Method, device and equipment for identifying driving intention after emergency braking and storage medium

Abstract

Embodiments of the present application provide a method, device, equipment and storage medium for identifying driving intention after emergency braking. In the method for identifying driving intention after emergency braking, the VCU can obtain driving data of the vehicle after the automatic emergency braking system is activated, and identify the driving intention of the driver according to the deceleration and the opening degree of the accelerator pedal. In this way, the driving intention of the driver can be accurately identified, so as to facilitate accurate control of the vehicle output power according to the driving intention, and improve the driving safety of the vehicle after emergency braking.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive technology, and in particular to a method and device for identifying driving intention after emergency braking, a vehicle device and a storage medium. BACKGROUND

[0002] With the continuous development of automotive technology, the autonomous emergency braking system (AEB) is widely used in vehicles. In the prior art, the vehicle will have a significant deceleration process after the AEB function is activated, and the driver's body will lean forward. If the driver's right foot is on the accelerator pedal at this time, the right foot will involuntarily step down, and the accelerator pedal opening will change by a certain value. If the accelerator pedal opening limit value for restoring power is exceeded, the power will be restored. This process is easy to violate the driving intention of the driver, leading to accidents and failing to meet the demand for AEB safety assistance. Therefore, a solution is urgently needed. SUMMARY

[0003] The embodiments of the present application provide a method and device for identifying driving intention after emergency braking, and a storage medium, which are used to accurately identify the driving intention of the driver, so as to facilitate accurate control of the vehicle output power according to the driving intention, and improve the driving safety of the vehicle after emergency braking.

[0004] The embodiments of the present application provide a method for identifying driving intention after emergency braking, applied to a vehicle device provided with an autonomous emergency braking system, comprising: acquiring driving data of the vehicle after the autonomous emergency braking system is activated; the driving data at least includes deceleration and opening of an accelerator pedal; identifying the driving intention of the driver of the vehicle according to the deceleration and the opening of the accelerator pedal; and controlling the movement of the vehicle according to the driving intention of the driver of the vehicle.

[0005] Further optionally, the controlling the movement of the vehicle according to the driving intention of the driver of the vehicle comprises: if the driving intention indicates output power, controlling the engine of the vehicle to output corresponding torque according to the opening of the accelerator pedal to control the vehicle to output power; and if the driving intention indicates that the driver is misoperation, controlling the vehicle to maintain an emergency braking state through a brake on the vehicle.

[0006] Further optionally, the deceleration includes a plurality of decelerations at the current time and previous times. The identifying the driving intention of the driver of the vehicle according to the deceleration and the opening of the accelerator pedal comprises: calculating a change rate of the deceleration of the vehicle according to the plurality of decelerations at the current time and the previous times; and identifying the driving intention of the driver of the vehicle according to the change rate of the deceleration and the opening of the accelerator pedal.

[0007] Further optionally, the driving intention of the driver of the vehicle is identified according to the rate of change of the deceleration and the opening degree of the accelerator pedal, including: when the rate of change of the deceleration is less than a preset first threshold, the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal.

[0008] Further optionally, the driving data further includes: a deceleration distance and / or a deceleration time of the vehicle after the emergency braking system is activated; before the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal, the method further includes: determining that the deceleration distance is greater than a set distance threshold, and / or, the deceleration time is greater than a set deceleration time.

[0009] Further optionally, the opening degree of the accelerator pedal includes a plurality of opening degrees of the accelerator pedal at the current time and previous times. The driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal, including: a change amount of the opening degree of the accelerator pedal is calculated according to the plurality of opening degrees; when the change amount of the opening degree of the accelerator pedal of the vehicle is greater than a preset second threshold, it is determined that the driving intention of the driver is an intention to output power.

[0010] Further optionally, the change amount of the opening degree of the accelerator pedal is calculated, including: a starting time for identification is taken as a time when the rate of change of the deceleration of the vehicle is less than the first threshold; an opening degree value of the accelerator pedal at the starting time is taken as a base value of the opening degree of the accelerator pedal; a real-time value of the accelerator pedal after the starting time is obtained; a difference between the real-time value and the base value is calculated as the change amount of the opening degree of the accelerator pedal.

