Vehicle emergency braking method, device, electronic equipment and storage medium

Abstract

The application discloses a vehicle emergency braking method and device, electronic equipment and a storage medium. The vehicle emergency braking method comprises the following steps: responding to a brake pedal down signal; in the case that a first device is not failed, collecting intention recognition data through the first device, determining an emergency braking intention of a driver according to the intention recognition data, and controlling a target vehicle to perform emergency braking based on the emergency braking intention; in the case that the first device is failed; in the case that a second device is not failed, collecting emotion recognition data through the second device, determining a target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to perform emergency braking based on the target emotion. According to the technical scheme of the embodiment of the application, in the case that the driver forgets to directly trigger an emergency braking switch or the emergency braking switch is failed, the target vehicle can be assisted to perform emergency braking by recognizing the emergency braking intention or the target emotion of the driver, so that the driving safety is ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle emergency braking method, device, electronic device, and storage medium. Background Technology

[0002] The Electronic Park Brake (EPB) system is an electronic handbrake switch that replaces the traditional lever. Activating the EPB switch allows for emergency braking of the vehicle, ensuring driving safety in special circumstances. However, drivers often forget to activate the EPB switch when in a state of panic. Therefore, a method is needed that allows the vehicle to automatically brake in dangerous situations even if the driver forgets to activate the EPB switch.

[0003] In the existing technology, the methods for automatically controlling a vehicle to perform emergency braking include: obtaining the brake pedal opening of the vehicle; and controlling the target vehicle to perform emergency braking by comparing the brake pedal opening with a brake pedal opening threshold. However, the control method is relatively simple and the accuracy is poor. If the brake pedal opening cannot be obtained, the method of automatically controlling the vehicle to perform emergency braking will directly fail, thus failing to guarantee driving safety. Summary of the Invention

[0004] This invention provides a vehicle emergency braking method, device, electronic device, and storage medium to solve the problems of limited emergency braking methods, poor accuracy, and poor driving safety.

[0005] According to one aspect of the present invention, a vehicle emergency braking method is provided, wherein the method includes:

[0006] In response to a brake pedal depressing signal, a first device for determining whether the target vehicle is malfunctioning is used, wherein the first device is a device for collecting intent recognition data;

[0007] If the first device does not fail, the intention recognition data is collected by the first device, the driver's emergency braking intention is determined based on the intention recognition data, and the target vehicle is controlled to perform emergency braking based on the emergency braking intention.

[0008] In the event that the first device fails, determine whether the second device of the target vehicle has failed, wherein the second device is a device for collecting emotion recognition data;

[0009] If the second device does not fail, the emotion recognition data is collected by the second device, the driver's target emotion is determined based on the emotion recognition data, and the target vehicle is controlled to perform emergency braking based on the target emotion.

[0010] According to another aspect of the present invention, a vehicle emergency braking device is provided, wherein the device comprises:

[0011] The first device identification module is used to determine whether the first device of the target vehicle is malfunctioning in response to the brake pedal depressing signal, wherein the first device is a device for collecting intent recognition data.

[0012] The first emergency braking module is used to collect the intent recognition data through the first device when the first device is not malfunctioning, determine the driver's emergency braking intent based on the intent recognition data, and control the target vehicle to perform emergency braking based on the emergency braking intent.

[0013] The second device identification module is used to determine whether the second device of the target vehicle has failed in the event that the first device has failed, wherein the second device is a device for collecting emotion recognition data.

[0014] The second emergency braking module is used to collect the emotion recognition data through the second device when the second device is not malfunctioning, determine the driver's target emotion based on the emotion recognition data, and control the target vehicle to perform emergency braking based on the target emotion.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle emergency braking method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle emergency braking method according to any embodiment of the present invention.

