A vehicle braking method, device, apparatus and storage medium

Abstract

The application discloses a vehicle braking method, device, equipment and storage medium. In the process of driving a target vehicle, if the state of a traffic signal at a road intersection changes to prohibition of passing after a first preset time period, a first distance between the target vehicle and a stop line of the intersection is determined. If the first distance is not less than a first preset threshold, a first braking force is determined to brake the target vehicle. If the first distance is less than the first preset threshold, it is determined whether the rear wheel of the target vehicle can cross the stop line of the intersection within the first preset time period without changing the current speed. If yes, a continue driving signal is sent to the target vehicle. If no, a second braking force is determined to brake the target vehicle. The scheme can brake or pass the intersection in time when the vehicle encounters a limit situation, such as the traffic signal changing to prohibition of passing immediately, effectively reduces the phenomenon of vehicle running a red light, and can also avoid traffic accidents caused by the vehicle not reacting in time.

Description

Technical Field

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

[0002] Nowadays, people are paying more and more attention to traffic safety. Various situations may be encountered while driving. For example, when a vehicle is approaching an intersection, if it encounters a flashing yellow or green light, and the driver does not react in time or operates improperly, it may cause phenomena such as running a red light or not moving when the light is green. Especially in the field of autonomous driving, since there is no driver in the car, it is impossible to observe traffic signals in real time. Autonomous vehicles cannot react quickly and timely according to the status of traffic signals to avoid traffic accidents.

[0003] Existing vehicle braking methods generally rely on the status of green or red lights, which cannot stop the vehicle in time or allow it to pass through the intersection in extreme situations, such as when the traffic signal status changes from yellow or flashing green to prohibit passage. This can easily cause traffic obstruction or even traffic accidents. Summary of the Invention

[0004] In view of this, this application provides a braking method, device, equipment, and storage medium to address the problem that existing vehicle braking methods generally rely on green or red light conditions for judgment, which cannot promptly stop or allow passage through intersections in extreme situations, such as when traffic signals change from yellow or flashing green to prohibit passage. This can easily cause traffic obstruction or even traffic accidents.

[0005] To achieve the above objectives, the following solution is proposed:

[0006] Firstly, a vehicle braking method includes:

[0007] During the driving of the target vehicle, when the traffic signal at the road intersection in front of the target vehicle is detected to change to a no-passing state after a first preset time period, the first distance between the target vehicle and the stop line of the intersection of the road on which the target vehicle is currently driving is determined.

[0008] If the first distance is not less than the first preset threshold, then the first braking force is determined, and the target vehicle is braked according to the first braking force;

[0009] If the first distance is less than the first preset threshold, then determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed.

[0010] If so, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current speed;

[0011] If not, then determine the second braking force and brake the target vehicle according to the second braking force.

[0012] Preferably, determining the second braking force and braking the target vehicle according to the second braking force includes:

[0013] Determine the minimum braking force required to brake the target vehicle at the current moment so that the front wheels of the target vehicle stop before the stop line at the intersection within the first preset time period;

[0014] Determine the target braking force corresponding to the target vehicle;

[0015] If the minimum braking force is not greater than the target braking force, then the minimum braking force is used as the second braking force, and the target vehicle is braked according to the second braking force;

[0016] If the minimum braking force is greater than the target braking force, then a second braking force is determined based on the minimum braking force, and the target vehicle is braked according to the second braking force.

[0017] Preferably, determining the target braking force corresponding to the target vehicle includes:

[0018] Obtain the vehicle model and current speed of the target vehicle;

[0019] Determine the second distance between the front wheel of the target vehicle and the stop line at the intersection at the current moment;

[0020] The target braking force corresponding to the target vehicle is determined based on the vehicle model, current vehicle speed, and the second distance.

[0021] Preferably, determining the second braking force based on the minimum braking force if the minimum braking force is greater than the target braking force includes:

[0022] If the minimum braking force is greater than the target braking force, then the current speed of the target vehicle is obtained;

[0023] Determine the shortest distance between the stop line at the intersection and the zebra crossing in front of the stop line at the intersection, and use the shortest distance as the third distance;

[0024] Based on the current vehicle speed and the third distance, a second braking force is calculated; wherein the second braking force is less than the target braking force, and after the target vehicle brakes to a stop at the second braking force, the distance between the front wheels of the target vehicle and the stop line at the intersection is less than the third distance.

