Emergency braking method, device, processor and vehicle for a vehicle

Abstract

This invention discloses an emergency braking method, device, processor, and vehicle for a vehicle. The method includes: acquiring state data of a vehicle to be rolled off the production line in an electromagnetic compatibility environment, wherein the state data indicates the vehicle's deviation from its designated path and / or abnormal vibration on a road segment, the road segment being a pre-running section where the vehicle is controlled before being rolled off the production line; in response to the state data exceeding a vehicle safety state threshold, triggering a pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and gear shifter, obtaining a control result; and performing emergency braking on the vehicle based on the control result. This invention solves the technical problem of low safety during the pre-running process before vehicle rollout.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to an emergency braking method, apparatus, processor, and vehicle for a vehicle. Background Technology

[0002] Currently, before a vehicle rolls off the production line, it needs to undergo a pre-run on a laboratory road, involving forward and reverse maneuvers. Testing during this pre-run determines whether the vehicle is safe for use. However, safety hazards exist during testing. For example, if anchor points detach or straps break, it could lead to loss of control. Therefore, the technical issue of low safety during pre-running tests remains.

[0003] There is currently no effective solution to the technical problem of low safety during the pre-running of vehicles before they roll off the production line, which is related to the aforementioned technologies. Summary of the Invention

[0004] This invention provides an emergency braking method, device, processor, and vehicle for a vehicle, to at least address the technical problem of low safety during pre-running of vehicles before they roll off the production line.

[0005] According to one aspect of the present invention, an emergency braking method for a vehicle is provided. The method may include: acquiring state data of a vehicle to be rolled off the production line in an electromagnetic compatibility environment, wherein the state data indicates the vehicle's deviation from its designated path and / or abnormal vibration of the vehicle on a road segment, the road segment being a pre-running section of the vehicle before it is rolled off the production line; in response to the state data exceeding a vehicle safety state threshold, triggering a pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and the vehicle's gear shifter, obtaining a control result; and performing emergency braking on the vehicle based on the control result.

[0006] Optionally, the emergency braking system includes at least: a first braking actuator module, a second braking actuator module, a winding reel, an air compressor, a pull rope sensor, an acceleration sensor, and a waveguide. The first braking actuator module controls the gear shifter, the second braking actuator module controls the brake pedal, the winding reel protects the air hoses in the emergency braking system, the air compressor pressurizes the gas in the air cylinder, the pull rope sensor detects vehicle deviation, the acceleration sensor detects abnormal vibration, and the waveguide protects against electromagnetic compatibility issues.

[0007] Optionally, in an electromagnetic compatibility environment, the status data of the vehicle to be decommissioned is acquired, including: controlling the pull-rope sensor to detect the relative displacement between the vehicle and the turntable in the dark chamber of the emergency braking system, wherein the relative position is used to characterize whether the vehicle deviates from the turntable in the dark chamber; controlling the acceleration sensor to detect the vibration data of the vehicle, wherein the vibration data is used to characterize whether the vehicle has abnormal vibration; and determining the relative position and / or vibration data as status data.

[0008] Optionally, before triggering the pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and gear shifter in the vehicle in response to the state data exceeding the vehicle's safety state threshold, and before obtaining the control result, the method further includes: determining that the state data exceeds the vehicle's safety state threshold in response to the relative displacement exceeding a displacement threshold, and / or the vibration data exceeding a vibration threshold.

[0009] Optionally, in response to the state data exceeding the vehicle's safety state threshold, the pneumatic cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and the vehicle's gear shifter, obtaining a control result, including: triggering the first execution unit in the first braking execution module based on the gas in the first pneumatic cylinder in the first braking execution module to control the gear shifter, obtaining a first control result for the gear shifter, wherein the first control result is that the gear shifter shifts to neutral; triggering both ends of the second execution unit in the second braking execution module based on the gas in the second pneumatic cylinder in the second braking execution module to control the brake pedal, obtaining a second control result for the brake pedal, wherein the second control result is that the brake pedal completes the braking action.

[0010] Optionally, the method may further include: in response to the shifter being an inline shifter, controlling the front end of the first execution unit to abut against the inline shifter; in response to the shifter being a rotary shifter, controlling the side of the first execution unit to be tangent to the outer surface of the annular ring of the rotary shifter.

[0011] Optionally, the brake pedal is controlled by triggering both ends of the second actuator based on the gas in the second pneumatic cylinder to obtain a second control result of the brake pedal, including: controlling the air compressor to pressurize the gas in the second pneumatic cylinder; controlling the pressurized gas to push both ends of the second actuator to control the brake pedal to obtain a second control result.

[0012] According to another aspect of the present invention, an emergency braking device for a vehicle is also provided. The device may include: an acquisition unit, configured to acquire state data of a vehicle to be rolled off the production line in an electromagnetic compatibility environment, wherein the state data indicates the vehicle's deviation from its designated path on a road segment and / or abnormal vibration of the vehicle on the road segment, the road segment being a pre-running section of the vehicle before it is rolled off the production line; a determination unit, configured to, in response to the state data exceeding a vehicle safety state threshold, trigger a pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and the vehicle's gear shifter, thereby obtaining a control result; and a braking unit, configured to perform emergency braking on the vehicle based on the control result.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the emergency braking method for a vehicle according to the embodiments of the present invention.

[0014] According to another aspect of the present invention, a processor is also provided. The processor is configured to run a program, wherein the program, when running, executes the emergency braking method for a vehicle according to the embodiments of the present invention.

[0015] According to another aspect of the present invention, a vehicle is also provided. This vehicle is used to perform the emergency braking method of the vehicle according to the embodiments of the present invention.