[0020] The technical solution of this invention addresses the issue of whether a first device in the target vehicle is malfunctioning in response to a brake pedal depress signal. This first device is a device for collecting intent recognition data. If the first device is functioning correctly, it collects the intent recognition data, determines the driver's emergency braking intent based on the data, and controls the target vehicle to perform emergency braking based on this intent. If the first device is malfunctioning, the solution determines whether a second device in the target vehicle is malfunctioning. This second device is a device for collecting emotion recognition data. If the second device is functioning correctly, it collects the emotion recognition data, determines the driver's target emotion based on the data, and controls the target vehicle to perform emergency braking based on this target emotion. Based on this invention, even if the driver forgets to directly trigger the emergency brake switch or the emergency brake switch malfunctions, it can perform assisted emergency braking of the target vehicle by recognizing the driver's emergency braking intent or target emotion, thus ensuring driving safety.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a vehicle emergency braking method according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a vehicle emergency braking method according to Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of a vehicle emergency braking device according to Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the vehicle emergency braking method of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a vehicle emergency braking method provided in Embodiment 1 of the present invention. This embodiment is applicable to vehicle control situations. The method can be executed by a vehicle emergency braking device, which can be implemented in hardware and / or software and can be configured in the target vehicle. Figure 1 As shown, the method includes:

[0031] S110. In response to a brake pedal depressing signal, determine whether the first device of the target vehicle is malfunctioning, wherein the first device is a device for collecting intent recognition data.

[0032] The brake pedal depressing signal can be understood as the signal of the brake pedal being pressed.

[0033] The target vehicle can be understood as the object subject to emergency braking. Optionally, the target vehicle may be a vehicle with emergency braking function. In this embodiment of the invention, the target vehicle can be set according to scenario requirements, and is not specifically limited here. For example, the target vehicle may be a sedan, truck, or car, etc.

[0034] The first device can be understood as a device for collecting the intent recognition data. Optionally, the first device may be a device with the function of collecting the intent recognition data. In this embodiment of the invention, the first device can be preset according to scenario requirements, and is not specifically limited here. For example, the first device may be a communication sensor installed on the brake pedal. In this embodiment of the invention, based on the communication sensor, data such as the brake pedal opening, pedal depressing duration, and maximum pedal depressing speed corresponding to the brake pedal of the target vehicle can be collected.

[0035] The intent recognition data can be understood as data used to identify the driver's emergency braking intent. In this embodiment of the invention, the intent recognition data can be preset according to scenario requirements, and is not specifically limited here. Optionally, the intent recognition data may include at least one of brake pedal opening, pedal depressing duration, and maximum pedal depressing speed.

[0036] S120. If the first device does not fail, the intention recognition data is collected by the first device, the driver's emergency braking intention is determined based on the intention recognition data, and the target vehicle is controlled to perform emergency braking based on the emergency braking intention.

[0037] The emergency braking intention can be understood as the driver's intention to brake suddenly. Optionally, the emergency braking intention may include the presence of braking intention and the absence of braking intention.

[0038] Optionally, determining the driver's emergency braking intention based on the intention recognition data includes:

[0039] Determine an intent recognition threshold, wherein the intent recognition threshold includes at least one of an opening threshold, a duration threshold, and a maximum speed threshold;

[0040] The driver's emergency braking intention is determined based on the intent recognition data and the intent recognition threshold.

[0041] The intent recognition threshold can be understood as a threshold corresponding to the intent recognition data, used to determine the driver's emergency braking intent. In this embodiment of the invention, the intent recognition threshold can be preset according to scenario requirements, and is not specifically limited here. Optionally, when the intent recognition data includes brake pedal opening, pedal depressing duration, and maximum pedal depressing speed, the intent recognition threshold may include an opening threshold, a duration threshold, and a maximum speed threshold.

[0042] Optionally, if the brake pedal opening is greater than the opening threshold, the pedal pressing duration is greater than the duration threshold, and the maximum pedal pressing speed is greater than the maximum speed threshold, the driver's emergency braking intention is determined to be a braking intention.

[0043] If the brake pedal opening is less than or equal to the opening threshold, the pedal depressing duration is less than or equal to the duration threshold, or the maximum pedal depressing speed is less than or equal to the maximum speed threshold, the driver's emergency braking intention is determined to be non-existent.

