Vehicle control method and device, vehicle and storage medium

Abstract

The application discloses a vehicle control method and device, a vehicle and a readable storage medium. The method comprises the following steps: during vehicle driving, determining an adjustment parameter according to a plurality of brake pedal opening degrees, a plurality of reference brake energy efficiency parameters corresponding to the brake pedal opening degrees respectively, and actual brake energy efficiency parameters; adjusting a preset calibration trigger timing parameter according to the adjustment parameter to obtain a target trigger timing parameter; and when it is detected that the vehicle has a collision risk, controlling the vehicle to output an anti-collision risk action corresponding to the target trigger timing parameter when the time indicated by the target trigger timing parameter is reached. In the application, the situation that the anti-collision action output by the vehicle is not timely, resulting in a collision accident of the vehicle, is avoided, and the safety of the vehicle driving process is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle control method, apparatus, vehicle, and computer-readable storage medium. Background Technology

[0002] With the development of automotive technology and the popularization of intelligent driving assistance functions, vehicles will be equipped with active safety features. For example, vehicles may be equipped with collision warning functions.

[0003] When the vehicle's collision warning function is activated, the vehicle detects its own driving status during driving. If it is determined that there is a collision risk based on the vehicle's driving status, the vehicle will output the anti-collision action corresponding to the trigger timing parameter when the trigger time indicated by the calibrated trigger timing parameter is reached.

[0004] However, with existing vehicle control methods, the timeliness of the collision avoidance actions corresponding to the vehicle output triggering parameters is poor, resulting in low safety during vehicle operation. Summary of the Invention

[0005] This application proposes a vehicle control method, apparatus, vehicle, and computer-readable storage medium to improve the above-mentioned deficiencies.

[0006] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising: during vehicle operation, determining adjustment parameters based on reference braking efficiency parameters and actual braking efficiency parameters corresponding to multiple brake pedal openings; the reference braking efficiency parameters corresponding to the brake pedal openings are used to indicate the braking efficiency of a reference vehicle when braking at the brake pedal opening, and the actual braking efficiency parameters corresponding to the brake pedal openings are used to indicate the braking efficiency of the vehicle when braking at the brake pedal opening; adjusting preset calibration trigger timing parameters according to the adjustment parameters to obtain target trigger timing parameters; and when a collision risk is detected, controlling the vehicle to output an anti-collision risk action corresponding to the target trigger timing parameters when the time indicated by the target trigger timing parameters is reached.

[0007] Secondly, this application also provides a vehicle control device, comprising: a parameter determination module, used to determine adjustment parameters during vehicle operation based on reference braking efficiency parameters and actual braking efficiency parameters corresponding to multiple brake pedal openings; the reference braking efficiency parameters corresponding to the brake pedal openings are used to indicate the braking efficiency of a reference vehicle when braking at the brake pedal opening, and the actual braking efficiency parameters corresponding to the brake pedal openings are used to indicate the braking efficiency of the vehicle when braking at the brake pedal opening; an adjustment module, used to adjust preset calibration trigger timing parameters according to the adjustment parameters to obtain target trigger timing parameters; and a control module, used to control the vehicle to output an anti-collision risk action corresponding to the target trigger timing parameters when a collision risk is detected and the time indicated by the target trigger timing parameters is reached.

[0008] Thirdly, embodiments of this application also provide a vehicle, characterized in that the vehicle includes: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to perform the above-described methods.

[0009] Fourthly, embodiments of this application also provide a computer-readable storage medium storing processor-executable program code, which, when executed by the processor, causes the processor to perform the above-described method.

[0010] This application provides a vehicle control method, device, vehicle, and computer-readable storage medium. In this application, adjustment parameters are determined based on the reference braking efficiency parameters corresponding to the reference vehicle and the actual braking efficiency parameters during vehicle operation. Then, the calibration trigger timing parameters are adjusted according to the adjustment parameters to obtain target trigger timing parameters. The target trigger timing parameters are consistent with the actual vehicle conditions. The target trigger timing parameters can accurately indicate the time when the vehicle outputs anti-collision actions, so that the anti-collision actions output by the vehicle controlled according to the target trigger timing parameters are timely, avoiding the situation where the anti-collision actions output by the vehicle are not timely and causing a collision accident, thereby improving the safety of the vehicle during driving.

[0011] Other features and advantages of embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of this application.

[0012] The objectives and other advantages of the embodiments can be realized and obtained by means of the structures particularly pointed out in the written specification, claims, and drawings. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.

[0015] Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown.