[0011] Further optionally, the driving data further includes: a frequency of the driver of the vehicle stepping on the accelerator pedal obtained after the emergency braking system is activated. When the change amount of the opening degree of the accelerator pedal of the vehicle is greater than a preset second threshold, it is determined that the driving intention of the driver is an intention to output power, including: when the change amount of the opening degree of the accelerator pedal of the vehicle is greater than a preset second threshold and the frequency of the driver stepping on the accelerator pedal is greater than a set frequency threshold, it is determined that the driving intention of the driver is an intention to output power.

[0012] The embodiment of the present application provides an emergency braking post-identification driving intention device, including: a data acquisition module: obtaining driving data of a vehicle after an automatic emergency braking system is activated; the driving data at least includes: deceleration and opening degree of an accelerator pedal; an intention identification module: identifying a driving intention of a driver of the vehicle according to the deceleration and the opening degree of the accelerator pedal; a control module: controlling movement of the vehicle according to the driving intention of the driver of the vehicle.

[0013] An electronic device is provided, comprising: a memory and a processor; wherein the memory is configured to store one or more computer instructions; and the processor is configured to execute the one or more computer instructions to perform steps in the method for identifying driving intention after emergency braking.

[0014] A computer readable storage medium storing a computer program is provided, when the computer program is executed by a processor, the processor is caused to implement steps in the method for identifying driving intention after emergency braking.

[0015] Embodiments of the present application provide a method, device, equipment and storage medium for identifying driving intention after emergency braking. In the method for identifying driving intention after emergency braking, driving data of a vehicle is acquired after an automatic emergency braking system is activated, and driving intention of a driver is identified according to deceleration and an opening degree of an accelerator pedal. In this way, driving intention of the driver can be accurately identified, so as to facilitate accurate control of vehicle output power according to the driving intention, and improve driving safety after emergency braking of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of this application and illustrate exemplary embodiments of the present application and are used to explain the present application, but do not limit the present application. In the drawings:

[0017] Figure 1 A flowchart of the method for identifying driving intention after emergency braking provided by an exemplary embodiment of the present application is shown;

[0018] Figure 2 A schematic diagram of the device for identifying driving intention after emergency braking provided by an exemplary embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram of the electronic device provided by an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0021] In the prior art, a vehicle will have a significant deceleration process after the AEB function is activated, which can easily violate the driving intention of the driver and cause accidents, and cannot meet the demand of AEB safety assistance. In order to solve the technical problem, in some embodiments of the present application, a method for identifying driving intention after emergency braking is provided.

[0022] In the method for identifying driving intention after emergency braking, the driving data of the vehicle can be obtained after the automatic emergency braking system is activated, the driving intention of the driver can be identified according to the deceleration and the opening degree of the accelerator pedal, and the movement of the vehicle can be controlled according to the driving intention of the driver of the vehicle.

[0023] The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0024] Figure 1 The flowchart of the method for identifying driving intention after emergency braking provided by an exemplary embodiment of the present application is shown in FIG. 1, which includes the following steps. Figure 1

[0025] Step 11, obtaining the driving data of the vehicle after the automatic emergency braking system is activated; the driving data at least includes the deceleration and the opening degree of the accelerator pedal.

[0026] Step 12, identifying the driving intention of the driver of the vehicle according to the deceleration and the opening degree of the accelerator pedal.

[0027] Step 13, controlling the movement of the vehicle according to the driving intention of the driver of the vehicle.

[0028] The embodiment can be executed by the VCU (Vehicle Control Unit, vehicle controller) deployed on the vehicle.

[0029] In the embodiment, the VCU can obtain the driving data of the vehicle after the AEB (Autonomous Emergency Braking, automatic emergency braking) system is activated. The driving data refers to the data used to describe the driving state of the vehicle. The driving data at least includes the deceleration (or braking deceleration) and the opening degree of the accelerator pedal. The accelerator pedal refers to a component on the vehicle that can increase the speed of the vehicle. The accelerator pedal can be implemented as a button for cruise control, or as a gear shifting component, etc., which is not limited in the embodiment. The opening degree of the accelerator pedal is used to describe the state of the accelerator pedal of the vehicle. For example, the VCU obtains the driving data as follows after the automatic emergency braking system is activated: the deceleration is 5 m / s 2 , and the opening degree of the accelerator pedal is 20%.