[0025] Preferably, determining the first braking force includes:

[0026] Obtain the current speed of the target vehicle;

[0027] Determine the loading status inside the target vehicle;

[0028] The first braking force is determined based on the vehicle's interior load, current speed, first distance, and pre-set vehicle braking requirements.

[0029] Preferably, before the traffic signal at the road intersection ahead of the target vehicle is detected to become a no-passing zone after a first preset time period, the method further includes:

[0030] During the movement of the target vehicle, the status of the traffic signal in front of the target vehicle is recorded in real time;

[0031] If the traffic signal leaves the field of vision of the target vehicle, then the state of the traffic signal at the previous moment is obtained;

[0032] The state of the traffic signal at the previous moment is taken as the target state;

[0033] If the target state is "allowed to pass", then the state of the traffic signal is determined to change to "prohibited to pass" starting from the current time and after a first preset time period.

[0034] Secondly, a vehicle braking device includes:

[0035] The first distance determination module is used to determine the first distance between the target vehicle and the stop line of the intersection of the road the target vehicle is currently traveling on when the traffic signal at the road intersection in front of the target vehicle changes to a no-passing state after a first preset time period during the target vehicle's driving process.

[0036] A first braking module is configured to determine a first braking force if the first distance is not less than a first preset threshold, and brake the target vehicle according to the first braking force.

[0037] The judgment module is used to determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed if the first distance is less than the first preset threshold.

[0038] The continue driving module is used to send a continue driving signal to the target vehicle if the condition is met, so that the target vehicle can continue to drive and pass through the road intersection at the current speed.

[0039] The second braking module is used to determine a second braking force if not, and to brake the target vehicle according to the second braking force.

[0040] Preferably, the second braking module includes:

[0041] The minimum braking force determination module is used to determine the minimum braking force required to brake the target vehicle at the current moment so that the front wheels of the target vehicle stop before the stop line at the intersection within the first preset time period.

[0042] The target braking force determination module is used to determine the target braking force corresponding to the target vehicle;

[0043] The second braking force first determination module is used to determine the target vehicle according to the second braking force if the minimum braking force is not greater than the target braking force.

[0044] The second braking force determination module is used to determine a second braking force based on the minimum braking force if the minimum braking force is greater than the target braking force, and to brake the target vehicle according to the second braking force.

[0045] Thirdly, a vehicle braking device includes a memory and a processor;

[0046] The memory is used to store programs;

[0047] The processor is configured to execute the program to implement the various steps of the vehicle braking method as described in the first aspect.

[0048] Fourthly, a storage medium having a computer program stored thereon, which, when executed by a processor, implements the various steps of the vehicle braking method as described in the first aspect.

[0049] As can be seen from the above technical solution, during the driving of the target vehicle, when the traffic signal at the road intersection ahead of the target vehicle is detected to change to a prohibited passage state after a first preset time period, a first distance between the target vehicle and the stop line of the intersection on the road the target vehicle is currently traveling on is determined; if the first distance is not less than a first preset threshold, a first braking force is determined, and the target vehicle is braked according to the first braking force; if the first distance is less than the first preset threshold, it is determined whether the rear wheels of the target vehicle can cross the stop line of the intersection within the first preset time period without changing the current vehicle speed; if yes, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current vehicle speed; if no, a second braking force is determined, and the target vehicle is braked according to the second braking force. This scheme reacts before the traffic signal changes to prohibit passage. It performs different actions based on the distance between the target vehicle and the stop line at the intersection. If the distance is not less than a first preset threshold, it means the distance is far enough, allowing more time for braking. If the distance is less than the first preset threshold, it means the distance is short enough, and the braking force is determined to react. This allows vehicles to brake or pass through intersections in time when they encounter extreme situations, such as when the traffic signal is about to change to prohibit passage. It effectively reduces the occurrence of vehicles running red lights and can also largely avoid traffic accidents caused by vehicles not reacting in time. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0051] Figure 1 An optional flowchart of a vehicle braking method provided in an embodiment of this application;

[0052] Figure 2 An optional flowchart of another vehicle braking method provided in an embodiment of this application;

[0053] Figure 3 This is a schematic diagram of the structure of a vehicle braking device provided in an embodiment of this application;

[0054] Figure 4 This is a schematic diagram of the structure of a vehicle braking device provided in an embodiment of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] Nowadays, people are paying more and more attention to traffic safety. Various situations may be encountered while driving. For example, when a vehicle is approaching an intersection, if it encounters a flashing yellow or green light, and the driver does not react in time or operates improperly, it may cause phenomena such as running a red light or not moving when the light is green. Especially in the field of autonomous driving, since there is no driver in the car, it is impossible to observe traffic signals in real time. Autonomous vehicles cannot react quickly and timely according to the status of traffic signals to avoid traffic accidents.