[0016] Figure 3 A schematic diagram of a vehicle control logic according to an embodiment of this application is shown.

[0017] Figure 4 It shows Figure 2 The flowchart of the steps preceding step S101 in the corresponding embodiment is shown in one embodiment.

[0018] Figure 5 The diagram shows the curves of brake pedal opening and acceleration changing with time in an embodiment of this application.

[0019] Figure 6 A schematic diagram of a vehicle control process according to an embodiment of this application is shown.

[0020] Figure 7 A structural block diagram of a vehicle control device according to an embodiment of this application is shown. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0022] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Please see Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes a processor 111 and a memory 112.

[0024] The processor 111 may be a microcontroller unit (MCU) with a built-in memory 112 that stores a program that can execute the contents of the following embodiments, and the processor 111 can execute the program stored in the memory 112.

[0025] The processor 112 may include one or more processors. The processor 111 connects to various parts of the vehicle 100 through various interfaces and lines, and performs various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 112, and calling data stored in the memory 112.

[0026] The memory 112 may include random access memory (RAM) or read-only memory (ROM). The memory 112 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 112 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below.

[0027] Please see Figure 2 , Figure 2 A flowchart of a vehicle control method according to an embodiment of this application is shown. The method is for a vehicle and includes:

[0028] S101. During vehicle operation, the adjustment parameters are determined based on the reference braking efficiency parameters and actual braking efficiency parameters corresponding to the opening of each of the multiple brake pedals.

[0029] Among them, the reference braking efficiency parameter corresponding to the brake pedal opening is used to indicate the braking efficiency of the reference vehicle when braking at the brake pedal opening, and the actual braking efficiency parameter corresponding to the brake pedal opening is used to indicate the braking efficiency of the vehicle when braking at the brake pedal opening.

[0030] The vehicle can be an electric vehicle or a gasoline-powered vehicle, and can be a sedan, SUV, bus, or truck, etc. The reference vehicle can be a different vehicle from the vehicle in step S110, or it can be the same vehicle as the vehicle in step S110. For example, a new car with the same model as the vehicle in step S110, which has undergone 3000km of break-in, can be selected as the reference vehicle.

[0031] Brake pedal opening refers to the depth or degree of pressure applied to the vehicle's brake pedal. This can be achieved by the driver pressing the brake pedal or by applying pressure to the brake pedal via a robotic arm. The brake pedal opening can be indicated from 0-100%. The brake pedal opening is positively correlated with the degree of braking. When the brake pedal opening is 0%, the brake pedal is not pressed, and the vehicle does not brake. When the brake pedal opening is 100%, the brake pedal is pressed to its maximum opening, the vehicle brakes, and the degree of braking reaches its maximum. In this embodiment, the multiple brake pedal openings in step S110 can be 20%, 30%, 40%, 50%, and 60%.

[0032] Braking efficiency parameters indicate the braking performance of a vehicle. A higher braking efficiency parameter indicates better braking performance, while a lower parameter indicates worse braking performance. For each brake pedal opening, there is a corresponding braking efficiency parameter. Specifically, for each brake pedal opening, the reference braking efficiency parameter indicates the braking performance of a reference vehicle at that pedal opening, while the actual braking efficiency parameter indicates the braking performance of the vehicle at that pedal opening.

[0033] For each of the multiple brake pedal openings, a reference braking efficiency parameter is determined based on the braking performance of a reference vehicle at that brake pedal opening. This process is repeated for each of the multiple brake pedal openings to obtain the reference braking efficiency parameter corresponding to each of the multiple brake pedal openings. Similarly, for each of the multiple brake pedal openings, an actual braking efficiency parameter is determined based on the braking performance of the vehicle at that brake pedal opening. This process is repeated for each of the multiple brake pedal openings to obtain the actual braking efficiency parameter corresponding to each of the multiple brake pedal openings.

[0034] After obtaining the reference braking efficiency parameters and actual braking efficiency parameters corresponding to each of the multiple brake pedal openings, the adjustment parameters can be determined based on these parameters.