[0016] In this embodiment of the invention, in an electromagnetic compatibility environment, the status data of the vehicle to be rolled off the production line is acquired. The status data is used to indicate the vehicle's deviation from the road and / or abnormal vibration of the vehicle on the road. The road is the section where the vehicle is pre-run before being rolled off the production line. In response to the status data exceeding the vehicle's safety status threshold, the pneumatic cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and the vehicle's gear shifter to obtain a control result. Based on the control result, the vehicle is subjected to emergency braking. In other words, the embodiments of the present invention can monitor the deviation and / or vibration abnormalities of vehicles undergoing pre-running on road sections in an electromagnetic compatibility environment, obtain the current status data of the vehicle, and determine whether the status data exceeds the vehicle's safety status threshold. If the status data exceeds the safety status threshold, the pneumatic cylinder in the vehicle's emergency braking system can be triggered. The pneumatic cylinder controls the vehicle's brake pedal and gear shifter to obtain the braking result for emergency braking of the vehicle. Thus, if an abnormal vehicle status is detected during the pre-running process, the vehicle can be immediately subjected to emergency braking, thereby solving the technical problem of low safety during the pre-running process of the vehicle before it leaves the production line and achieving the technical effect of improving the safety of the vehicle during the pre-running process before it leaves the production line. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a flowchart of an emergency braking method for a vehicle according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of a redundant emergency braking runaway vehicle system applied to a whole vehicle electromagnetic compatibility test according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of a first braking execution module according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of a second braking execution module according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of an emergency braking device for a vehicle according to an embodiment of the present invention. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] Example 1

[0026] According to an embodiment of the present invention, an embodiment of an emergency braking method for a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0027] Figure 1 This is a flowchart of an emergency braking process for a vehicle according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0028] Step S102: In an electromagnetic compatibility environment, acquire the status data of the vehicle to be decommissioned. The status data is used to indicate the vehicle's deviation from the road and / or abnormal vibration of the vehicle on the road. The road is the section where the vehicle is pre-run before being decommissioned.

[0029] In the technical solution provided in step S102 of the present invention, state data of vehicles awaiting production line decommissioning can be collected during pre-running on road sections in an electromagnetic compatibility environment. The electromagnetic compatibility environment can be an electromagnetic compatibility laboratory, which can be used to shield against external electromagnetic interference and possesses electromagnetic shielding characteristics. The state data can be used to indicate the vehicle's deviation from its designated path and / or abnormal vibration conditions on the road section, and may include displacement data and vibration data. The road section can be the section where the vehicle undergoes pre-running before decommissioning.

[0030] Optionally, the vehicle can be placed in an electromagnetic compatibility (EMC) laboratory for pre-running. During the pre-running process, the relative displacement between the vehicle and the turntable inside the EMC laboratory can be detected to determine the vehicle's deviation on the road section of the EMC laboratory. It can also detect whether there is abnormal vibration in the vehicle to determine the abnormal vibration situation. This allows the determination of the vehicle's status data before it goes off the production line. This status data can be used to determine whether the vehicle is abnormal during the pre-running process.

[0031] In step S104, in response to the state data exceeding the vehicle's safety state threshold, the pneumatic cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and the vehicle's gear shifter, thereby obtaining a control result.

[0032] In the technical solution provided in step S104 of the present invention, after obtaining the state data during the vehicle pre-run process, the current state of the vehicle can be determined by judging the relationship between the state data and the safety state threshold. If the state data is greater than the vehicle's safety state threshold, it indicates that the current state of the vehicle is abnormal, that is, the vehicle is at risk of losing control. At this time, the pneumatic cylinder in the vehicle's emergency automatic system can be triggered to control the brake pedal and the vehicle's gear shifter to obtain a control result. If the state data is less than or equal to the vehicle's safety state threshold, it indicates that the current state of the vehicle is normal. At this time, there is no need to control the vehicle's brake pedal and gear shifter, and the pre-run can continue. The safety state threshold may include a displacement threshold and / or a vibration threshold, which can be used to characterize whether the vehicle is at risk of losing control. The displacement threshold can be used to indicate whether the vehicle's deviation from its driving position will lead to loss of control. The vibration threshold can be used to indicate whether the vehicle's vibration will lead to loss of control. The displacement threshold and vibration threshold can be preset values ​​or can be set according to the actual vehicle and electromagnetic compatibility laboratory conditions. It should be noted that the above two threshold setting methods are only illustrative examples and are not specifically limited here.

[0033] Optionally, the emergency braking system can be a redundant emergency braking system for runaway vehicles used in electromagnetic compatibility experiments. It may include a first control module, a second braking module, a winding reel, air pipes, solenoid valves, an air compressor, a pull rope sensor, an acceleration sensor, shielded signal wires, a turntable inside the anechoic chamber, a waveguide, and an anechoic chamber. The first braking module can be used to control the gear shifter and may include a first pneumatic cylinder and a first actuator unit. The second braking module can be used to control the brake pedal. The brake pedal can also be referred to as a brake pad. The control results may include the control results of the brake pedal and the control results of the gear shifter. The control result of the brake pedal is that the brake pedal performs a braking action. The control result of the gear shifter is that the gear shifter shifts from forward gear (D) to neutral gear (N).

[0034] Optionally, if it is determined that the displacement data in the state data exceeds the displacement threshold, and / or if it is determined that the vibration data in the state data exceeds the vibration threshold, it can be determined that the vehicle's state data exceeds the vehicle's safety state threshold, indicating that the vehicle is at risk of losing control. At this time, the first pneumatic cylinder can be controlled to push the first actuator to control the vehicle's gear shifter, so that the gear shifter is adjusted from forward gear to neutral gear. The air compressor can be controlled to pressurize the gas, and the pressurized gas is transmitted to the second pneumatic cylinder through the air pipe of the waveguide. The second pneumatic cylinder pushes the second actuator to clamp the brake pedal and perform forward movement to complete the braking action.