[0057] Existing vehicle braking methods generally rely on the status of green or red lights, which cannot stop the vehicle in time or allow it to pass through the intersection in extreme situations, such as when the traffic signal status changes from yellow or flashing green to prohibit passage. This can easily cause traffic obstruction or even traffic accidents.

[0058] This invention provides a vehicle braking method that can be applied to various computer terminals or smart terminals. The executing entity can be the processor or server of the computer terminal or smart terminal. The method flowchart is shown below. Figure 1 As shown, it specifically includes:

[0059] S1: During the driving of the target vehicle, when the traffic signal at the road intersection in front of the target vehicle is detected to change to a no-passing state after a first preset time period, the first distance between the target vehicle and the stop line of the intersection on the road the target vehicle is currently traveling is determined.

[0060] In this application, any type of vehicle can be used as the target vehicle, such as a taxi, bus, van, or special non-passenger vehicle, etc., and this application does not impose any restrictions on this.

[0061] While the target vehicle is in motion, the status of traffic signals at the road intersection ahead of the target vehicle can be monitored in real time, or monitoring can be carried out when the target vehicle is close to the road intersection, and timely reactions can be made according to the status of traffic signals to avoid monitoring when the target vehicle is close.

[0062] When the traffic signal status is detected to change to "prohibited" after a first preset time period, the first distance between the target vehicle and the stop line at the intersection of the road the target vehicle is currently traveling on is determined. In one example, traffic lights are used as traffic signals, and the status of the traffic lights is the status of the traffic signals. The status of traffic lights can include the following: continuous green light, continuous red light, flashing green light, yellow light, flashing yellow light, etc. Among them, flashing green light, yellow light, and flashing yellow light are generally considered to turn red after a few seconds, usually 3 seconds. In this specific solution, the first preset time period is 3 seconds. When the current status of the traffic signal is detected to be yellow light (allowed to pass), and it turns red light after 3 seconds, the first distance between the target vehicle and the stop line at the intersection of the road the target vehicle is currently traveling on is determined.

[0063] Specifically, the first distance can be considered as the distance between the front wheel, center position, or rear wheel of the target vehicle and the stop line at the intersection; this embodiment does not limit this.

[0064] S2: If the first distance is not less than the first preset threshold, then determine the first braking force and brake the target vehicle according to the first braking force.

[0065] In this step, the determined first distance is compared with the first preset threshold. That is, if the current target vehicle is far from the stop line at the intersection, it can brake immediately without requiring a large braking force.

[0066] S3: If the first distance is less than the first preset threshold, then determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed.

[0067] If the first distance is less than the first preset threshold, that is, the current target vehicle is close to the stop line of the intersection, then a judgment must be made in time to determine whether it is safe to pass or whether it is necessary to stop. The judgment criterion is to determine whether the rear wheels of the target vehicle can cross the stop line of the intersection within the first preset time period without changing the current speed. In other words, it is to determine whether the target vehicle can pass through the road intersection without violating traffic rules without changing the current speed (for safety reasons, the target vehicle will not be allowed to accelerate).

[0068] The first preset threshold can be set in the range of 50 to 100.

[0069] S4: If so, send a continue driving signal to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current speed.

[0070] S5: If not, determine the second braking force and brake the target vehicle according to the second braking force.

[0071] Using the example in step S1 above, if the target vehicle can pass through the traffic light when the yellow light / green light is flashing / yellow light is flashing, it will not violate traffic rules (run a red light). Therefore, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current speed.

[0072] If the target vehicle cannot pass through the traffic light when the yellow light / green light is flashing / yellow light is flashing, a second braking force is determined and applied to the target vehicle to stop it before the stop line at the intersection.