[0035] In some embodiments, braking efficiency parameters may include braking efficiency parameters indicating the degree of braking and braking efficiency parameters indicating the stability of the degree of braking. Accordingly, the reference braking efficiency parameters include a first reference braking efficiency parameter indicating the degree of braking of a reference vehicle and a second reference braking efficiency parameter indicating the stability of the degree of braking of the reference vehicle; the actual braking efficiency parameters include a first actual braking efficiency parameter indicating the degree of braking of the vehicle and a second actual braking efficiency parameter indicating the stability of the degree of braking of the vehicle. In this case, the process of determining the adjustment parameters may include: calculating the ratio of the first actual braking efficiency parameter to the first reference braking efficiency parameter corresponding to each brake pedal opening, as a first calculation result corresponding to each brake pedal opening; calculating the ratio of the second actual braking efficiency parameter to the second reference braking efficiency parameter corresponding to each brake pedal opening, as a second calculation result corresponding to each brake pedal opening; and determining the adjustment parameters based on the average of the first calculation results corresponding to multiple brake pedal openings and the average of the second calculation results corresponding to multiple brake pedal openings.

[0036] Specifically, the first calculation results corresponding to multiple brake pedal openings can be averaged, and the second calculation results corresponding to multiple brake pedal openings can be averaged. Then, the average of the first calculation results corresponding to multiple brake pedal openings and the average of the second calculation results corresponding to multiple brake pedal openings can be averaged again to obtain the adjustment parameters.

[0037] For example, when multiple brake pedal openings include 20%, 30%, 40%, 50%, and 60%, the process of determining the adjustment parameters can be expressed by Formula 1, as follows:

[0038]

[0039] Where γ is the adjustment parameter, AB rkPer Cur20 % represents the first actual braking efficiency parameter corresponding to a brake pedal opening of 20%, AB rkPer Cur30 % represents the first actual braking efficiency parameter corresponding to a brake pedal opening of 30%, ABrkPer Cur40 % represents the first actual braking efficiency parameter corresponding to a brake pedal opening of 40%, AB rkPer Cur50 % represents the first actual braking efficiency parameter corresponding to a 50% brake pedal opening, AB rkPer Cur60 % represents the first actual braking efficiency parameter corresponding to a brake pedal opening of 60%, AB rkPer Standard20 % represents the first baseline braking efficiency parameter corresponding to a brake pedal opening of 20%, AB rkPer Standard30 % represents the first baseline braking efficiency parameter corresponding to a brake pedal opening of 30%, ABrkPerStandard40 % represents the first baseline braking efficiency parameter corresponding to a brake pedal opening of 40%, AB rkPer Standard50 % represents the first baseline braking efficiency parameter corresponding to a 50% brake pedal opening, AB rkPer Standard60 % represents the first baseline braking efficiency parameter corresponding to a brake pedal opening of 60%; AB rkPer _CurSlp20 % represents the second actual braking efficiency parameter corresponding to a brake pedal opening of 20%, AB rkPer _CurSlp30 % represents the second actual braking efficiency parameter corresponding to a brake pedal opening of 30%, AB rkPer _CurSlp40 % represents the second actual braking efficiency parameter corresponding to a brake pedal opening of 40%, AB rkPer _CurSlp50 % represents the second actual braking efficiency parameter corresponding to a 50% brake pedal opening, AB rkPer _CurSlp60 % represents the second actual braking efficiency parameter corresponding to a brake pedal opening of 60%, AB rkPer _StandardSlp20 % represents the second baseline braking efficiency parameter corresponding to a brake pedal opening of 20%, AB rkPer _StandardSlp30 % represents the second baseline braking efficiency parameter corresponding to a brake pedal opening of 30%, AB rkPer _StandardSlp40 % represents the second baseline braking efficiency parameter corresponding to a brake pedal opening of 40%, ABrkPer _StandardSlp50 % represents the second baseline braking efficiency parameter corresponding to a 50% brake pedal opening, ABrkPer _StandardSlp60 The percentage represents the second benchmark braking efficiency parameter corresponding to a brake pedal opening of 60%.

[0040] S102. Adjust the preset calibration trigger timing parameters according to the adjustment parameters to obtain the target trigger timing parameters.

[0041] After obtaining the adjustment parameters, the preset calibration trigger timing parameters can be adjusted to obtain the target trigger timing parameters.

[0042] The trigger timing parameter is used to indicate the triggering time of a collision risk mitigation action. The collision risk mitigation action may include an alarm action and a braking action. Accordingly, the trigger timing parameter includes an alarm trigger timing parameter that indicates the triggering time of an alarm action and a braking trigger timing parameter that indicates the triggering time of a braking action.

[0043] The calibration trigger timing parameters refer to the trigger timing parameters determined by technicians based on requirements and driving safety. These parameters may be pre-set in the vehicle's internal memory when the vehicle leaves the factory, so that the vehicle can directly access the calibration trigger timing parameters.