[0044] Optionally, the emergency braking intention includes both the presence and absence of a braking intention, and controlling the target vehicle to perform emergency braking based on the emergency braking intention includes:

[0045] When the emergency braking intention is that there is a braking intention, the real-time deceleration of the target vehicle is obtained, and a deceleration threshold is determined. The target vehicle is then controlled to perform emergency braking based on the deceleration threshold and the real-time deceleration.

[0046] If the emergency braking intention is not to brake, the target vehicle is decelerated based on its real-time deceleration until its real-time speed is zero.

[0047] The real-time deceleration can be understood as the real-time deceleration of the target vehicle.

[0048] The deceleration threshold can be understood as a threshold corresponding to the real-time deceleration, used to determine whether emergency braking of the target vehicle is necessary. In this embodiment of the invention, the deceleration threshold can be preset according to scenario requirements, and is not specifically limited here.

[0049] Optionally, if the emergency braking intention is that there is a braking intention and the real-time deceleration of the target vehicle is less than the deceleration threshold, the target vehicle is subjected to emergency braking.

[0050] The real-time speed can be understood as the real-time speed of the target vehicle.

[0051] S130. In the event that the first device fails, determine whether the second device of the target vehicle has failed, wherein the second device is a device for collecting emotion recognition data.

[0052] The second device can be understood as a device for collecting emotion recognition data. Optionally, the second device may be a device with the function of collecting the emotion recognition data. In this embodiment of the invention, the second device can be preset according to scenario requirements, and is not specifically limited here. For example, the second device may be a pressure sensor installed on the steering wheel. In this embodiment of the invention, the pressure sensor can collect data such as the driver's heart rate, heart rate change rate, steering wheel grip force, and grip force change rate.

[0053] The emotion recognition data can be understood as data used to identify the target emotion of the driver. In this embodiment of the invention, the emotion recognition data can be preset according to scenario requirements, and is not specifically limited here. Optionally, the emotion recognition data may include at least one of the driver's heart rate, heart rate change rate, steering wheel grip strength, and grip strength change rate.

[0054] S140. If the second device does not fail, the emotion recognition data is collected through the second device, the driver's target emotion is determined based on the emotion recognition data, and the target vehicle is controlled to perform emergency braking based on the target emotion.

[0055] The target emotion can be understood as the driver's emotion. Optionally, the target emotion may include tension and calmness.

[0056] Optionally, the vehicle emergency braking method further includes:

[0057] In the event that both the first and second devices fail, the target vehicle shall be brought to emergency braking.

[0058] It is understandable that if the first device fails and the second device fails, the target vehicle may already have multiple faults. Therefore, the target vehicle can be directly braked in an emergency.

[0059] Optionally, the vehicle emergency braking method further includes:

[0060] In response to the pedal depress cancellation signal, the target vehicle is controlled to travel at a constant speed based on the real-time speed of the target vehicle.

[0061] The pedal depress cancellation signal can be understood as the cancellation signal for depressing the brake pedal.

[0062] The technical solution of this invention addresses the issue of whether a first device in the target vehicle is malfunctioning in response to a brake pedal depress signal. This first device is a device for collecting intent recognition data. If the first device is functioning correctly, it collects the intent recognition data, determines the driver's emergency braking intent based on the data, and controls the target vehicle to perform emergency braking based on this intent. If the first device is malfunctioning, the solution determines whether a second device in the target vehicle is malfunctioning. This second device is a device for collecting emotion recognition data. If the second device is functioning correctly, it collects the emotion recognition data, determines the driver's target emotion based on the data, and controls the target vehicle to perform emergency braking based on this target emotion. Based on this invention, even if the driver forgets to directly trigger the emergency brake switch or the emergency brake switch malfunctions, it can perform assisted emergency braking of the target vehicle by recognizing the driver's emergency braking intent or target emotion, thus ensuring driving safety.

[0063] Example 2

[0064] Figure 2 This is a flowchart of a vehicle emergency braking method provided in Embodiment 2 of the present invention. This embodiment refines the method described in the above embodiment for determining the driver's target emotion based on the emotion recognition data. Figure 2 As shown, the method includes:

[0065] S210. In response to a brake pedal depressing signal, determine whether the first device of the target vehicle is malfunctioning, wherein the first device is a device for collecting intent recognition data.