[0035] Optionally, a pull-cord sensor can be used to detect the relative displacement between the vehicle and the turntable inside the darkroom, obtaining the vehicle's displacement data. Alternatively, an acceleration sensor can be used to detect any abnormal movement of the vehicle, obtaining the vehicle's vibration data. The electrical signals of the state data obtained from at least one of the aforementioned sensors can be transmitted to a solenoid valve. The solenoid valve determines whether there is a risk of the vehicle losing control, and then controls components such as the air compressor and the first air cylinder, thereby controlling the brake pedal and gear shifter to obtain the corresponding control results. In this embodiment of the invention, two types of sensors can be used to detect the vehicle's state. That is, the sensors for detecting the vehicle's state are redundantly designed. If one sensor fails, the other sensor can continue to detect the vehicle's state. Therefore, the purpose of normal vehicle detection is achieved, thereby reducing the technical effect of reducing the risk of vehicle loss of control.

[0036] In this embodiment of the invention, the vehicle can be placed in an electromagnetic compatibility laboratory for pre-running. Considering the electromagnetic shielding characteristics, the emergency braking of the vehicle is remotely controlled by a pneumatic cylinder using pneumatic transmission. Furthermore, due to the electromagnetic shielding characteristics of the vehicle's electromagnetic compatibility test, interference from electromagnetic waves emitted by the experimental antenna during the pneumatic transmission process can be avoided, which could cause the emergency braking to fail. This achieves the goal of avoiding interference from abnormal electromagnetic signals to the pneumatic transmission during the experiment, thereby improving the technical effect of improving the accuracy of emergency braking of the vehicle through pneumatic transmission.

[0037] Step S106: Based on the control results, apply emergency braking to the vehicle.

[0038] In the technical solution of step S106 of the present invention, emergency braking of the vehicle can be performed based on the control result.

[0039] During the pre-running of vehicles awaiting production in the laboratory, issues such as anchor point detachment or strap breakage can lead to loss of vehicle control, thus posing a technical problem of low vehicle safety during pre-running. However, in this embodiment of the invention, the vehicle's status data can be detected by an acceleration sensor and / or a cable sensor in the emergency braking system. If a fault is detected, the vehicle's brake pedal and gear shifter can be controlled by the pneumatic cylinder in the emergency braking system, enabling the vehicle to complete the braking action, i.e., shifting to neutral and applying the brakes. This allows for emergency braking of the vehicle before it becomes uncontrollable and poses a danger, thereby improving vehicle safety.

[0040] In steps S102 to S106 of this application, in an electromagnetic compatibility environment, the state data of the vehicle to be rolled off the production line is acquired. The state data is used to indicate the vehicle's deviation from the road and / or abnormal vibration of the vehicle on the road. The road is the section where the vehicle is pre-run before being rolled off the production line. In response to the state data exceeding the vehicle's safety state threshold, the pneumatic cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and the vehicle's gear shifter to obtain a control result. Based on the control result, the vehicle is subjected to emergency braking. In other words, the embodiments of the present invention can monitor the deviation and / or vibration abnormalities of vehicles undergoing pre-running on road sections in an electromagnetic compatibility environment, obtain the current status data of the vehicle, and determine whether the status data exceeds the vehicle's safety status threshold. If the status data exceeds the safety status threshold, the pneumatic cylinder in the vehicle's emergency braking system can be triggered. The pneumatic cylinder controls the vehicle's brake pedal and gear shifter to obtain the braking result for emergency braking of the vehicle. Thus, if an abnormal vehicle status is detected during the pre-running process, the vehicle can be immediately subjected to emergency braking, thereby solving the technical problem of low safety during the pre-running process of the vehicle before it leaves the production line and achieving the technical effect of improving the safety of the vehicle during the pre-running process before it leaves the production line.

[0041] The method described in this embodiment will be further described below.

[0042] As an optional embodiment, the emergency braking system includes at least: a first braking actuator module, a second braking actuator module, a winding reel, an air compressor, a pull rope sensor, an acceleration sensor, and a waveguide. The first braking actuator module controls the gear shifter, the second braking actuator module controls the brake pedal, the winding reel protects the air hoses in the emergency braking system, the air compressor pressurizes the gas in the air cylinder, the pull rope sensor detects vehicle deviation, the acceleration sensor detects abnormal vibration, and the waveguide protects against electromagnetic compatibility issues.

[0043] In this embodiment, the emergency braking system may include at least: a first braking actuation module, a second braking actuation module, a winding reel, an air compressor, a pull rope sensor, a shielded signal line, an acceleration sensor, a solenoid valve, an air pipe, a turntable in a darkroom, and a waveguide. The first braking actuation module may include a first pneumatic cylinder and a first actuation unit, which can be used to control the gear shifter. The second braking actuation module may include a second pneumatic cylinder and a second actuation unit, which can be used to control the brake pedal. The winding reel can be used to extend and retract the air pipe, thereby protecting the air pipe from breakage. The air compressor can be used to provide power to the pneumatic transmission, that is, to pressurize the gas in the pneumatic cylinder. The pull rope sensor can be used to detect vehicle deviation. The shielded signal line can provide the solenoid valve with electrical signals for the status data detected by the two sensors and is protected from electromagnetic interference in an electromagnetic compatibility laboratory. The acceleration sensor can be used to detect abnormal vibration. The air pipe can be used to transmit gas to the first and second braking actuation modules. The solenoid valve can be used to control the start or stop of the pneumatic transmission. Waveguides can be used to connect the outside of an anechoic chamber without electromagnetic leakage, thus protecting the electromagnetic compatibility environment.

[0044] In this embodiment of the invention, a redundant emergency braking system for runaway vehicles in electromagnetic compatibility (EMC) experiments can be designed. The system uses waveguides to prevent electromagnetic wave generation circuits within the EMC laboratory, and the air hoses can be extended and retracted via a winding reel to protect the vehicle from breakage. Redundant detection of vehicle status data is achieved using a pull-rope sensor and an acceleration sensor. Based on this system, the accuracy of detecting vehicle runaway and performing emergency braking can be improved, thereby enhancing vehicle safety.