[0073] As can be seen from the above technical solution, during the driving of the target vehicle, when the traffic signal at the road intersection ahead of the target vehicle is detected to change to a prohibited passage state after a first preset time period, a first distance between the target vehicle and the stop line of the intersection on the road the target vehicle is currently traveling on is determined; if the first distance is not less than a first preset threshold, a first braking force is determined, and the target vehicle is braked according to the first braking force; if the first distance is less than the first preset threshold, it is determined whether the rear wheels of the target vehicle can cross the stop line of the intersection within the first preset time period without changing the current vehicle speed; if yes, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current vehicle speed; if no, a second braking force is determined, and the target vehicle is braked according to the second braking force. This scheme reacts before the traffic signal changes to prohibit passage. It performs different actions based on the distance between the target vehicle and the stop line at the intersection. If the distance is not less than a first preset threshold, it means the distance is far enough, allowing more time for braking. If the distance is less than the first preset threshold, it means the distance is short enough, and the braking force is determined to react. This allows vehicles to brake or pass through intersections in time when they encounter extreme situations, such as when the traffic signal is about to change to prohibit passage. It effectively reduces the occurrence of vehicles running red lights and can also largely avoid traffic accidents caused by vehicles not reacting in time.

[0074] The method provided in this embodiment of the invention involves determining a second braking force and braking the target vehicle according to the second braking force as follows: Figure 2 As shown, the specific explanation is as follows:

[0075] S51: Determine the minimum braking force required to brake the target vehicle at the current moment so that the front wheels of the target vehicle stop before the stop line at the intersection within the first preset time period.

[0076] S52: Determine the target braking force corresponding to the target vehicle;

[0077] S53: If the minimum braking force is not greater than the target braking force, then the minimum braking force is used as the second braking force, and the target vehicle is braked according to the second braking force;

[0078] S54: If the minimum braking force is greater than the target braking force, then a second braking force is determined based on the minimum braking force, and the target vehicle is braked according to the second braking force.

[0079] Specifically, it is necessary to predict the movement of the target vehicle. If braking is applied to the target vehicle at the current moment, the minimum braking force required to bring the front wheels of the target vehicle to a stop before the stop line at the intersection within a first preset time period must be calculated. In other words, the braking force has a certain range. Applying a larger braking force will greatly increase the likelihood that the target vehicle will stop before the stop line at the intersection within the first preset time period. Applying a smaller braking force may result in the target vehicle not stopping before the stop line at the intersection within the first preset time period. At the same time, considering that different braking systems will have different effects on the vehicle itself and surrounding vehicles, such as a larger braking force causing impact to the occupants of the vehicle or causing a rear-end collision due to sudden braking, it is best to avoid applying a larger braking force. Therefore, a minimum braking force that can bring the front wheels of the target vehicle to a stop before the stop line at the intersection within the first preset time period must be determined.

[0080] Therefore, this application sets a target braking force, which refers to the maximum braking force that will not cause significant impact on occupants of the target vehicle or other vehicles around the target vehicle. The method for determining the target braking force includes:

[0081] Obtain the vehicle model and current speed of the target vehicle; determine the second distance between the front wheel of the target vehicle and the stop line at the intersection at the current moment; determine the target braking force corresponding to the target vehicle based on the vehicle model, current speed and the second distance.

[0082] Specifically, it can be considered from the perspective of four different vehicle types, including taxis, buses, trucks, and special non-passenger vehicles (such as sanitation vehicles).

[0083] Generally speaking, the overall comfort of taxis is the highest, including the chassis, the wrapping of the seats, etc.; the chassis of buses is relatively hard, with a large sense of bumpiness, and the people inside the vehicle will be greatly affected by a slight brake, resulting in a poor physical feeling; trucks are mainly for carrying goods, so the physical feeling of passengers is not overly concerned. Similarly, for special non-passenger vehicles, it can be understood that for vehicles carrying people and goods, the requirements for braking force are different.

[0084] Regarding the physical feeling, the following score definitions are listed. Let x represent the physical feeling score, with a range of 1 to 10:

[0085] X = 1.0 points: It indicates that the vehicle is driving smoothly and the passengers feel very comfortable.

[0086] 0 < x < 0.9: It indicates that the passengers feel uncomfortable and some physical discomforts occur.

[0087] 0 < x < 0.5: It indicates that the passengers feel extremely uncomfortable. In the case of an emergency brake, the body has an obvious forward lean or jerks, and some opposite actions and corresponding forces are needed to cope, but it is still within the controllable range of the body.

[0088] 0 (all cases with a score lower than 0 will be classified as 0): It indicates that the passengers have already experienced extreme discomfort and the body needs to react quickly to cope, and it is a bit difficult to cope.