[0066] S220. If the first device does not fail, the intention recognition data is collected by the first device, the driver's emergency braking intention is determined based on the intention recognition data, and the target vehicle is controlled to perform emergency braking based on the emergency braking intention.

[0067] S230. In the event that the first device fails, determine whether the second device of the target vehicle has failed, wherein the second device is a device for collecting emotion recognition data.

[0068] S240. If the second device is not malfunctioning, determine an emotion recognition threshold, wherein the emotion recognition threshold includes at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold, and a grip strength change rate threshold.

[0069] The emotion recognition threshold can be understood as a threshold corresponding to the emotion recognition data, used to determine the driver's target emotion. In this embodiment of the invention, the emotion recognition threshold can be preset according to scenario requirements, and is not specifically limited here. Optionally, when the emotion recognition data includes the driver's heart rate, heart rate variability rate, steering wheel grip strength, and grip strength variability rate, the emotion recognition threshold may include a heart rate threshold, a heart rate variability rate threshold, a grip strength threshold, and a grip strength variability rate threshold.

[0070] S250. Determine the driver's target emotion based on the emotion recognition data and the emotion recognition threshold.

[0071] Optionally, if the driver's heart rate is greater than the heart rate threshold, the heart rate change rate is greater than the heart rate change rate threshold, the steering wheel grip strength is greater than the grip strength threshold, and the grip strength change rate is greater than the grip strength change rate threshold, the driver's target emotion is determined to be tension.

[0072] If the driver's heart rate is less than the heart rate threshold, the rate of change of heart rate is less than the rate of change of heart rate threshold, the steering wheel grip strength is less than the grip strength threshold, or the rate of change of grip strength is less than the rate of change of grip strength threshold, the driver's target emotion is determined to be a stable emotion.

[0073] Optionally, the target emotion includes tension and calmness, and controlling the target vehicle to perform emergency braking based on the emergency braking intention includes:

[0074] If the target emotion is described as tension, apply emergency braking to the target vehicle.

[0075] When the target emotion is the stable emotion, the target vehicle is controlled to decelerate based on its current real-time deceleration to reduce its real-time speed to zero.

[0076] S260. Based on the target emotion, control the target vehicle to perform emergency braking.

[0077] The technical solution of this invention determines an emotion recognition threshold, wherein the emotion recognition threshold includes at least one of a heart rate threshold, a heart rate variability threshold, a grip strength threshold, and a grip strength variability threshold; based on the emotion recognition data and the emotion recognition threshold, the driver's target emotion is determined. This improves the accuracy of the identified driver's target emotion and ensures the accuracy of emergency braking of the target vehicle based on the target emotion.

[0078] Example 3

[0079] Figure 3This is a schematic diagram of a vehicle emergency braking device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a first device identification module 310, a first emergency braking module 320, a second device identification module 330, and a second emergency braking module 340; wherein,

[0080] The first device identification module 310 is used to determine whether a first device of the target vehicle is malfunctioning in response to a brake pedal depressing signal, wherein the first device is a device for collecting intent recognition data; the first emergency braking module 320 is used to collect the intent recognition data through the first device when the first device is not malfunctioning, determine the driver's emergency braking intent based on the intent recognition data, and control the target vehicle to perform emergency braking based on the emergency braking intent; the second device identification module 330 is used to determine whether a second device of the target vehicle is malfunctioning when the first device is malfunctioning, wherein the second device is a device for collecting emotion recognition data; the second emergency braking module 340 is used to collect the emotion recognition data through the second device when the second device is not malfunctioning, determine the driver's target emotion based on the emotion recognition data, and control the target vehicle to perform emergency braking based on the target emotion.

[0081] The technical solution of this invention addresses the issue of whether a first device in the target vehicle is malfunctioning in response to a brake pedal depress signal. This first device is a device for collecting intent recognition data. If the first device is functioning correctly, it collects the intent recognition data, determines the driver's emergency braking intent based on the data, and controls the target vehicle to perform emergency braking based on this intent. If the first device is malfunctioning, the solution determines whether a second device in the target vehicle is malfunctioning. This second device is a device for collecting emotion recognition data. If the second device is functioning correctly, it collects the emotion recognition data, determines the driver's target emotion based on the data, and controls the target vehicle to perform emergency braking based on this target emotion. Based on this invention, even if the driver forgets to directly trigger the emergency brake switch or the emergency brake switch malfunctions, it can perform assisted emergency braking of the target vehicle by recognizing the driver's emergency braking intent or target emotion, thus ensuring driving safety.