[0045] As an optional embodiment, step S102 involves acquiring the status data of the vehicle to be rolled off the production line in an electromagnetic compatibility environment, including: controlling a pull-rope sensor to detect the relative displacement between the vehicle and the turntable in the dark chamber of the emergency braking system, wherein the relative position is used to characterize whether the vehicle deviates from the turntable in the dark chamber; controlling an acceleration sensor to detect the vibration data of the vehicle, wherein the vibration data is used to characterize whether the vehicle has abnormal vibration; and determining the relative position and / or vibration data as status data.

[0046] In this embodiment, during the acquisition of the vehicle's status data in an electromagnetic compatibility environment, a pull-rope sensor can be controlled to detect the relative displacement between the vehicle and the turntable in the dark chamber of the emergency braking system. An acceleration sensor can also be controlled to detect the vehicle's vibration data. The relative position and / or vibration data can be determined as status data. The relative position is used to characterize whether the vehicle deviates from the turntable in the dark chamber. The vibration data can be used to characterize whether the vehicle exhibits abnormal vibration.

[0047] Optionally, a pull-cord sensor can be connected to a lead wire at the rear of the vehicle. This sensor detects the relative position of the vehicle and the turntable inside the darkroom, assessing whether there is a risk of loss of control. An acceleration sensor can be deployed at the rear of the vehicle. This sensor detects abnormal vibration data, also assessing the risk of loss of control. Redundancy in the acceleration sensor configuration ensures the efficiency and accuracy of vehicle status data detection. It should be noted that the deployment locations of these two sensors are merely illustrative and are not subject to specific limitations.

[0048] As an optional embodiment, before step S104 triggers the pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and gear shifter in the vehicle in response to the state data exceeding the vehicle's safety state threshold, and before obtaining the control result, the method further includes: determining that the state data exceeds the vehicle's safety state threshold in response to the relative displacement exceeding a displacement threshold, and / or the vibration data exceeding a vibration threshold.

[0049] In this embodiment, before controlling the vehicle's brake pedal and gear shifter, the relationship between the relative displacement and a displacement threshold, as well as the relationship between vibration data and a vibration threshold, can be determined to indicate whether the vehicle is out of control or at risk of losing control. If the relative displacement exceeds the displacement threshold, and / or the vibration data exceeds the vibration threshold, it can be determined that the state data exceeds a safe state threshold.

[0050] Optionally, it can be determined whether the relative displacement between the vehicle and the turntable in the darkroom exceeds a displacement threshold. If it does, it indicates that the vehicle is at risk of losing control. And / or, if the vibration data of the vehicle exceeds a vibration threshold, it indicates that the vehicle is at risk of losing control.

[0051] As an optional embodiment, step S104, in response to the state data exceeding the vehicle's safety state threshold, triggers the pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and the vehicle's gear shifter, obtaining a control result, including: triggering the first execution unit in the first braking execution module based on the gas in the first pneumatic cylinder in the first braking execution module to control the gear shifter, obtaining a first control result for the gear shifter, wherein the first control result is that the gear shifter shifts to neutral; triggering the two ends of the second execution unit in the second braking execution module based on the gas in the second pneumatic cylinder in the second braking execution module to control the brake pedal, obtaining a second control result for the brake pedal, wherein the second control result is that the brake pedal completes the braking action.

[0052] In this embodiment, when the state data exceeds the vehicle's safety state threshold, the first actuator can be triggered based on the gas in the first pneumatic cylinder, and the first actuator controls the gear shifter to obtain a first control result for the gear shifter. Alternatively, the second actuator can be triggered based on the gas in the second pneumatic cylinder, and the second actuator controls the brake pedal to obtain a second control result for the brake pedal. The first control result is that the gear shifter shifts to neutral. The second control result is that the brake pedal completes the braking action.

[0053] Optionally, the first braking execution module may consist of a support base, a first pneumatic cylinder, and a first execution unit. The first execution unit and the support base are located at the top and bottom of the first pneumatic cylinder, respectively. The support base can abut against the left and right seats of the vehicle's driver's cabin, and the first execution unit can be a rubber friction block. When the state data exceeds the safety state threshold, the first pneumatic cylinder can move forward, pushing the first execution unit to shift the vehicle's gear shift, thus obtaining the first control result. It should be noted that the components of the above-described first braking execution module are merely illustrative and are not specifically limited here. Any device and control process that controls the vehicle's gear shift based on the first pneumatic cylinder is within the protection scope of this invention.

[0054] Optionally, the second braking actuator module may consist of a support base, a second pneumatic cylinder, and a second actuator unit. The second actuator unit and the support base are located at the top and bottom of the second pneumatic cylinder, respectively. The second actuator unit can be clamped and fixed to the vehicle's brake pedal, and the support base abuts against the front end of the vehicle's seat. This second braking actuator module depresses the brake pedal in the event of vehicle loss of control, completing the braking action. It should be noted that the components of the above-described second braking actuator module are merely illustrative and not specifically limited. Any device and control process that controls the vehicle's brake pedal based on the second pneumatic cylinder is within the protection scope of this invention.

[0055] As an optional embodiment, step S104 may further include: in response to the shifter being an inline shifter, controlling the front end of the first execution unit to abut against the inline shifter; in response to the shifter being a rotary shifter, controlling the side of the first execution unit to be tangent to the outer surface of the annular ring of the rotary shifter.

[0056] In this embodiment, if the gear shifter is an inline gear shifter, the front end of the first execution unit can be controlled to abut against the inline gear shifter, thereby controlling the inline gear shifter to perform a gear shifting action; if the gear shifter is a rotary gear shifter, the side of the first execution unit can be controlled to be tangent to the outer surface of the ring of the rotary gear shifter, thereby controlling the rotary gear shifter to perform a gear shifting action.