[0030] ​After the driving data is acquired, the driving intention of the driver of the vehicle can be identified according to the deceleration and the opening degree of the accelerator pedal. The driving intention can include stepping on the accelerator pedal to output power or waiting for the vehicle to stop. For example, after the automatic emergency braking system is activated, the vehicle will have a significant deceleration process, and the driver's body will lean forward. If the driver's right foot is on the accelerator pedal at this time, the right foot will involuntarily step down. At this time, the driving intention of the driver is not to step on the accelerator pedal to output power, but to wait for the vehicle to stop. Alternatively, the vehicle is braked due to an obstacle in front, but at this time there is another vehicle coming from behind the vehicle, and the driving intention of the driver is to step on the accelerator pedal to output power to avoid a rear-end collision.

[0031] After the driving intention is identified, the movement of the vehicle can be controlled according to the driving intention of the driver of the vehicle.

[0032] In this embodiment, the VCU can acquire the driving data of the vehicle after the automatic emergency braking system is activated, and identify the driving intention of the driver according to the deceleration and the opening degree of the accelerator pedal. In this way, the driving intention of the driver can be accurately identified, thereby facilitating accurate control of the vehicle to output power according to the driving intention, and improving the driving safety of the vehicle after emergency braking.

[0033] In some optional embodiments, the "controlling the movement of the vehicle according to the driving intention of the driver of the vehicle" in the foregoing step 13 can be implemented based on the following steps.

[0034] If the driving intention indicates to output power, the engine of the vehicle is controlled to output corresponding torque according to the opening degree of the accelerator pedal to control the vehicle to output power.

[0035] If the driving intention indicates that the driver is misoperating, the vehicle is controlled to remain in the emergency braking state by the brake of the vehicle.

[0036] In some optional embodiments, before the driving data of the vehicle is acquired, an instruction to turn on the AEB system can also be output according to the distance value between the vehicle and the surrounding obstacles. Specifically, the following steps can be implemented.

[0037] The distance value between the vehicle and the surrounding obstacles is acquired in real time. According to the distance value, it is determined whether to output the instruction to turn on the AEB system. If the distance value is less than a preset distance threshold, the instruction to turn on the AEB system is output. The distance threshold can be 1 m, 1.3 m, 1.5 m, etc., which is not limited in the present embodiment. For example, the distance threshold is 1.3 m, the VCU acquires the distance value between the vehicle and the surrounding obstacles in real time, which is 1 m, less than the distance threshold, and then outputs the instruction to turn on the AEB system, so that the vehicle can be stopped in time to avoid accidents.

[0038] In some optional embodiments, the deceleration includes a plurality of decelerations at the current time and previous times. According to the deceleration and the opening degree of the accelerator pedal, the driving intention of the driver of the vehicle is identified, which can be achieved based on the following steps.

[0039] Step 121, according to the plurality of decelerations at the current time and previous times, the rate of change of the deceleration of the vehicle is calculated.

[0040] The rate of change of the deceleration refers to the amount of change of the deceleration per unit time; for example, the VCU obtains the decelerations of the vehicle at T0 time and T1 time as 5 m / s 2 and 10 m / s 2 , the difference between T0 and T1 time is 2s, then the rate of change of the deceleration of the vehicle in the period of T0-T1 is (10-5) ÷ 2 = 2.5.

[0041] Step 122, according to the rate of change of the deceleration and the opening degree of the accelerator pedal, the driving intention of the driver of the vehicle is identified.

[0042] In some optional embodiments, according to the rate of change of the deceleration and the opening degree of the accelerator pedal, the driving intention of the driver of the vehicle is identified, which can be achieved based on the following steps.

[0043] When the rate of change of the deceleration is less than a preset first threshold, the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal.

[0044] The first threshold can be 2, 3 or 4, etc., and the present embodiment is not limited. Continue with the above example, if the first threshold is preset to 3, the rate of change of the deceleration of the vehicle in the period of T0-T1 is (10-5) ÷ 2 = 2.5, which is less than the preset first threshold, then the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal.