[0044] As mentioned earlier, the trigger timing parameters include alarm trigger timing parameters indicating the trigger time of an alarm action and braking trigger timing parameters indicating the trigger time of a braking action. Correspondingly, the calibration trigger timing parameters can include calibrated alarm trigger timing parameters and calibrated braking trigger timing parameters. The calibrated alarm trigger timing parameters and calibrated braking trigger timing parameters can be adjusted according to the adjustment parameters to obtain the adjusted calibrated alarm trigger timing parameters and the adjusted calibrated braking trigger timing parameters, which are then used as the target trigger timing parameters.

[0045] In some implementations, S102 may include: determining a preset adjustment value corresponding to the adjustment parameter based on the mapping relationship between the preset adjustment parameter and the preset adjustment value, and using it as the adjustment value corresponding to the calibration trigger timing parameter; calculating the sum of the adjustment value and the calibration trigger timing parameter to obtain a first trigger timing parameter; determining a target trigger timing parameter based on the comparison result between the first trigger timing parameter, the upper limit value of the preset trigger timing parameter, and the lower limit value of the preset trigger timing parameter; and calibrating the trigger timing parameter to be between the upper limit value of the preset trigger timing parameter and the lower limit value of the preset trigger timing parameter.

[0046] As mentioned above, the trigger timing parameters include alarm trigger timing parameters indicating the trigger time of an alarm action and braking trigger timing parameters indicating the trigger time of a braking action. In this case, the aforementioned mapping relationship includes a first mapping relationship between the preset adjustment parameter and the first preset adjustment value corresponding to the alarm trigger timing parameter, and a second mapping relationship between the preset adjustment parameter and the second preset adjustment value corresponding to the braking trigger timing parameter. Correspondingly, based on the first mapping relationship, a first preset adjustment value corresponding to the adjustment parameter can be determined as the adjustment value corresponding to the calibrated alarm trigger timing parameter. Based on the second mapping relationship, a second preset adjustment value corresponding to the adjustment parameter can be determined as the adjustment value corresponding to the calibrated braking trigger timing parameter. In this case, the adjustment value corresponding to the calibrated trigger timing parameter includes both the adjustment value corresponding to the calibrated alarm trigger timing parameter and the adjustment value corresponding to the calibrated braking trigger timing parameter.

[0047] In this embodiment, the first mapping relationship and the second mapping relationship can be indicated by a mapping table or a mapping function. For example, when the first mapping relationship and the second mapping relationship are indicated by a mapping table, the first mapping relationship and the second mapping relationship are shown in Table 1, as follows:

[0048] Table 1

[0049] First preset adjustment value 1 0.8 0.6 0.3 0.1 0.05 0 Second preset adjustment value 0.4 0.35 0.3 0.2 0.1 0.00 0

[0050] As shown in Table 1, when the determined adjustment parameter is 0.7, the adjustment value corresponding to the calibration alarm trigger timing parameter is 1, and the adjustment value corresponding to the calibration automatic trigger timing parameter is 0.4. When the determined adjustment parameter is a value not found in the mapping table, the adjustment values ​​corresponding to the calibration alarm trigger timing parameter and the calibration automatic trigger timing parameter are determined according to the preset adjustment parameters on both sides of the adjustment parameter in the mapping table and their respective preset adjustment values, using the linear difference method. For example, if the determined adjustment parameter is 0.72, and the preset adjustment parameters on both sides of the adjustment parameter are 0.7 and 0.75, based on the first preset adjustment values ​​corresponding to 0.7 and 0.75, and the adjustment parameter is determined to be 0.72 using the linear difference method, the adjustment value corresponding to the calibration alarm trigger timing parameter is 1 - ((1 - 0.8) / (0.75 - 0.7)) * (0.72 - 0.7) = 0.92. Similarly, if the determined adjustment parameter is 0.72, the adjustment value corresponding to the calibration alarm trigger timing parameter is 0.4 - ((0.4 - 0.35) / (0.75 - 0.7)) * (0.72 - 0.7) = 0.38.

[0051] For example, after indicating the first mapping relationship with the first mapping function, the adjustment parameters can be substituted into the first mapping function to obtain the adjustment value corresponding to the calibration alarm triggering timing parameter. Similarly, after indicating the second mapping relationship with the second mapping function, the adjustment parameters can be substituted into the second mapping function to obtain the adjustment value corresponding to the calibration alarm triggering timing parameter.