[0057] Optionally, if the vehicle's gear shifter is an inline gear shifter, the front end of the first actuator can be used to press against the inline gear shifter, and the first pneumatic cylinder can be used to move forward a certain distance to control the first actuator, thereby controlling the vehicle's inline gear shifter to switch from forward gear to neutral.

[0058] Optionally, if the vehicle's gear shifter is a rotary gear shifter, the side of the first actuator can be arranged tangentially to the outer surface of the rotary gear shifter's ring. The second pneumatic cylinder can move forward a small distance to control the first actuator, thereby controlling the vehicle's rotary gear shifter to switch from forward gear to neutral.

[0059] As an optional embodiment, step S104, based on the gas in the second pneumatic cylinder triggering both ends of the second execution unit to control the brake pedal and obtain a second control result of the brake pedal, includes: controlling the air compressor to pressurize the gas in the second pneumatic cylinder; controlling the pressurized gas to push both ends of the second execution unit to control the brake pedal and obtain a second control result.

[0060] In this embodiment, during the process of triggering the two ends of the second actuator to control the brake pedal based on the gas in the second pneumatic cylinder and obtaining the second control result of the brake pedal, the air compressor in the emergency braking system can be controlled to pressurize the gas in the second pneumatic cylinder, and the pressurized gas can be used to push the two ends of the second actuator to control the brake pedal and obtain the second control result.

[0061] Optionally, when the vehicle is out of control or at risk of losing control, the electrical signals of the status data detected by the two sensors can be transmitted to the solenoid valve through the shielded wire of the waveguide, and the air compressor can be controlled to work. The air compressor pressurizes the gas, and the pressurized gas is transmitted to the second pneumatic cylinder in the brake actuator module through the air pipe of the waveguide. The second pneumatic cylinder works and pushes the second actuator unit at its top, which is clamped and fixed to the brake pedal, to move forward, thereby controlling the brake pedal to complete the braking action.

[0062] In this embodiment of the invention, in an electromagnetic compatibility environment, the status data of the vehicle to be rolled off the production line is acquired. The status data is used to indicate the vehicle's deviation from the road and / or abnormal vibration of the vehicle on the road. The road is the section where the vehicle is pre-run before being rolled off the production line. In response to the status data exceeding the vehicle's safety status threshold, the pneumatic cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and the vehicle's gear shifter to obtain a control result. Based on the control result, the vehicle is subjected to emergency braking. In other words, the embodiments of the present invention can monitor the deviation and / or vibration abnormalities of vehicles undergoing pre-running on road sections in an electromagnetic compatibility environment, obtain the current status data of the vehicle, and determine whether the status data exceeds the vehicle's safety status threshold. If the status data exceeds the safety status threshold, the pneumatic cylinder in the vehicle's emergency braking system can be triggered. The pneumatic cylinder controls the vehicle's brake pedal and gear shifter to obtain the braking result for emergency braking of the vehicle. Thus, if an abnormal vehicle status is detected during the pre-running process, the vehicle can be immediately subjected to emergency braking, thereby solving the technical problem of low safety during the pre-running process of the vehicle before it leaves the production line and achieving the technical effect of improving the safety of the vehicle during the pre-running process before it leaves the production line.

[0063] Example 2

[0064] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0065] Currently, with the rapid development of vehicle intelligence and electrification, and the increasing complexity of the road electromagnetic environment, the requirements for electromagnetic compatibility (EMC) testing of whole vehicles are becoming increasingly stringent. Among these requirements, the assessment of vehicle EMC performance under motion conditions has attracted significant attention. In pre-running conditions, vehicle EMC testing typically involves using traditional straps to secure the vehicle to the turntable hub in a darkroom. One end of the strap is connected to a fixed point on the turntable, and the other end is connected to the vehicle's tow hook. Usually, two straps are placed on the front and two on the rear of the vehicle. This method can meet the safety requirements for both forward and reverse pre-running conditions. However, due to the simplistic approach, certain safety hazards exist. For example, if the anchor point detaches or the strap breaks, the vehicle may lose control. Therefore, the technical issue of low safety during pre-running before vehicle rollout remains.

[0066] In one related technology, a vehicle emergency braking control system and a vehicle emergency braking device are proposed. The vehicle includes a motor, a motor controller, a vehicle controller, and an emergency braking control device. The first signal input terminal of the emergency braking control device is connected to the fault signal output terminal of the vehicle controller; the second signal input terminal of the emergency braking control device is connected to the communication fault signal output terminal of the motor controller; and the control signal output terminal of the emergency braking control device is connected to the input terminal of the motor controller. When the vehicle controller outputs a fault signal and / or the motor controller outputs a communication fault signal, the emergency braking control device outputs an emergency braking control signal to control the motor braking with a set braking torque, ensuring vehicle safety and solving the problem of uncontrolled vehicle motor braking caused by communication failures or errors in the regenerative braking system. However, the above method still has the technical problem of low safety during the pre-running of the vehicle before it rolls off the production line.

[0067] However, this invention proposes a method for redundant emergency braking of runaway vehicles applied to electromagnetic compatibility (EMC) testing of whole vehicles. By monitoring the deviation and / or vibration anomalies of the vehicle before it is rolled off the production line in an EMC environment road section, the current state data of the vehicle is obtained. It can be determined whether the state data exceeds the vehicle's safety state threshold. If the state data exceeds the safety state threshold, the pneumatic cylinder in the vehicle's emergency braking system can be triggered. The pneumatic cylinder controls the vehicle's brake pedal and gear shifter to obtain the braking result for emergency braking of the vehicle. Thus, if an abnormal vehicle state is detected during the vehicle's pre-run, emergency braking can be performed immediately, thereby solving the technical problem of low safety during the pre-run before the vehicle rolls off the production line and achieving the technical effect of improving the safety of the vehicle during the pre-run before the rolls off the production line.