[0045] When the rate of change of the deceleration is greater than or equal to the first threshold, it can be considered that the automatic emergency braking system is in the state of establishing deceleration, and the VCU can not identify the intention of the driver's behavior of stepping on the accelerator pedal at this time. When the rate of change of the deceleration is less than the first threshold, it can be considered that the automatic emergency braking system is in a continuous deceleration state, at this time, the driver's body has ended, and the intention of the driver's behavior of stepping on the accelerator pedal can be identified.

[0046] In some optional embodiments, the driving data further includes the deceleration distance and / or the deceleration time of the vehicle after the activation of the emergency braking system. Before identifying the driving intention of the driver of the vehicle according to the opening degree of the accelerator pedal, it can be further judged whether the deceleration distance is greater than a set distance threshold, and / or whether the deceleration time is greater than a set deceleration time. Specifically, it can be achieved by the following implementation:

[0047] In the first embodiment, if the rate of change of the deceleration of the vehicle is less than the first preset threshold, it is determined whether the deceleration distance is greater than a set distance threshold. If the deceleration distance is greater than the set distance threshold, the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal. The set distance threshold can be 4 m, 6 m, 7 m, or the like, and the present embodiment is not limited in this way. For example, if the set distance threshold is 4 m, the VCU obtains that the deceleration distance of the vehicle after the automatic emergency braking system is activated is 5 m, which is greater than the set distance threshold, and then the driving intention of the driver of the vehicle can be identified according to the opening degree of the accelerator pedal.

[0048] In the second embodiment, if the rate of change of the deceleration of the vehicle is less than the first preset threshold, it is determined whether the deceleration time is greater than a set deceleration time. If the deceleration time is greater than the set deceleration time, the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal. The set deceleration time can be 2 s, 3 s, 3.5 s, or the like, and the present embodiment is not limited in this way. For example, if the set deceleration time is 3 s, the VCU obtains that the deceleration time of the vehicle after the automatic emergency braking system is activated is 3.5 s, which is greater than the set deceleration time, and then the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal.

[0049] In the third embodiment, if the rate of change of the deceleration of the vehicle is less than the first preset threshold, it is determined whether the deceleration distance is greater than a set distance threshold and whether the deceleration time is greater than a set deceleration time. If the deceleration distance is greater than the set distance threshold and the deceleration time is greater than the set deceleration time, the driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal.

[0050] In some optional embodiments, the opening degree of the accelerator pedal includes a plurality of opening degrees of the accelerator pedal at the current time and at previous times. The driving intention of the driver of the vehicle is identified according to the opening degree of the accelerator pedal, which can be achieved based on the following steps.

[0051] Step 21, the change amount of the opening degree of the accelerator pedal is calculated according to the plurality of opening degrees.

[0052] Step 22, it is determined whether the change amount of the opening degree of the accelerator pedal of the vehicle is greater than a second preset threshold.

[0053] Step 23, when it is determined that the change amount of the opening degree of the accelerator pedal of the vehicle is greater than the second preset threshold, it is determined that the driving intention of the driver is the intention of outputting power.

[0054] The second threshold can be 30%, 40%, 50%, or the like, and the present embodiment is not limited in this way. For example, the second threshold is 40%, the calculated change amount of the opening degree of the accelerator pedal is 41%, which is greater than the second threshold, and then it is determined that the driving intention of the driver is the intention of outputting power.

[0055] In the case that the automatic emergency braking system is in a continuous deceleration state, the driver's body leaning forward has ended. In this case, if the accelerator pedal opening degree change amount is greater than a certain value (i.e., the second threshold value), it can be considered that the driver has stepped on the vehicle's accelerator with a large stepping amplitude after ending the body leaning forward, at which time the VCU can determine that the driver intends to output power.

[0056] In some optional embodiments, the "accelerator pedal opening degree change amount" described in the foregoing embodiments can be achieved based on the following steps:

[0057] The time when the deceleration rate of the vehicle is less than the first threshold value is taken as the identification start time.

[0058] After determining the identification start time, the opening degree value of the accelerator pedal at the start time can be obtained as the base value of the accelerator pedal opening degree, and the real-time value of the accelerator pedal after the start time can be obtained. After obtaining the above data, the difference between the real-time value and the base value can be calculated as the accelerator pedal opening degree change amount.