[0052] After obtaining the adjustment value corresponding to the calibration trigger timing parameter, the sum of the adjustment value and the calibration trigger timing parameter is directly calculated to obtain the first trigger timing parameter. Specifically, the adjustment value corresponding to the calibration alarm trigger timing parameter and the sum of the calibration alarm trigger timing parameters are calculated to obtain the first alarm trigger timing parameter. Similarly, the adjustment value corresponding to the calibration braking trigger timing parameter and the sum of the calibration braking trigger timing parameters are calculated to obtain the first braking trigger timing parameter. The first alarm trigger timing parameter and the first braking trigger timing parameter are obtained as the first trigger timing parameter. That is, the first trigger timing parameter includes the first alarm trigger timing parameter and the first braking trigger timing parameter.

[0053] The aforementioned process of determining the first trigger timing parameters can be summarized as Formula 2, which is as follows:

[0054] TTC_FCW=TTC_FCWstandard+TTC_FCW_fix

[0055] TTC_AEB=TTC_AEBstandard+TTC_AEB_fix

[0056] Wherein, TTC_FCW is the first alarm trigger timing parameter, TTC_FCWstandard is the calibrated alarm trigger timing parameter, TTC_FCW_fix is ​​the adjustment value corresponding to the calibrated alarm trigger timing parameter, TTC_AEB is the first braking trigger timing parameter, TTC_AEBstandard is the calibrated braking trigger timing parameter, and TTC_AEB_fix is ​​the adjustment value corresponding to the calibrated braking trigger timing parameter.

[0057] In this embodiment, the upper limit of the preset trigger timing parameter includes both the upper limit of the preset alarm trigger timing parameter and the upper limit of the preset braking trigger timing parameter, and the lower limit of the preset trigger timing parameter includes both the lower limit of the preset alarm trigger timing parameter and the lower limit of the preset braking trigger timing parameter. The target alarm trigger timing parameter can be determined based on the comparison result between the first alarm trigger timing parameter, the upper limit of the preset alarm trigger timing parameter, and the lower limit of the preset alarm trigger timing parameter in the first trigger timing parameter. Simultaneously, the target braking trigger timing parameter can be determined based on the comparison result between the first braking trigger timing parameter, the upper limit of the preset braking trigger timing parameter, and the lower limit of the preset braking trigger timing parameter in the first trigger timing parameter. The target alarm trigger timing parameter and the target braking trigger timing parameter are then obtained as the target trigger timing parameters. That is, the target trigger timing parameters include the calibrated alarm trigger timing parameter and the target braking trigger timing parameter. The calibrated alarm trigger timing parameter is between the upper limit of the preset alarm trigger timing parameter and the lower limit of the preset alarm trigger timing parameter, and the calibrated braking trigger timing parameter is between the upper limit of the preset braking trigger timing parameter and the lower limit of the preset braking trigger timing parameter.

[0058] Optionally, determining the target trigger timing parameter based on the comparison result between the first trigger timing parameter, the upper limit of the preset trigger timing parameter, and the lower limit of the preset trigger timing parameter may include: obtaining the smaller of the first trigger timing parameter and the upper limit of the preset trigger timing parameter as the second trigger timing parameter; and obtaining the larger of the second trigger timing parameter and the lower limit of the preset trigger timing parameter as the target trigger timing parameter.

[0059] Specifically, the smaller of the first alarm trigger timing parameter and the upper limit of the preset alarm trigger timing parameter can be used as the second alarm trigger timing parameter; the larger of the second alarm trigger timing parameter and the lower limit of the preset alarm trigger timing parameter can be used as the target alarm trigger timing parameter; similarly, the smaller of the first braking trigger timing parameter and the upper limit of the preset braking trigger timing parameter can be used as the second braking trigger timing parameter; the larger of the second braking trigger timing parameter and the lower limit of the preset braking trigger timing parameter can be used as the target braking trigger timing parameter. That is, the second trigger timing parameter includes both the second alarm trigger timing parameter and the second braking trigger timing parameter.

[0060] At this point, the aforementioned process of determining the second trigger timing parameter can be summarized as Formula 3, which is as follows:

[0061] TTC_FCWact=max{TTC_FCWmin,min(TTC_FCW,TTC_FCWmax)}

[0062] TTC_AEBact=max{TTC_AEBmin,min(TTC_AEB,TTC_AEBmax)}

[0063] Wherein, TTC_FCWact is the target alarm trigger timing parameter, TTC_FCWmin is the lower limit of the preset alarm trigger timing parameter, TTC_FCWmax is the upper limit of the preset alarm trigger timing parameter, TTC_AEBact is the target braking trigger timing parameter, TTC_AEBmin is the lower limit of the preset braking trigger timing parameter, and TTC_AEBmax is the upper limit of the preset braking trigger timing parameter.