[0068] The embodiments of the present invention will be further described below.

[0069] Figure 2This is a schematic diagram of a redundant emergency braking runaway vehicle system applied to a vehicle electromagnetic compatibility test according to an embodiment of the present invention, as shown below. Figure 2 As shown, the redundant emergency braking runaway vehicle system may include a first braking execution module 1, a second braking execution module 2, a winding reel 3, an air pipe 4, a solenoid valve 5, an air compressor 6, a pull rope sensor 7, an acceleration sensor 8, a shielded signal line 9, a vehicle 10, a turntable 11 in an anechoic chamber, a waveguide 12, and an anechoic chamber 13. The first braking execution module 1 may include a first pneumatic cylinder and a first execution unit, which can be used to control the gear shifter. The second braking execution module 2 may include a second pneumatic cylinder and a second execution unit, which can be used to control the brake pedal. The winding reel 3 can be used to extend and retract the air pipe 4, thereby protecting the air pipe from breakage. The air compressor 6 can provide power for the pneumatic transmission, that is, to pressurize the gas in the pneumatic cylinder. The pull rope sensor 7 can be used to detect vehicle deviation. The shielded signal line 9 can provide the solenoid valve 5 with electrical signals for the status data detected by the two sensors and is protected from electromagnetic interference in an electromagnetic compatibility laboratory. Accelerometer 8 can be used to detect abnormal vibration conditions. The air tube can be used to supply gas to the first and second braking actuators. The solenoid valve can be used to control the start or stop of the pneumatic transmission. Waveguide 12 can be used to connect the inside and outside of the anechoic chamber 13 without electromagnetic wave leakage, thus protecting the electromagnetic compatibility environment.

[0070] In this embodiment, the vehicle can be placed in an electromagnetic compatibility (EMC) laboratory for pre-running. During the pre-running process, the relative displacement between the vehicle and the turntable inside the EMC laboratory can be detected to determine the vehicle's deviation on the road section of the EMC laboratory. It can also detect whether there is abnormal vibration in the vehicle to determine the abnormal vibration situation of the vehicle. Thus, the status data of the vehicle to be rolled off the production line can be determined. This status data can be used to determine whether the vehicle is abnormal during the pre-running process.

[0071] In this embodiment of the invention, a redundant emergency braking system for runaway vehicles in electromagnetic compatibility (EMC) experiments can be designed. The system uses waveguides to prevent electromagnetic wave generation circuits within the EMC laboratory, and the air hoses can be extended and retracted via a winding reel to protect the vehicle from breakage. Redundant detection of vehicle status data is achieved using a pull-rope sensor and an acceleration sensor. Based on this system, the accuracy of detecting vehicle runaway and performing emergency braking can be improved, thereby enhancing vehicle safety.

[0072] Optionally, a pull-cord sensor can be connected to a lead wire at the rear of the vehicle. This sensor detects the relative position of the vehicle and the turntable inside the darkroom, assessing whether there is a risk of loss of control. An acceleration sensor can be deployed at the rear of the vehicle. Detecting abnormal vibrations in the vehicle's vibration data also helps determine if there is a risk of loss of control. The redundant configuration of the acceleration sensors described above ensures both efficiency and accuracy in detecting vehicle status data.

[0073] In this embodiment, when it is determined that the displacement data in the state data exceeds the displacement data, and / or it is determined that the vibration data in the state data exceeds the vibration threshold, it can be determined that the vehicle's state data exceeds the vehicle's safety state threshold, indicating that the vehicle is at risk of losing control. At this time, the first pneumatic cylinder can be controlled to push the first actuator to control the vehicle's gear shifter, so that the gear shifter is adjusted from forward gear to neutral gear. The air compressor can be controlled to pressurize the gas, and the pressurized gas is transmitted to the second pneumatic cylinder through the air pipe of the waveguide. The second pneumatic cylinder pushes the second actuator to clamp the brake pedal and perform forward movement to complete the braking action.

[0074] Optionally, when the status data exceeds the vehicle's safety status threshold, the first actuator can be triggered based on the gas in the first pneumatic cylinder, and the first actuator can control the gear shifter to obtain a first control result for the gear shifter. Alternatively, the second actuator can be triggered based on the gas in the second pneumatic cylinder, and the second actuator can control the brake pedal to obtain a second control result for the brake pedal.

[0075] Optionally, Figure 3 This is a schematic diagram of a first braking execution module according to an embodiment of the present invention, as shown below. Figure 3 As shown, the first braking execution module can be composed of a first execution unit 101, a first pneumatic cylinder 102, and a support base 103. The first execution unit 101 and the support base 103 are located at the top and bottom of the first pneumatic cylinder 102, respectively. The support base 103 can abut against the left and right seats of the vehicle's driver's cabin. The first execution unit 101 can be a rubber friction block. When the state data exceeds the safety state threshold, the first pneumatic cylinder can move forward, pushing the first execution unit to shift the vehicle's gear shift, thus obtaining the first control result. It should be noted that the above-described components of the first braking execution module are only illustrative and are not specifically limited here.

[0076] Optionally, if the vehicle's gear shifter is an inline gear shifter, the front end of the first actuator can abut against the inline gear shifter, and the first pneumatic cylinder can move it forward a short distance to control the first actuator, thereby controlling the vehicle's inline gear shifter to neutral. If the vehicle's gear shifter is a rotary gear shifter, the side of the first actuator can be arranged tangentially to the outer surface of the rotary gear shifter's ring, and the second pneumatic cylinder can move it forward a short distance to control the first actuator, thereby controlling the vehicle's rotary gear shifter to neutral.