[0089] Then, according to the above physical feeling scores, the target braking forces corresponding to different vehicle types are set as shown in Table 1 below. Among them, the braking force is represented by acceleration, with the unit of m / ss. Since the acceleration is negative when representing the braking force, the smaller the value of the acceleration, the greater the braking force (that is, the greater the absolute value of the acceleration, the greater the braking force):

[0090] Table 1

[0091]

[0092]

[0093] From the above solution, it can be seen that this application can ensure the comfort of passengers and the safety of the goods carried.

[0094] Next, compare the minimum braking system with the target braking system. If the minimum braking system does not exceed the target braking system, then the minimum braking force will be used as the second braking force, and the target vehicle will be braked according to the second braking force.

[0095] If the minimum braking force exceeds the target braking force, then a smaller braking force needs to be determined. However, a smaller braking force would prevent the target vehicle from stopping before the stop line at the intersection within the first preset time period. Therefore, it is also necessary to limit the front wheels from crossing the stop line by a certain distance to avoid injuring pedestrians on the crosswalk before the stop line or colliding with vehicles from other directions. Thus, a second braking force needs to be determined based on the minimum braking force, specifically including:

[0096] If the minimum braking force is greater than the target braking force, then the current speed of the target vehicle is obtained;

[0097] Determine the shortest distance between the stop line at the intersection and the zebra crossing in front of the stop line at the intersection, and use the shortest distance as the third distance;

[0098] Based on the current vehicle speed and the third distance, a second braking force is calculated; wherein the second braking force is less than the target braking force, and after the target vehicle brakes to a stop at the second braking force, the distance between the front wheels of the target vehicle and the stop line at the intersection is less than the third distance.

[0099] The process of determining the first braking force in this application is described below.

[0100] Obtain the current speed of the target vehicle;

[0101] Determine the loading status inside the target vehicle;

[0102] The first braking force is determined based on the vehicle's interior load, current speed, first distance, and pre-set vehicle braking requirements.

[0103] Specifically, similar to the method for calculating the target braking force described above, the first braking force is determined based on the vehicle's interior loading conditions, current speed, first distance, and pre-set vehicle braking requirements. The vehicle's interior loading conditions refer to factors such as the number of passengers and cargo, the health status of the passengers, and the arrangement of items.

[0104] Furthermore, before the traffic signal at the intersection ahead of the target vehicle is detected to become a no-passing signal after a first preset time period, the method further includes:

[0105] During the movement of the target vehicle, the status of the traffic signal in front of the target vehicle is recorded in real time;

[0106] If the traffic signal leaves the field of vision of the target vehicle, then the state of the traffic signal at the previous moment is obtained;

[0107] The state of the traffic signal at the previous moment is taken as the target state;

[0108] If the target state is "allowed to pass", then the state of the traffic signal is determined to change to "prohibited to pass" starting from the current time and after a first preset time period.

[0109] Specifically, due to the complex traffic situation at road intersections, traffic signals may be outside the field of vision of target vehicles, making it impossible to monitor changes in the status of traffic signals in real time. In addition to the above, we can try to determine the status of traffic signals based on the specific situation, or make guesses based on the actual situation, as shown in Table 2 below.

[0110] Table 2

[0111]

[0112]

[0113] and Figure 1 Corresponding to the method described above, embodiments of the present invention also provide a vehicle braking device for... Figure 1 In a specific implementation of the method, the vehicle braking device provided in this embodiment of the invention can be integrated into a computer terminal or various mobile devices. Figure 3 The text describes the vehicle's braking system, including details such as... Figure 3 As shown, the device may include:

[0114] The first distance determination module 10 is used to determine the first distance between the target vehicle and the stop line of the intersection of the road the target vehicle is currently traveling on when the traffic signal at the road intersection in front of the target vehicle changes to a no-passing state after a first preset time period during the target vehicle's driving process.

[0115] The first braking module 20 is used to determine a first braking force if the first distance is not less than a first preset threshold, and to brake the target vehicle according to the first braking force.

[0116] The judgment module 30 is used to determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed if the first distance is less than the first preset threshold.

[0117] The continue driving module 40 is used to send a continue driving signal to the target vehicle if the condition is met, so that the target vehicle can continue to drive and pass through the road intersection at the current speed.

[0118] The second braking module 50 is used to determine a second braking force if not, and to brake the target vehicle according to the second braking force.