[0059] For example, the time when the deceleration rate is less than the first threshold value is T3. The VCU obtains the opening degree value of the vehicle's accelerator pedal at the start time T3 as 5%, and takes the opening degree value 5% as the base value. The real-time opening degree value of the vehicle's accelerator pedal at the time T4 is obtained as 36%, and the accelerator pedal opening degree change amount is 31%, which is the difference between the base value and the real-time value.

[0060] In some optional embodiments, the driving data further includes the frequency of the driver's stepping on the accelerator pedal after the activation of the emergency braking system. After the activation of the vehicle's automatic emergency braking system, the frequency of the driver's stepping on the accelerator pedal of the vehicle can be further obtained. Based on this, after determining that the accelerator pedal opening degree change amount of the vehicle is greater than the preset second threshold value, the driver's driving intention can be further determined according to the frequency of stepping on the accelerator pedal. Specifically, the following steps can be used to achieve this:

[0061] After the activation of the vehicle's automatic emergency braking system, the frequency of the driver's stepping on the accelerator pedal of the vehicle is obtained; if the accelerator pedal opening degree change rate of the vehicle is greater than the preset second threshold value, it is determined whether the frequency of stepping on the accelerator pedal is greater than a set frequency threshold value. If the frequency of stepping on the accelerator pedal is greater than the set frequency threshold value, it is determined that the driver's driving intention is to output power.

[0062] The frequency threshold value can be set to two times per second, three times per second, or four times per second, etc., which is not limited in the present embodiment. For example, the VCU obtains a stepping frequency of three times per second, which is greater than the frequency threshold value of two times per second, and it is determined that the driver's driving intention is to output power.

[0063] It should be noted that the execution subject of each step of the method provided in the above embodiment can be the same device, or the method can also be executed by different devices as the execution subject. For example, the execution subject of steps 11 to 13 can be device A; for another example, the execution subject of steps 11 and 12 can be device A, and the execution subject of step 13 can be device B; and the like.

[0064] In addition, in some of the processes described in the above embodiments and the accompanying drawings, a plurality of operations appearing in a certain order are included, but it should be clearly understood that these operations can be executed in the order appearing in the text or in parallel, and the serial numbers of the operations such as 11, 12, etc. are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel.

[0065] It should be noted that the "first", "second", and the like in the text are used to distinguish different messages, devices, modules, etc., and do not represent the order, nor do "first" and "second" represent different types.

[0066] The embodiment of the present application provides a device for recognizing driving intention after emergency braking, as shown in the figure, the device for recognizing driving intention after emergency braking comprises a data acquisition module 201, an intention recognition module 202 and a control module 203. Figure 2

[0067] The data acquisition module 201 is configured to acquire driving data of a vehicle after an automatic emergency braking system is activated, wherein the driving data at least comprises deceleration and opening degree of an accelerator pedal; the intention recognition module 202 is configured to recognize driving intention of a driver of the vehicle according to the deceleration and the opening degree of the accelerator pedal; and the control module 203 is configured to control movement of the vehicle according to the driving intention of the driver of the vehicle.

[0068] Further optionally, when the control module 203 controls the movement of the vehicle according to the driving intention of the driver of the vehicle, it is specifically configured to: if the driving intention indicates output of power, control an engine of the vehicle to output corresponding torque according to the opening degree of the accelerator pedal, so as to control the vehicle to output power; and if the driving intention indicates that the driver is a misoperation, control a brake on the vehicle to keep the vehicle in an emergency braking state.

[0069] ​Further optionally, the deceleration includes a plurality of decelerations at a current time and a previous time. When identifying the driving intention of the driver of the vehicle according to the deceleration and the opening degree of the accelerator pedal, the intention identification module 202 is specifically configured to: calculate a change rate of the deceleration of the vehicle according to the plurality of decelerations at the current time and the previous time; and identify the driving intention of the driver of the vehicle according to the change rate of the deceleration and the opening degree of the accelerator pedal.

[0070] Further optionally, when identifying the driving intention of the driver of the vehicle according to the change rate of the deceleration and the opening degree of the accelerator pedal, the intention identification module 202 is specifically configured to: determine, when the change rate of the deceleration is less than a preset first threshold, the driving intention of the driver of the vehicle according to the opening degree of the accelerator pedal.