[0077] Optionally, Figure 4 This is a schematic diagram of a second braking execution module according to an embodiment of the present invention, as shown below. Figure 4 As shown, the second braking actuator module can consist of a second actuator 201, a second pneumatic cylinder 202, and a support base 203. The second actuator 201 and the support base 203 are located at the top and bottom of the second pneumatic cylinder 202, respectively. The second actuator 201 can be clamped and fixed to the vehicle's brake pedal, and the support base abuts against the front end of the vehicle's seat. In the event of vehicle loss of control, this second braking actuator module depresses the brake pedal to complete the braking action. It should be noted that the components of the above-described second braking actuator module are for illustrative purposes only and are not intended to be specific.

[0078] Optionally, when the vehicle is out of control or at risk of losing control, the electrical signals of the status data detected by the two sensors can be transmitted to the solenoid valve through the shielded wire of the waveguide, and the air compressor can be controlled to work. The air compressor pressurizes the gas, and the pressurized gas is transmitted to the second pneumatic cylinder in the brake actuator module through the air pipe of the waveguide. The second pneumatic cylinder works and pushes the second actuator unit at its top, which is clamped and fixed to the brake pedal, to move forward, thereby controlling the brake pedal to complete the braking action.

[0079] In this embodiment of the invention, the vehicle's status data can be detected by the acceleration sensor and / or pull rope sensor in the emergency braking system. If a fault is detected, the vehicle's brake pedal and gear shifter can be controlled by the air cylinder in the emergency braking system, so that the vehicle completes the braking action, that is, completes the shift to neutral and brakes the brake pedal. This allows the vehicle to be braked in an emergency before it loses control and becomes dangerous, thereby achieving the technical effect of improving vehicle safety.

[0080] This invention can monitor the deviation and / or vibration anomalies of vehicles undergoing pre-running on road sections in an electromagnetic compatibility environment before they are to be decommissioned. This allows for the acquisition of the vehicle's current status data, and it can be determined whether the status data exceeds the vehicle's safety threshold. If the status data exceeds the safety threshold, the pneumatic cylinder in the vehicle's emergency braking system can be triggered. This pneumatic cylinder controls the vehicle's brake pedal and gear shifter to achieve emergency braking. Therefore, if an abnormal vehicle status is detected during the pre-running process, immediate emergency braking can be applied, thus solving the technical problem of low safety during pre-running before decommissioning and improving the safety of vehicles during this process.

[0081] Example 3

[0082] According to an embodiment of the present invention, an emergency braking device for a vehicle is also provided. It should be noted that this emergency braking device can be used to perform the emergency braking method for a vehicle in Embodiment 1.

[0083] Figure 5 This is a schematic diagram of an emergency braking device for a vehicle according to an embodiment of the present invention. Figure 5 As shown, the emergency braking device 500 of the vehicle may include: an acquisition unit 502, a determination unit 504, and a braking unit 506.

[0084] The acquisition unit 502 is used to acquire the status data of the vehicle to be decommissioned in an electromagnetic compatibility environment. The status data is used to indicate the driving deviation of the vehicle on the road segment and / or the abnormal vibration of the vehicle on the road segment. The road segment is the segment in which the vehicle to be decommissioned is pre-run before being decommissioned.

[0085] The determining unit 504 is used to trigger the pneumatic cylinder in the vehicle's emergency braking system in response to the state data exceeding the vehicle's safety state threshold, thereby controlling the brake pedal and the vehicle's gear shifter to obtain a control result.

[0086] Braking unit 506 is used to perform emergency braking on the vehicle based on the control results.

[0087] Optionally, the acquisition unit 502 may include: a first control module, used to control the pull-rope sensor to detect the relative displacement between the vehicle and the turntable in the dark chamber of the emergency braking system, wherein the relative position is used to characterize whether the vehicle deviates from the turntable in the dark chamber; a second control module, used to control the acceleration sensor to detect the vibration data of the vehicle, wherein the vibration data is used to characterize whether the vehicle has abnormal vibration; and a first determination module, used to determine the relative position and / or vibration data as state data.

[0088] Optionally, the device may further include: a first determining module, configured to determine that, in response to a relative displacement exceeding a displacement threshold, and / or vibration data exceeding a vibration threshold, the state data exceeds a vehicle safety state threshold.

[0089] Optionally, the determining unit 504 may include: a third control module, used to control the gear shifter by triggering the first execution unit in the first brake execution module based on the gas in the first pneumatic cylinder in the first brake execution module, and obtain a first control result of the gear shifter, wherein the first control result is that the gear position of the gear shifter is changed to neutral; and a fourth control module, used to control the brake pedal by triggering both ends of the second execution unit in the second brake execution module based on the gas in the second pneumatic cylinder in the second brake execution module, and obtain a second control result of the brake pedal, wherein the second control result is that the brake pedal completes the braking action.

[0090] Optionally, the determining unit 504 may include: a fifth control module, used to control the front end of the first execution unit to abut against the inline shifter in response to the shifter being an inline shifter; and a sixth control module, used to control the side of the first execution unit to be tangent to the outer surface of the circular ring of the rotary shifter in response to the shifter being a rotary shifter.

[0091] Optionally, the fourth control module may include: a first control submodule for controlling the air compressor to pressurize the gas in the second air cylinder; and a second control submodule for controlling the pressurized gas to push the two ends of the second actuator to control the brake pedal and obtain a second control result.

[0092] In this embodiment of the invention, an acquisition unit acquires the status data of a vehicle to be rolled off the production line in an electromagnetic compatibility environment. The status data indicates the vehicle's deviation from its intended path on a road segment and / or abnormal vibrations on that road segment, which is the section where the vehicle is pre-run before being rolled off the production line. A determination unit, in response to the status data exceeding the vehicle's safety threshold, triggers the pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and gear shifter, obtaining a control result. A braking unit, based on the control result, performs emergency braking on the vehicle, thereby solving the technical problem of low safety during the pre-running process and achieving the technical effect of improving the safety of the vehicle during the pre-running process.