[0119] As can be seen from the above technical solution, during the driving of the target vehicle, when the traffic signal at the road intersection ahead of the target vehicle is detected to change to a prohibited passage state after a first preset time period, a first distance between the target vehicle and the stop line of the intersection on the road the target vehicle is currently traveling on is determined; if the first distance is not less than a first preset threshold, a first braking force is determined, and the target vehicle is braked according to the first braking force; if the first distance is less than the first preset threshold, it is determined whether the rear wheels of the target vehicle can cross the stop line of the intersection within the first preset time period without changing the current vehicle speed; if yes, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current vehicle speed; if no, a second braking force is determined, and the target vehicle is braked according to the second braking force. This scheme reacts before the traffic signal changes to prohibit passage. It performs different actions based on the distance between the target vehicle and the stop line at the intersection. If the distance is not less than a first preset threshold, it means the distance is far enough, allowing more time for braking. If the distance is less than the first preset threshold, it means the distance is short enough, and the braking force is determined to react. This allows vehicles to brake or pass through intersections in time when they encounter extreme situations, such as when the traffic signal is about to change to prohibit passage. It effectively reduces the occurrence of vehicles running red lights and can also largely avoid traffic accidents caused by vehicles not reacting in time.

[0120] In one example, the second braking module 50 may include:

[0121] The minimum braking force determination module is used to determine the minimum braking force required to brake the target vehicle at the current moment so that the front wheels of the target vehicle stop before the stop line at the intersection within the first preset time period.

[0122] The target braking force determination module is used to determine the target braking force corresponding to the target vehicle;

[0123] The second braking force first determination module is used to determine the target vehicle according to the second braking force if the minimum braking force is not greater than the target braking force.

[0124] The second braking force determination module is used to determine a second braking force based on the minimum braking force if the minimum braking force is greater than the target braking force, and to brake the target vehicle according to the second braking force.

[0125] Furthermore, embodiments of this application provide a vehicle braking device. Optionally, Figure 4 A hardware structure block diagram of the vehicle braking system is shown, with reference to... Figure 4 The hardware structure of a vehicle braking device may include: at least one processor 01, at least one communication interface 02, at least one memory 03, and at least one communication bus 04.

[0126] In this embodiment of the application, the number of processor 01, communication interface 02, memory 03 and communication bus 04 is at least one, and processor 01, communication interface 02 and memory 03 communicate with each other through communication bus 04.

[0127] Processor 01 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0128] Memory 03 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device.

[0129] The memory stores a program, which the processor can call to execute. The program is used to perform the following vehicle braking method, including:

[0130] During the driving of the target vehicle, when the traffic signal at the road intersection in front of the target vehicle is detected to change to a no-passing state after a first preset time period, the first distance between the target vehicle and the stop line of the intersection of the road on which the target vehicle is currently driving is determined.

[0131] If the first distance is not less than the first preset threshold, then the first braking force is determined, and the target vehicle is braked according to the first braking force;

[0132] If the first distance is less than the first preset threshold, then determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed.

[0133] If so, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current speed;

[0134] If not, then determine the second braking force and brake the target vehicle according to the second braking force.

[0135] Optionally, the refined and extended functions of the program can be found in the description of the vehicle braking method in the method embodiments.

[0136] This application embodiment also provides a storage medium that can store a program suitable for execution by a processor. When the program runs, it controls the device where the storage medium is located to perform the following vehicle braking method, including:

[0137] During the driving of the target vehicle, when the traffic signal at the road intersection in front of the target vehicle is detected to change to a no-passing state after a first preset time period, the first distance between the target vehicle and the stop line of the intersection of the road on which the target vehicle is currently driving is determined.

[0138] If the first distance is not less than the first preset threshold, then the first braking force is determined, and the target vehicle is braked according to the first braking force;

[0139] If the first distance is less than the first preset threshold, then determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed.

[0140] If so, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current speed;

[0141] If not, then determine the second braking force and brake the target vehicle according to the second braking force.

[0142] Specifically, the storage medium can be a computer-readable storage medium, which can be an electronic storage device such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM.

[0143] Optionally, the refined and extended functions of the program can be found in the description of the vehicle braking method in the method embodiments.

[0144] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module 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 this disclosure, in essence, or the part that contributes to the prior art, or a 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, a live streaming device, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this disclosure.