[0071] Further optionally, the driving data further includes a deceleration distance and / or a deceleration time of the vehicle after the activation of the emergency braking system. Before identifying the driving intention of the driver of the vehicle according to the opening degree of the accelerator pedal, the intention identification module 202 is further configured to: determine that the deceleration distance is greater than a set distance threshold, and / or the deceleration time is greater than a set deceleration time.

[0072] Further optionally, the opening degree of the accelerator pedal includes a plurality of opening degrees of the accelerator pedal at a current time and a previous time. When identifying the driving intention of the driver of the vehicle according to the opening degree of the accelerator pedal, the intention identification module 202 is specifically configured to: calculate a change amount of the opening degree of the accelerator pedal according to the plurality of opening degrees; and determine, when the change amount of the opening degree of the accelerator pedal of the vehicle is greater than a preset second threshold, that the driving intention of the driver is an intention of outputting power.

[0073] Further optionally, when calculating the change amount of the opening degree of the accelerator pedal, the intention identification module 202 is specifically configured to: take a time when the change rate of the deceleration of the vehicle is less than the first threshold as a starting time for identification; obtain an opening degree value of the accelerator pedal at the starting time as a base value of the opening degree of the accelerator pedal; obtain a real-time value of the accelerator pedal after the starting time; and calculate a difference between the real-time value and the base value as the change amount of the opening degree of the accelerator pedal.

[0074] Further optionally, the driving data further includes a frequency of the driver of the vehicle stepping on the accelerator pedal after the activation of the emergency braking system. When the change amount of the opening degree of the accelerator pedal of the vehicle is greater than the preset second threshold and the frequency of the driver stepping on the accelerator pedal is greater than a set frequency threshold, the intention identification module 202 is further configured to determine that the driving intention of the driver is an intention of outputting power.

[0075] In the embodiment, the VCU can acquire driving data of the vehicle after the automatic emergency braking system is activated, and identify the driving intention of the driver according to the deceleration and the opening degree of the accelerator pedal. In this way, the driving intention of the driver can be accurately identified, so as to facilitate accurate control of the vehicle output power according to the driving intention, and improve the driving safety of the vehicle after emergency braking.

[0076] Figure 3 is a structural schematic diagram of an electronic device provided by an example embodiment of the present application, as shown in the figure, the electronic device comprises a memory 301 and a processor 302. Figure 3 The memory 301 is configured to store computer programs and can be configured to store other various data to support operations on the terminal device. Examples of these data include instructions for any application or method operating on the terminal device, contact data, phonebook data, messages, pictures, videos, etc.

[0077] The memory 301 can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0078] The processor 302 is coupled with the memory 301 and is configured to execute the computer programs in the memory 301, so as to: acquire driving data of the vehicle after the automatic emergency braking system is activated; the driving data at least includes deceleration and opening degree of the accelerator pedal; identify the driving intention of the driver of the vehicle according to the deceleration and the opening degree of the accelerator pedal; and control the movement of the vehicle according to the driving intention of the driver of the vehicle.

[0079] Further optionally, when the processor 302 controls the movement of the vehicle according to the driving intention of the driver of the vehicle, it is specifically configured to: if the driving intention indicates output power, control the engine of the vehicle to output corresponding torque according to the opening degree of the accelerator pedal, so as to control the vehicle to output power; and if the driving intention indicates that the driver is misoperation, control the vehicle to keep the emergency braking state through the brake on the vehicle.

[0080]

[0081] ​Further, the deceleration includes a plurality of decelerations at the current time and previous times. When the processor 302 identifies the driving intention of the driver of the vehicle according to the deceleration and the opening degree of the accelerator pedal, specifically, the processor 302 is configured to: calculate a change rate of the deceleration of the vehicle according to the plurality of decelerations at the current time and previous times; and identify the driving intention of the driver of the vehicle according to the change rate of the deceleration and the opening degree of the accelerator pedal.

[0082] Further, when the processor 302 identifies the driving intention of the driver of the vehicle according to the change rate of the deceleration and the opening degree of the accelerator pedal, specifically, the processor 302 is configured to: determine, when the change rate of the deceleration is less than a first preset threshold, the driving intention of the driver of the vehicle according to the opening degree of the accelerator pedal.