[0064] S103. When a collision risk is detected, when the time indicated by the target triggering timing parameter is reached, control the vehicle to output an anti-collision risk action corresponding to the target triggering timing parameter.

[0065] It can acquire the vehicle's driving status in real time and determine whether there is a collision risk based on the vehicle's driving status. The driving status can include the vehicle's own posture (including speed and heading angle) and the posture of surrounding obstacles (including speed and heading angle).

[0066] In this embodiment, collision risk can refer to forward collision risk, which is the risk of a vehicle colliding with an obstacle in front of the vehicle.

[0067] When a collision risk is identified, the vehicle outputs an anti-collision risk action corresponding to the target trigger timing parameter when the time indicated by the target trigger timing parameter is reached: when the time indicated by the target alarm trigger timing parameter in the target trigger timing parameter is reached, the vehicle outputs an alarm action, and when the time indicated by the target braking trigger timing parameter in the target trigger timing parameter is reached, the vehicle outputs a braking action.

[0068] It is worth mentioning that the warning action precedes the braking action. If the driver controls the vehicle to brake after the vehicle outputs the warning action, the braking action will not be output when the time indicated by the target braking trigger timing parameter is reached. If the driver does not control the vehicle to brake after the vehicle outputs the warning action, the braking action will be output when the time indicated by the target braking trigger timing parameter is reached.

[0069] In this embodiment, the vehicle control logic is as follows: Figure 3 As shown, the vehicle's main unit starts, which in turn starts the intelligent driving controller. The intelligent driving controller operates the intelligent driving system through the core control unit. Reference braking efficiency parameters corresponding to multiple brake pedal openings can be stored in the intelligent driving controller's storage unit. During vehicle operation, the intelligent driving system collects data from millimeter-wave radar, cameras, ultrasonic radar, and lidar to obtain driving conditions. Based on these conditions, the intelligent driving system determines the actual braking efficiency parameters and whether there is a collision risk. If a collision risk is determined, the system outputs a warning action or braking action through the warning controller.

[0070] In this embodiment, adjustment parameters are determined based on the reference braking efficiency parameters of the reference vehicle and the actual braking efficiency parameters during vehicle operation. Then, the calibration trigger timing parameters are adjusted according to the adjustment parameters to obtain the target trigger timing parameters. The target trigger timing parameters are consistent with the actual vehicle conditions. The target trigger timing parameters can accurately indicate the time when the vehicle outputs anti-collision actions, so that the anti-collision actions output by the vehicle controlled according to the target trigger timing parameters are timely. This avoids the situation where the anti-collision actions output by the vehicle are not timely, which leads to a collision accident and improves the safety of the vehicle during driving.

[0071] In one embodiment, step S101 may include: during vehicle operation, if preset adjustment conditions are met, determining adjustment parameters based on the reference braking efficiency parameters corresponding to the opening of each of the multiple brake pedals and the actual braking efficiency parameters.

[0072] The preset adjustment conditions include at least one of the following: after the target trigger timing parameters were previously determined, the vehicle's mileage reached a preset mileage; after the target trigger timing parameters were previously determined, the count of at least one counter corresponding to the brake pedal opening was greater than the first threshold; after the target trigger timing parameters were previously determined, the counts of the counters corresponding to multiple brake pedal openings were reset to zero; after the counts of the counters corresponding to the brake pedal openings were reset to zero, each time the duration of braking at the brake pedal opening was detected to reach a preset duration, the count of the counter corresponding to the brake pedal opening was incremented by one; after the target trigger timing parameters were previously determined, the counts of at least three counters corresponding to the brake pedal openings were greater than the second threshold; the first threshold was greater than the second threshold.

[0073] During vehicle operation, after the target trigger timing parameters are determined previously, the vehicle's mileage is reset to zero and the mileage continues to accumulate. If the vehicle's mileage reaches the preset mileage, the preset adjustment conditions are met. The preset mileage can be a value set based on requirements, such as 500km.

[0074] A counter can be set for each brake pedal opening to accumulate counts. The counting rules are as follows: after each adjustment condition is confirmed to be met, the counts of all counters corresponding to the brake pedal opening are reset to zero. After the counts of the counters corresponding to the brake pedal opening are reset to zero, each time the vehicle is detected to brake at the specified brake pedal opening for a preset duration, the count of the counter corresponding to that brake pedal opening is incremented by one. The preset duration can be set based on requirements, for example, 3 seconds.