[0145] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0146] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0147] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle braking method, characterized by, include: During the driving of the target vehicle, when the traffic signal at the road intersection in front of the target vehicle is detected to change to a no-passing state after a first preset time period, the first distance between the target vehicle and the stop line of the intersection of the road on which the target vehicle is currently driving is determined. If the first distance is not less than the first preset threshold, then the first braking force is determined, and the target vehicle is braked according to the first braking force; If the first distance is less than the first preset threshold, then determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed. If so, a continue driving signal is sent to the target vehicle so that the target vehicle can continue to drive and pass through the road intersection at the current speed; If not, then determine the second braking force and brake the target vehicle according to the second braking force; including: determining the minimum braking force required to brake the target vehicle at the current moment so that the front wheels of the target vehicle stop before the stop line at the intersection within the first preset time period; Determine the target braking force corresponding to the target vehicle; if the minimum braking force is not greater than the target braking force, then use the minimum braking force as the second braking force, and brake the target vehicle according to the second braking force; if the minimum braking force is greater than the target braking force, then determine the second braking force based on the minimum braking force, and brake the target vehicle according to the second braking force.

2. The method of claim 1, wherein, Determining the target braking force corresponding to the target vehicle includes: Obtain the vehicle model and current speed of the target vehicle; Determine the second distance between the front wheel of the target vehicle and the stop line at the intersection at the current moment; The target braking force corresponding to the target vehicle is determined based on the vehicle model, current vehicle speed, and the second distance.

3. The method of claim 1, wherein, If the minimum braking force is greater than the target braking force, then determining the second braking force based on the minimum braking force includes: If the minimum braking force is greater than the target braking force, then the current speed of the target vehicle is obtained; Determine the shortest distance between the stop line at the intersection and the zebra crossing in front of the stop line at the intersection, and use the shortest distance as the third distance; Based on the current vehicle speed and the third distance, a second braking force is calculated; wherein the second braking force is less than the target braking force, and after the target vehicle brakes to a stop at the second braking force, the distance between the front wheels of the target vehicle and the stop line at the intersection is less than the third distance.

4. The method of claim 1, wherein, Determining the first braking force includes: Obtain the current speed of the target vehicle; Determine the loading status inside the target vehicle; The first braking force is determined based on the vehicle's interior load, current speed, first distance, and pre-set vehicle braking requirements.

5. The method of claim 1, wherein, Before the traffic signal at the intersection ahead of the target vehicle is detected to become a no-passing signal after a first preset time period, the method further includes: During the movement of the target vehicle, the status of the traffic signal in front of the target vehicle is recorded in real time; If the traffic signal leaves the field of vision of the target vehicle, then the state of the traffic signal at the previous moment is obtained; The state of the traffic signal at the previous moment is taken as the target state; If the target state is "allowed to pass", then the state of the traffic signal is determined to change to "prohibited to pass" starting from the current time and after a first preset time period.

6. A vehicle brake device characterized by comprising: include: The first distance determination module is used to determine the first distance between the target vehicle and the stop line of the intersection of the road the target vehicle is currently traveling on when the traffic signal at the road intersection in front of the target vehicle changes to a no-passing state after a first preset time period during the target vehicle's driving process. A first braking module is configured to determine a first braking force if the first distance is not less than a first preset threshold, and brake the target vehicle according to the first braking force. The judgment module is used to determine whether the rear wheels of the target vehicle can cross the intersection stop line within the first preset time period without changing the current vehicle speed if the first distance is less than the first preset threshold. The continue driving module is used to send a continue driving signal to the target vehicle if the condition is met, so that the target vehicle can continue to drive and pass through the road intersection at the current speed. A second braking module, configured to determine a second braking force if not otherwise specified, and brake the target vehicle according to the second braking force; comprising: a minimum braking force determination module, configured to determine the minimum braking force required to brake the target vehicle at the current moment, causing the front wheels of the target vehicle to stop before the stop line at the intersection within a first preset time period; a target braking force determination module, configured to determine a target braking force corresponding to the target vehicle; a first second braking force determination module, configured to use the minimum braking force as the second braking force if the minimum braking force is not greater than the target braking force, and brake the target vehicle according to the second braking force; and a second second braking force determination module, configured to determine a second braking force based on the minimum braking force if the minimum braking force is greater than the target braking force, and brake the target vehicle according to the second braking force.

7. A vehicle braking device, characterized in that, Including memory and processor; The memory is used to store programs; The processor is configured to execute the program to implement the various steps of the vehicle braking method as described in any one of claims 1-5.

8. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the various steps of the vehicle braking method as described in any one of claims 1-5.

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