[0083] Further, the driving data further includes a deceleration distance and / or a deceleration time of the vehicle after the activation of the emergency braking system. The processor 302 is further configured to: determine that the deceleration distance is greater than a preset distance threshold, and / or, the deceleration time is greater than a preset deceleration time.

[0084] Further, when the opening degree of the accelerator pedal includes a plurality of opening degrees of the accelerator pedal at the current time and previous times, specifically, the processor 302 is configured to: identify the driving intention of the driver of the vehicle according to the opening degree of the accelerator pedal, including: calculating a change amount of the opening degree of the accelerator pedal according to the plurality of opening degrees; determining whether the change amount of the opening degree of the accelerator pedal is greater than a second preset threshold; and determining that the driving intention of the driver is an intention of outputting power when the change amount of the opening degree of the accelerator pedal is greater than the second preset threshold.

[0085] Further, when the processor 302 calculates the change amount of the opening degree of the accelerator pedal, specifically, the processor 302 is configured to: take a time when the change rate of the deceleration of the vehicle is less than the first threshold as a starting time for identification; obtain an opening degree value of the accelerator pedal at the starting time as a base value of the opening degree of the accelerator pedal; obtain a real-time value of the accelerator pedal after the starting time; and calculate a difference between the real-time value and the base value as the change amount of the opening degree of the accelerator pedal.

[0086] Further, the driving data further includes a frequency of the driver of the vehicle stepping on the accelerator pedal after the activation of the emergency braking system. The processor 302 is further configured to: determine that the driving intention of the driver is an intention of outputting power when the change amount of the opening degree of the accelerator pedal is greater than the second preset threshold and the frequency of the driver stepping on the accelerator pedal is greater than a preset frequency threshold.

[0087] The aboveFigure 3 The memory in the electronic device can be implemented by any type of volatile or nonvolatile memory or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disc or a compact disc.

[0088] The above Figure 3 The display 303 in the electronic device includes a screen, which can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide and a gesture on the touch panel. The touch sensor can not only sense a boundary of a touching or a sliding action, but also detect duration and pressure related to the touching or sliding action.

[0089] Further, as shown in Figure 3 The electronic device further includes a communication component 304, a power supply component 305, and other components. Figure 3 Only some components are shown in the electronic device, and this does not mean that the electronic device only includes Figure 3 the components shown.

[0090] The above Figure 3 The communication component 304 in the electronic device is configured to facilitate communication between the device where the communication component is located and other devices in a wired or wireless manner. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G or 5G, or a combination thereof. In an example embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an example embodiment, the communication component can be implemented based on near field communication (NFC) technology, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0091] The power supply component 305 provides power to various components of the device where the power supply component is located. The power supply component can include a power management system, one or more power supplies, and other components associated with generating, managing and distributing power to the device where the power supply component is located.

[0092] In the embodiment, the VCU can acquire the driving data of the vehicle after the automatic emergency braking system is activated, and identify the driving intention of the driver according to the deceleration and the opening degree of the accelerator pedal. In this way, the driving intention of the driver can be accurately identified, so as to facilitate the control of the vehicle output power according to the driving intention, and improve the driving safety after the emergency braking of the vehicle.

[0093] Correspondingly, the embodiment of the application further provides a computer readable storage medium storing a computer program, which causes the processor to implement the steps in the method of identifying the driving intention after the emergency braking when the computer program is executed by the processor.

[0094] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0095] The application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the function specified by one or more blocks.

[0096] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0097] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide functions for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 steps of a function specified in one or more blocks.

[0098] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0099] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information about an operating system. Memory is an example of computer readable media.

[0100] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0102] The above description is merely illustrative of the application, and not restrictive. Various modifications and changes can be made by those skilled in the art which fall within the spirit and scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included within the scope of claims of the application.

Claims

1. A method for recognizing driving intent after emergency braking, applied to vehicles equipped with an automatic emergency braking system, characterized in that, The method includes: After the automatic emergency braking system is activated, the vehicle's driving data is acquired; the driving data includes at least: deceleration and accelerator pedal opening; the deceleration includes multiple decelerations at the current moment and previous moments; the accelerator pedal opening includes multiple accelerator pedal openings at the current moment and previous moments. The driver's driving intention is identified based on the rate of change of deceleration and the amount of change of the accelerator pedal opening; the rate of change of deceleration is obtained based on multiple decelerations at the current moment and previous moments; the amount of change of the accelerator pedal opening is obtained based on multiple accelerator pedal openings at the current moment and previous moments. The movement of the vehicle is controlled according to the driving intention of the driver; the movement of the vehicle includes the vehicle outputting power, or the vehicle maintaining an emergency braking state.

