vehicle and the first target vehicle when the warning is triggered, B and B' are the positions of the current vehicle and the first target vehicle when the alarm is triggered, and C and C' are the positions of the current vehicle and the first target vehicle when the full brake is triggered. Assume that the first vehicle is at position A and the speed of the preceding vehicle at position A' is v s0 、v f0 , the relative speed is v r The car at point A and point B is considered to have a constant speed. The average deceleration of the car from point B to point C is as, and the deceleration of the car in front from point A' to point C' is A. f , S1, S2, and D are the warning trigger distance, alarm trigger distance, and full braking trigger distance (predicted instantaneous SAC) respectively. Figure 2 From the positional relationship, we can see that the following equations hold:

[0079]

[0080] The trigger distance S1 for early warning and the trigger distance S2 for alarm can be obtained from the above equations:

[0081]

[0082] In this embodiment, the vehicle controller sets driving preconditions for the current vehicle and a first target vehicle. Upon detecting the presence of the first target vehicle within a first preset distance of the current vehicle, the controller obtains the first target vehicle's driving information and the real-time distance to the first target vehicle. Based on the current vehicle's driving information and the first target vehicle's driving information, the controller obtains the warning trigger distance and alarm trigger distance between the current vehicle and the first target vehicle. Based on the real-time distance, warning trigger distance, and alarm trigger distance, the controller outputs a warning instruction. This method uses the driving information of the current vehicle and the target vehicle ahead to determine the warning trigger distance and alarm trigger distance, thereby outputting different types of warning information. This method effectively warns drivers in the commercial vehicle sector of the possibility of rear-ending the vehicle ahead.

[0083] In one embodiment, step S2 further includes the following steps:

[0084] An initial speed value of the current vehicle is parsed from the vehicle driving information of the current vehicle; when the initial speed value is less than a preset initial speed value, a warning trigger distance between the current vehicle and the first target vehicle is obtained by a table lookup method.

[0085] If the relative speed between the current vehicle and the first target vehicle is very low, the warning trigger distance S1 may be too small, causing the warning to be triggered too late. To address this issue, a lower limit for triggering the warning is set when the current vehicle speed exceeds 30 km / h, as shown in Table 1. V represents the vehicle's speed. If the calculated value from formula S1 is less than the table value, the table value is used as the final output; otherwise, the calculated value is used.

[0086] V(km / h) 30 40 50 60 70 80 90 100 110 120 130 140 150 S1(m) 7.6 10.2 13.8 17.1 19.2 22.2 24.6 27.9 31.7 34.2 36.9 39.7 42.7

[0087] Table 1

[0088] It should be noted that between the time the warning (warning distance must be a calculated value) is triggered and the time the emergency brake is triggered, the relative speed, predicted SAC, preceding vehicle acceleration, warning duration, alarm duration, and average vehicle deceleration during the alarm period are all values ​​at the moment the warning is triggered. If the vehicle switches from an alarm state to a warning state, these six variables must be updated.

[0089] In one embodiment of the application, if the current vehicle speed is not greater than 15 km / h (4.17 m / s), the calculation formulas for the warning trigger distance and the alarm trigger distance are:

[0090]

[0091] Where D is the current instantaneous SAC.

[0092]

[0093] Among them, V sv is the vehicle speed, V fv is the target speed directly ahead, V r is the relative speed. K is the deceleration coefficient of the target directly ahead.

[0094] When the vehicle speed (m / s) is greater than 4.17, the predicted relative speed calculation formula is as follows:

[0095] V r =v r +a·(T1+T2)-a av T2

[0096] When the vehicle speed (m / s) is greater than 4.17, the predicted vehicle speed calculation formula is as follows:

[0097] V sv =v sv +a av T2

[0098] Among them, v r is the current actual relative speed, a is the acceleration of the target in front, T1 is the warning time, T2 is the alarm time, a av It is the average deceleration of the vehicle during the alarm period.

[0099] When the current vehicle speed (m / s) is not greater than 4.17, the predicted relative speed is v r , the predicted vehicle speed is v sv .

[0100] In this embodiment, by judging the current vehicle speed, different warning distance calculation formulas and alarm distance calculation formulas are determined according to different relative speed ranges between the current vehicle and the first target speed, thereby more accurately and effectively warning the driver of the possibility of the current car rear-ending the vehicle in front.