[0075] During vehicle operation, after the target trigger timing parameters are determined in the previous step, the counter is controlled to accumulate the number of counts according to the aforementioned counting rules. When the number of counts of the counter corresponding to at least one brake pedal opening is greater than the first count threshold, it is determined that the preset adjustment conditions are met. The first count threshold can be a value set based on the requirements, such as 20 counts.

[0076] During vehicle operation, after the target trigger timing parameters are determined in the previous step, the counter is controlled to accumulate the number of counts according to the aforementioned counting rules. When the number of counts of the counters corresponding to at least three brake pedal openings is greater than the second count threshold, it is determined that the preset adjustment conditions are met. The second count threshold can be a value set based on the requirements and is less than the first count threshold, such as 10 times.

[0077] Once the preset adjustment conditions are met, the required triggering timing parameters for the vehicle are determined, and the steps S101-S103 of this application are executed to control the vehicle.

[0078] If a collision risk is detected when the preset adjustment conditions are not met, the vehicle will be controlled to output an anti-collision risk action corresponding to the calibrated trigger timing parameter when the time indicated by the calibrated trigger timing parameter is reached. That is, if a collision risk is detected, the vehicle will be controlled to output an alarm action when the time indicated by the calibrated alarm trigger timing parameter is reached, and the vehicle will be controlled to output a braking action when the time indicated by the calibrated braking trigger timing parameter is reached.

[0079] In this embodiment, the calibration trigger timing parameter is adjusted only when the preset adjustment conditions are met, and it is not necessary to adjust the calibration trigger timing parameter at all times. This avoids the need to adjust the calibration trigger timing parameter at all times, reduces the amount of data processing, and avoids resource waste.

[0080] In one embodiment, such as Figure 4 As shown, before S101, the method further includes:

[0081] S201. Obtain the acceleration data set corresponding to each brake pedal opening.

[0082] The acceleration data set corresponding to the brake pedal opening includes multiple preset speeds, each with its own acceleration value. The acceleration value corresponding to each preset speed in the brake pedal opening acceleration data set is the acceleration value of the reference vehicle when the reference vehicle starts braking at that preset speed and decelerates to the target speed value according to the brake pedal opening. The target speed value can be 20 km / h.

[0083] In this embodiment, the reference vehicle can be controlled to brake according to each brake pedal opening. The braking process corresponding to each brake pedal opening takes the preset speed corresponding to that brake pedal opening as the initial speed and the speed reduction value as the target speed value. There are also multiple preset speeds corresponding to each brake pedal opening.

[0084] For example, the preset speeds corresponding to each brake pedal opening are 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, and 90km / h. When the brake pedal opening is 20% and the target speed is 20km / h, the acceleration data set corresponding to the brake pedal opening includes the acceleration values ​​of the reference vehicle when braking at a starting speed of 40km / h and decelerating by 20km / h, the acceleration values ​​when braking at a starting speed of 50km / h and decelerating by 20km / h, the acceleration values ​​when braking at a starting speed of 60km / h and decelerating by 20km / h, the acceleration values ​​when braking at a starting speed of 70km / h and decelerating by 20km / h, the acceleration values ​​when braking at a starting speed of 80km / h and decelerating by 20km / h, and the acceleration values ​​when braking at a starting speed of 90km / h and decelerating by 20km / h.

[0085] It is worth mentioning that the acceleration of the reference vehicle may not be constant during the process of decelerating from the preset speed to the target speed. The average value of multiple accelerations collected throughout the process is used as the acceleration value of the reference vehicle from the preset speed to the target speed.

[0086] S202. Determine the reference braking efficiency parameters corresponding to the brake pedal opening based on the acceleration values ​​corresponding to each of the multiple preset speeds in the acceleration data group corresponding to the brake pedal opening.

[0087] As mentioned above, the reference braking efficiency parameters include a first reference braking efficiency parameter for indicating the braking degree of the reference vehicle and a second reference braking efficiency parameter for indicating the stability of the braking degree of the reference vehicle; for each brake pedal opening, the first reference braking efficiency parameter and the second reference braking efficiency parameter corresponding to the brake pedal opening are determined according to the acceleration values ​​corresponding to multiple preset speeds in the acceleration data group corresponding to the brake pedal opening.