2. The method according to claim 1, characterized in that, The step of controlling the movement of the vehicle according to the driver's driving intention includes: If the driving intention indicates output power, then the vehicle's engine is controlled to output corresponding torque according to the opening of the accelerator pedal, so as to control the vehicle's output power; If the driving intention indicates that the driver is misoperating, then the vehicle is controlled to maintain an emergency braking state by means of the brakes on the vehicle.

3. The method according to claim 1, characterized in that, Based on the rate of change of deceleration and the amount of change in the accelerator pedal opening, the driver's driving intention is identified, including: Calculate the rate of change of the vehicle's deceleration based on multiple decelerations at the current time and previous times; The driver's driving intention is identified based on the rate of change of the deceleration and the opening of the accelerator pedal.

4. The method according to claim 3, characterized in that, Based on the rate of change of deceleration and the opening of the accelerator pedal, the driver's driving intention of the vehicle is identified, including: When the rate of change of the deceleration is determined to be less than a preset first threshold, the driver's driving intention is identified based on the opening of the accelerator pedal.

5. The method according to claim 4, characterized in that, The driving data also includes: the deceleration distance and / or deceleration duration of the vehicle after the emergency braking system is activated; Before identifying the driver's driving intention based on the accelerator pedal opening, the method further includes: It is determined that the deceleration distance is greater than a set distance threshold, and / or the deceleration duration is greater than a set deceleration duration.

6. The method according to claim 4, characterized in that, Based on the opening of the accelerator pedal, the driver's driving intention is identified, including: Calculate the change in the opening of the accelerator pedal based on the multiple openings; When the change in the opening of the accelerator pedal of the vehicle is determined to be greater than a preset second threshold, the driver's driving intention is determined to be the intention to output power.

7. The method according to claim 6, characterized in that, Calculating the change in the accelerator pedal opening includes: The moment when the rate of change of the vehicle's deceleration is less than the first threshold is taken as the identification start moment; The opening value of the accelerator pedal at the initial moment is obtained as the base value of the accelerator pedal opening; Obtain the real-time value of the accelerator pedal after the initial moment; The difference between the real-time value and the baseline value is calculated as the change in the accelerator pedal opening.

8. The method according to claim 6, characterized in that, The driving data also includes: the frequency of the driver's pressing of the accelerator pedal after the emergency braking system is activated; When the change in the accelerator pedal opening of the vehicle is determined to be greater than a preset second threshold, the driver's driving intention is determined to be an intention to output power, including: When the change in the opening of the accelerator pedal of the vehicle is greater than a preset second threshold, and the frequency of pressing the accelerator pedal is greater than a set frequency threshold, the driver's driving intention is determined to be the intention to output power.

9. A device for recognizing driving intentions after emergency braking, characterized in that, include: Data acquisition module: After the automatic emergency braking system is activated, it acquires the vehicle's driving data; The driving data includes at least: deceleration and accelerator pedal opening; the deceleration includes multiple decelerations at the current moment and previous moments; the accelerator pedal opening includes multiple accelerator pedal openings at the current moment and previous moments. Intent recognition module: Based on the rate of change of deceleration and the amount of change of the accelerator pedal opening, the driver's driving intention of the vehicle is recognized; the rate of change of deceleration is obtained based on multiple decelerations at the current moment and previous moments; the amount of change of the accelerator pedal opening is obtained based on multiple accelerator pedal openings at the current moment and previous moments. Control module: controls the movement of the vehicle according to the driver's driving intention; the movement of the vehicle includes the vehicle outputting power, or the vehicle maintaining an emergency braking state.

10. An electronic device, characterized in that, include: Memory and processor; The memory is used to store one or more computer instructions; The processor is configured to execute one or more computer instructions for performing the steps of the method according to any one of claims 1-8.

11. A computer-readable storage medium storing a computer program, characterized in that, When a computer program is executed by a processor, it causes the processor to perform the steps of the method according to any one of claims 1-8.

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