[0101] It should be noted that the step numbers of the steps in the embodiments of the present application do not limit the order of the operations in the technical solution of the present application.

[0102] Based on the same inventive concept as the emergency brake warning method embodiment, the embodiment of the present application provides an emergency brake warning device, which includes:

[0103] a data acquisition module configured to acquire vehicle driving information of the first target vehicle and a real-time distance to the first target vehicle when detecting that the first target vehicle is within a first preset distance of the current vehicle;

[0104] a distance acquisition module, configured to acquire a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle;

[0105] An instruction output module is used to output a warning instruction based on the real-time distance, the early warning trigger distance and the alarm trigger distance.

[0106] The vehicle driving information includes initial speed information and acceleration information of the vehicle. The vehicle driving information includes initial speed information and acceleration information of the current vehicle and initial speed information and acceleration information of a first target vehicle that is within a first preset distance from the current vehicle and may cause a rear-end collision.

[0107] The radar detector on the current vehicle detects whether there are other vehicles within a first preset distance. When the radar detector detects the presence of a first target vehicle within the first preset distance, the speed values ​​of the first target vehicle and the current vehicle at this time are obtained, and the speed value of the first target vehicle at this time is used as the initial speed value of the first target vehicle, and the speed value of the current vehicle at this time is used as the initial speed value of the current vehicle.

[0108] Specifically, during driving, the radar detector installed on the current vehicle detects whether there are other vehicles within a first preset distance during driving. If so, the real-time distance to the first target vehicle is obtained, and then the speed detector is used to obtain the vehicle driving information of the first target vehicle that the current vehicle is about to rear-end.

[0109] It is understandable that the prerequisite for the vehicle controller of the current vehicle to calculate the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle is:

[0110] When the distance between the current vehicle and the first target vehicle reaches the warning trigger distance, the current vehicle travels at a constant speed. When the distance between the current vehicle and the first target vehicle reaches the alarm trigger distance, the current vehicle starts to travel at a constant deceleration. When the distance between the first target vehicle and the current vehicle reaches the warning distance, the current vehicle starts to travel at a constant deceleration.

[0111] Specifically, under this premise, the vehicle controller of the current vehicle obtains the acceleration value and the initial speed value based on the vehicle driving information of the first target vehicle; when the acceleration value is less than zero, the warning driving distance and the alarm driving distance of the first target vehicle are obtained based on the preset warning time, the preset alarm time and the initial speed value and acceleration value of the first target vehicle; based on the warning driving distance and the alarm driving distance, the warning trigger distance and the alarm trigger distance of the current vehicle are obtained.

[0112] Specifically, the vehicle controller of the current vehicle compares the real-time distance with the warning trigger distance and the alarm trigger distance to obtain a real-time comparison result; based on the real-time comparison result, it determines the warning instruction type; and based on the warning instruction type, it outputs a warning instruction corresponding to the warning instruction type. If the real-time distance is less than the warning trigger distance and greater than the alarm trigger distance, a warning instruction is output; if the real-time distance is less than the alarm trigger distance, an alarm instruction is output; if the real-time distance is greater than the warning trigger distance, no warning instruction is output.

[0113] When a vehicle controller detects a first target vehicle within a first preset distance of the current vehicle, it obtains the first target vehicle's driving information and the real-time distance to the first target vehicle. Based on the current vehicle's driving information and the first target vehicle's driving information, it obtains the warning trigger distance and alarm trigger distance between the current vehicle and the first target vehicle. Based on the real-time distance, the warning trigger distance, and the alarm trigger distance, the controller outputs a warning instruction. This method uses the driving information of the current vehicle and the target vehicle ahead to obtain the warning trigger distance and the alarm trigger distance, thereby outputting different types of warning information. This method effectively warns commercial vehicle drivers of the possibility of rear-ending the vehicle ahead.

[0114] It should be noted that the vehicle mass estimation device provided in the embodiment of the present application, and its corresponding technical problems, technical means and technical effects are similar to the principles of the vehicle mass estimation method at the principle level.

[0115] In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, the emergency braking warning method mentioned in the first aspect is implemented.

[0116] In a fourth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the emergency braking warning method mentioned in the first aspect.

[0117] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0118] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the above-described embodiments. Any reference to a memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory.

[0119] The above are merely specific embodiments of the present application to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather is intended to conform to the widest scope consistent with the principles and novel features of the present application.