[0082] Optionally, the vehicle emergency braking device further includes a third emergency braking module for:

[0083] In the event that both the first and second devices fail, the target vehicle shall be brought to emergency braking.

[0084] Optionally, the intent recognition data includes at least one of brake pedal opening, pedal depress duration, and maximum pedal depress speed. The first emergency braking module 320 is used for:

[0085] Determine an intent recognition threshold, wherein the intent recognition threshold includes at least one of an opening threshold, a duration threshold, and a maximum speed threshold;

[0086] The driver's emergency braking intention is determined based on the intent recognition data and the intent recognition threshold.

[0087] Optionally, the emergency braking intent includes both the presence and absence of braking intent. The first emergency braking module 320 is used for:

[0088] When the emergency braking intention is that there is a braking intention, the real-time deceleration of the target vehicle is obtained, and a deceleration threshold is determined. The target vehicle is then controlled to perform emergency braking based on the deceleration threshold and the real-time deceleration.

[0089] If the emergency braking intention is not to brake, the target vehicle is decelerated based on its real-time deceleration until its real-time speed is zero.

[0090] Optionally, the emotion recognition data includes at least one of the driver's heart rate, heart rate change rate, steering wheel grip force, and grip force change rate. The second emergency braking module 340 is used for:

[0091] Determine an emotion recognition threshold, wherein the emotion recognition threshold includes at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold, and a grip strength change rate threshold;

[0092] The driver's target emotion is determined based on the emotion recognition data and the emotion recognition threshold.

[0093] Optionally, the target emotion includes tension and calmness, and the second emergency braking module 340 is used for:

[0094] If the target emotion is described as tension, apply emergency braking to the target vehicle.

[0095] When the target emotion is the stable emotion, the target vehicle is controlled to decelerate based on its current real-time deceleration to reduce its real-time speed to zero.

[0096] Optionally, the vehicle emergency braking device further includes an emergency braking cancellation module, used for:

[0097] In response to the pedal depress cancellation signal, the target vehicle is controlled to travel at a constant speed based on the real-time speed of the target vehicle.

[0098] The vehicle emergency braking device provided in the embodiments of the present invention can execute the vehicle emergency braking method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0099] Example 4

[0100] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0101] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0102] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle emergency braking methods.

[0104] In some embodiments, the vehicle emergency braking method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle emergency braking method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle emergency braking method by any other suitable means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0111] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle emergency braking method, characterized in that, include: In response to a brake pedal depressing signal, a first device for determining whether the target vehicle is malfunctioning is used, wherein the first device is a device for collecting intent recognition data; If the first device does not fail, the intention recognition data is collected by the first device, the driver's emergency braking intention is determined based on the intention recognition data, and the target vehicle is controlled to perform emergency braking based on the emergency braking intention. In the event that the first device fails, determine whether the second device of the target vehicle has failed, wherein the second device is a device for collecting emotion recognition data; If the second device is not malfunctioning, the emotion recognition data is collected by the second device, the driver's target emotion is determined based on the emotion recognition data, and the target vehicle is controlled to perform emergency braking based on the target emotion. The intent recognition data includes at least one of brake pedal opening, pedal depress duration, and maximum pedal depress speed. Determining the driver's emergency braking intent based on the intent recognition data includes: Determine an intent recognition threshold, wherein the intent recognition threshold includes at least one of an opening threshold, a duration threshold, and a maximum speed threshold; The driver's emergency braking intention is determined based on the intent recognition data and the intent recognition threshold. Determining the driver's emergency braking intention based on the intention recognition data and the intention recognition threshold includes: If the brake pedal opening is greater than the opening threshold, the pedal pressing duration is greater than the duration threshold, and the maximum pedal pressing speed is greater than the maximum speed threshold, the driver's emergency braking intention is determined to be a braking intention. If the brake pedal opening is less than or equal to the opening threshold, the pedal pressing duration is less than or equal to the duration threshold, or the maximum pedal pressing speed is less than or equal to the maximum speed threshold, the driver's emergency braking intention will be determined as no braking intention. The emotion recognition data includes at least one of the driver's heart rate, heart rate variability, steering wheel grip strength, and grip strength variability. Determining the driver's target emotion based on the emotion recognition data includes: Determine an emotion recognition threshold, wherein the emotion recognition threshold includes at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold, and a grip strength change rate threshold; The driver's target emotion is determined based on the emotion recognition data and the emotion recognition threshold.