[0093] Example 4

[0094] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the emergency braking method of the vehicle described in Embodiment 1.

[0095] Example 5

[0096] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the emergency braking method of the vehicle described in Embodiment 1.

[0097] Example 6

[0098] According to an embodiment of the present invention, a vehicle is also provided for performing the emergency braking method of the vehicle according to the embodiment of the present invention.

[0099] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0105] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of emergency braking of a vehicle, characterized in that, include: In an electromagnetic compatibility environment, the status data of the vehicle to be decommissioned is acquired. The electromagnetic compatibility environment is used to shield the vehicle from external electromagnetic fields and has electromagnetic shielding characteristics. The status data is used to indicate the vehicle's deviation from the road and / or the vehicle's abnormal vibration on the road. The road is the section in which the vehicle is pre-run before being decommissioned. In response to the state data exceeding the vehicle's safety state threshold, the pneumatic cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and the vehicle's gear shifter, thereby obtaining a control result. The emergency braking system includes at least a first braking execution module and a second braking execution module. The first braking execution module is used to control the gear shifter, and the second braking execution module is used to control the brake pedal. In response to the state data exceeding the vehicle's safety state threshold, the air cylinder in the vehicle's emergency braking system is triggered to control the brake pedal and gear shifter, obtaining a control result. This includes: triggering a first execution unit in the first braking execution module based on gas in the first air cylinder of the first braking execution module to control the gear shifter, obtaining a first control result for the gear shifter, wherein the first control result is that the gear shifter is switched to neutral; and pushing a second execution unit in the second braking execution module to clamp the brake pedal and move it forward based on gas in the second air cylinder of the second braking execution module to control the brake pedal, obtaining a second control result for the brake pedal, wherein the second control result is that the brake pedal completes the braking action. Based on the first control result and the second control result, the vehicle is subjected to emergency braking.

2. The method according to claim 1, characterized in that, The emergency braking system includes at least a winding reel, an air compressor, a pull rope sensor, an acceleration sensor, and a waveguide. The winding reel is used to protect the air pipes in the emergency braking system. The air compressor is used to pressurize the gas in the first and second air cylinders. The pull rope sensor is used to detect the vehicle deviation. The acceleration sensor is used to detect abnormal vibration. The waveguide is used to protect the electromagnetic compatibility environment.

3. The method of claim 2, wherein, In an electromagnetic compatibility environment, acquire the status data of vehicles to be decommissioned, including: The cable sensor is controlled to detect the relative displacement between the vehicle and the turntable in the dark chamber of the emergency braking system, wherein the relative displacement is used to characterize whether the vehicle deviates from the turntable in the dark chamber. The acceleration sensor is controlled to detect the vibration data of the vehicle, wherein the vibration data is used to characterize whether the vehicle has the abnormal vibration condition; The relative displacement and / or the vibration data are determined as the state data.

4. The method according to claim 3, characterized in that, Before triggering the pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and gear shifter in response to the state data exceeding the vehicle's safety state threshold, and obtaining a control result, the method further includes: In response to the relative displacement exceeding a displacement threshold, and / or the vibration data exceeding a vibration threshold, it is determined that the state data exceeds the vehicle's safety state threshold.

5. The method according to claim 1, characterized in that, The method further includes: The gear shifter is an inline gear shifter, and the front end of the first execution unit is controlled to abut against the inline gear shifter; or, The gear shifter is a rotary gear shifter, and the side of the first execution unit is tangent to the outer surface of the circular ring of the rotary gear shifter.

6. The method according to claim 2, characterized in that, Based on the gas in the second pneumatic cylinder of the second braking execution module, the second execution unit in the second braking execution module clamps the brake pedal and moves it forward, thereby controlling the brake pedal and obtaining a second control result for the brake pedal, including: The air compressor is controlled to pressurize the gas in the second air cylinder; The pressurized gas is controlled to push the second actuator in the second braking actuator module to clamp the brake pedal and move it forward, thereby controlling the brake pedal and obtaining the second control result.

7. An emergency braking device for a vehicle, characterized in that, The device includes: The acquisition unit is used to acquire the status data of the vehicle to be decommissioned in an electromagnetic compatibility environment. The electromagnetic compatibility environment is used to shield the vehicle from external electromagnetic radiation and has electromagnetic shielding characteristics. The status data is used to indicate the vehicle's deviation from the road and / or the vehicle's abnormal vibration on the road. The road is the section in which the vehicle is pre-run before being decommissioned. A determining unit is configured to, in response to the state data exceeding the vehicle's safety state threshold, trigger the pneumatic cylinder in the vehicle's emergency braking system to control the brake pedal and the vehicle's gear shifter, thereby obtaining a control result. The emergency braking system includes at least a first braking execution module and a second braking execution module, wherein the first braking execution module is used to control the gear shifter, and the second braking execution module is used to control the brake pedal. The determining unit is further configured to control the gear shifter by triggering the first execution unit in the first braking execution module based on the gas in the first pneumatic cylinder in the first braking execution module, thereby obtaining a first control result of the gear shifter, wherein the first control result is that the gear position of the gear shifter is changed to neutral; and to control the brake pedal by pushing the second execution unit in the second braking execution module to clamp the brake pedal forward based on the gas in the second pneumatic cylinder in the second braking execution module, thereby obtaining a second control result of the brake pedal, wherein the second control result is that the brake pedal completes the braking action; A braking unit is used to perform emergency braking on the vehicle based on the first control result and the second control result.

8. A processor, characterized in that, The processor is used to run a program, wherein the program is executed by the processor to perform the method according to any one of claims 1 to 6.

9. A vehicle, characterized in that, Used to perform the method according to any one of claims 1 to 6.

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