Claims

1. An emergency braking warning method, characterized in that: The method comprises the following steps: When detecting that a first target vehicle is within a first preset distance of the current vehicle, obtaining vehicle driving information of the first target vehicle and a real-time distance to the first target vehicle; Based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle, obtaining a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle; Outputting a warning instruction based on the real-time distance, the warning trigger distance, and the alarm trigger distance; The emergency brake warning method further comprises the following steps: When the relative speed between the current vehicle and the first target vehicle is very small, and the current vehicle's speed is greater than 30 km / h, if the value of the warning trigger distance S1 calculated by the formula is less than the value in the table, the final output is the value in the table; otherwise, the final output is the value of the warning trigger distance S1 calculated by the formula; The trigger distance S1 of the warning is calculated using formula (1): Formula (1) The alarm trigger distance S2 is calculated using formula (2): Formula (2) In the above formulas (1) and (2), v r is the relative speed when the front vehicle is at position A and the first target vehicle is at position A'. The current vehicle is considered to have a constant speed from point A to point B. s is the average deceleration of the current vehicle from point B to point C, A f is the deceleration of the first target vehicle from point A' to point C', D is the full braking trigger distance, T 1 is the warning time, T 2 is the alarm time; The lookup value is obtained from the following table: 。 2. The emergency brake warning method according to claim 1, characterized in that: The step of obtaining a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle comprises the following steps: parsing the acceleration value of the first target vehicle from the acceleration information; When the acceleration value is less than zero, obtaining a warning driving distance and an alarm driving distance of the first target vehicle based on the warning time, the initial speed value and the acceleration value of the first target vehicle; Obtaining a warning driving distance and an alarm driving distance of the current vehicle based on an initial speed value and an acceleration value of the current vehicle; Based on the warning driving distance and the alarm driving distance of the first target vehicle and the current vehicle, the warning triggering distance and the alarm triggering distance between the current vehicle and the first target vehicle are obtained.

3. The emergency brake warning method according to claim 2, characterized in that: The step of obtaining the warning trigger distance and the alarm trigger distance between the current vehicle and the first target vehicle based on the warning driving distance and the alarm driving distance of the first target vehicle and the current vehicle comprises the following steps: When the current vehicle performs emergency braking, predicting a full braking trigger distance between the current vehicle and the first target vehicle; Based on the geometric relationship between the current vehicle and the first target vehicle and the full braking trigger distance, a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle are obtained.

4. The emergency brake warning method according to claim 1, wherein: The emergency brake warning method further comprises the following steps: parsing an initial speed value of the current vehicle from the vehicle driving information of the current vehicle; When the initial speed value is less than a preset initial speed value, the warning triggering distance between the current vehicle and the first target vehicle is obtained by a table lookup method.

5. The emergency brake warning method according to claim 1, wherein: The step of outputting a warning instruction based on the real-time distance, the warning trigger distance, and the alarm trigger distance comprises the following steps: Comparing the real-time distance with the warning trigger distance and the alarm trigger distance to obtain a real-time comparison result; Based on the real-time comparison result, obtaining the warning instruction type; Based on the warning instruction type, a warning instruction corresponding to the warning instruction type is output.

6. The emergency brake warning method according to claim 5, characterized in that: The step of obtaining the warning instruction type based on the real-time comparison result includes the following steps: When the real-time distance is less than the warning trigger distance and greater than the alarm trigger distance, a warning instruction is output; When the real-time distance is less than the alarm triggering distance, an alarm instruction is output.

7. The emergency brake warning method according to claim 6, characterized in that: The method further comprises the following steps: When the real-time distance is greater than the warning trigger distance, no warning instruction is output.

8. An emergency brake warning device, based on the emergency brake warning method according to any one of claims 1 to 7, characterized in that: The device comprises: a data acquisition module configured to acquire vehicle driving information of the first target vehicle and a real-time distance to the first target vehicle when detecting that the first target vehicle is within a first preset distance of the current vehicle; a distance acquisition module, configured to acquire a warning trigger distance and an alarm trigger distance between the current vehicle and the first target vehicle based on the vehicle driving information of the current vehicle and the vehicle driving information of the first target vehicle; An instruction output module is used to output a warning instruction based on the real-time distance, the early warning trigger distance and the alarm trigger distance.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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