2. The method according to claim 1, characterized in that, Also includes: In the event that both the first and second devices fail, the target vehicle shall be brought to emergency braking.

3. The method according to claim 1, characterized in that, The emergency braking intent includes both the presence and absence of a braking intent, and controlling the target vehicle to perform emergency braking based on the emergency braking intent includes: When the emergency braking intention is that there is a braking intention, the real-time deceleration of the target vehicle is obtained, and a deceleration threshold is determined. The target vehicle is then controlled to perform emergency braking based on the deceleration threshold and the real-time deceleration. If the emergency braking intention is not to brake, the target vehicle is decelerated based on its real-time deceleration until its real-time speed is zero.

4. The method according to claim 3, characterized in that, The target emotion includes tension and calmness, and the step of controlling the target vehicle to perform emergency braking based on the emergency braking intention includes: If the target emotion is described as tension, apply emergency braking to the target vehicle. When the target emotion is the stable emotion, the target vehicle is controlled to decelerate based on its current real-time deceleration to reduce its real-time speed to zero.

5. The method according to any one of claims 1-4, characterized in that, include: In response to the pedal depress cancellation signal, the target vehicle is controlled to travel at a constant speed based on the real-time speed of the target vehicle.

6. A vehicle emergency braking device, characterized in that, include: The first device identification module is used to determine whether the first device of the target vehicle is malfunctioning in response to the brake pedal depressing signal, wherein the first device is a device for collecting intent recognition data. The first emergency braking module is used to collect the intent recognition data through the first device when the first device is not malfunctioning, determine the driver's emergency braking intent based on the intent recognition data, and control the target vehicle to perform emergency braking based on the emergency braking intent. The second device identification module is used to determine whether the second device of the target vehicle has failed in the event that the first device has failed, wherein the second device is a device for collecting emotion recognition data. The second emergency braking module is used to collect the emotion recognition data through the second device when the second device is not malfunctioning, determine the driver's target emotion based on the emotion recognition data, and control the target vehicle to perform emergency braking based on the target emotion. The intent recognition data includes at least one of brake pedal opening, pedal depress duration, and maximum pedal depress speed. The first emergency braking module is used for: Determine an intent recognition threshold, wherein the intent recognition threshold includes at least one of an opening threshold, a duration threshold, and a maximum speed threshold; The driver's emergency braking intention is determined based on the intent recognition data and the intent recognition threshold. Determining the driver's emergency braking intention based on the intention recognition data and the intention recognition threshold includes: If the brake pedal opening is greater than the opening threshold, the pedal pressing duration is greater than the duration threshold, and the maximum pedal pressing speed is greater than the maximum speed threshold, the driver's emergency braking intention is determined to be a braking intention. If the brake pedal opening is less than or equal to the opening threshold, the pedal pressing duration is less than or equal to the duration threshold, or the maximum pedal pressing speed is less than or equal to the maximum speed threshold, the driver's emergency braking intention will be determined as no braking intention. The emotion recognition data includes at least one of driver's heart rate, heart rate variability, steering wheel grip strength, and grip strength variability; the second emergency braking module is used for: Determine an emotion recognition threshold, wherein the emotion recognition threshold includes at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold, and a grip strength change rate threshold; The driver's target emotion is determined based on the emotion recognition data and the emotion recognition threshold.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle emergency braking method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle emergency braking method according to any one of claims 1-5.

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