[0088] The average of the acceleration values ​​corresponding to multiple preset speeds in the acceleration data set corresponding to the brake pedal opening can be calculated as the first reference braking efficiency parameter corresponding to the brake pedal opening. The ratio of the first reference braking efficiency parameter corresponding to the brake pedal opening to the target braking duration can be calculated to obtain the second reference braking efficiency parameter corresponding to the brake pedal opening. The target braking duration corresponding to the brake pedal opening refers to the average braking duration corresponding to multiple preset speeds when the reference vehicle starts braking at multiple preset speeds corresponding to the brake pedal opening and decelerates to the target speed value according to the brake pedal opening.

[0089] For example, the preset speeds corresponding to a 20% brake pedal opening are 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, and 90km / h. The target braking time is the average of six braking times obtained by taking a reference vehicle with braking start speeds of 40km / h, 50km / h, 60km / h, 70km / h, 80km / h, and 90km / h and decelerating by 20km / h with a 20% brake pedal opening.

[0090] In some implementations, there are multiple acceleration data sets corresponding to each brake pedal opening. S202 may further include: calculating the variance of the acceleration values ​​corresponding to multiple preset speeds in each acceleration data set corresponding to the brake pedal opening, as the variance of each acceleration data set corresponding to the brake pedal opening; obtaining the acceleration data set with the smallest variance from the multiple acceleration data sets corresponding to the brake pedal opening, as the target acceleration data set corresponding to the brake pedal opening; calculating the mean of the acceleration values ​​corresponding to multiple preset speeds in the target acceleration data set corresponding to the brake pedal opening, as the first reference braking efficiency parameter corresponding to the brake pedal opening; and determining the second reference braking efficiency parameter corresponding to the brake pedal opening based on the first reference braking efficiency parameter corresponding to the brake pedal opening and the effective braking duration. Specifically, the effective braking duration corresponding to the brake pedal opening is determined based on the initial braking duration corresponding to multiple preset speeds at the brake pedal opening. The initial braking duration corresponding to the preset speed at the brake pedal opening refers to the time required for the reference vehicle to decelerate to the target speed value at the preset speed as the braking start speed and the target acceleration corresponding to the preset speed at the brake pedal opening. The target acceleration corresponding to the preset speed at the brake pedal opening is the acceleration corresponding to the preset speed in the target acceleration data group corresponding to the brake pedal opening. In detail, the effective braking duration corresponding to the brake pedal opening is the average of the initial braking durations corresponding to multiple preset speeds at the brake pedal opening.

[0091] Data can be collected from the braking process of a reference vehicle to obtain multiple acceleration data sets corresponding to each brake pedal opening. Generally, for a single test process, multiple brake pedal openings can be set, and each brake pedal opening is braked at multiple preset speeds as the braking start speed, obtaining acceleration values ​​corresponding to multiple preset speeds, and thus obtaining acceleration data sets corresponding to each brake pedal opening. This process is repeated across multiple test processes to obtain multiple acceleration data sets corresponding to each brake pedal opening. In this embodiment, there can be at least five test processes.

[0092] With brake pedal openings of 20%, 30%, 40%, 50%, and 60%, and preset speeds of 40 km / h, 50 km / h, 60 km / h, 70 km / h, 80 km / h, and 90 km / h, the resulting acceleration data sets corresponding to the various brake pedal openings are shown in Table 2. Table 2 is as follows:

[0093] Table 2

[0094]

[0095] Where i represents the i-th test process, for example, a11-i represents the acceleration value when decelerating by 20 km / h when the brake pedal opening is 20% and the preset speed is 40 km / h in the i-th test process. Similarly, a41-i represents the acceleration value when decelerating by 20 km / h when the brake pedal opening is 50% and the preset speed is 40 km / h in the i-th test process.

[0096] For each brake pedal opening, the variance of the acceleration data set corresponding to that brake pedal opening can be calculated using Formula 4, as follows:

[0097]

[0098] Among them, a n―i M represents the acceleration value of the nth preset speed corresponding to the brake pedal opening j during the i-th test. i Let be the average acceleration corresponding to brake pedal opening j during the i-th test, and n be the total number of preset speeds, s ji 2 Let be the variance of the brake pedal opening j during the i-th test.

[0099] The variance of each acceleration data set corresponding to the brake pedal opening is calculated using Formula 4. The acceleration data set with the smallest variance is selected from the multiple acceleration data sets corresponding to the brake pedal opening and used as the target acceleration data set for that brake pedal opening. Then, for each brake pedal opening, the average of the acceleration values ​​corresponding to multiple preset speeds in the target acceleration data set is used as the first reference braking efficiency parameter for that brake pedal opening. Next, the ratio of the first reference braking efficiency parameter to the effective braking duration is calculated to obtain the second reference braking efficiency parameter for that brake pedal opening.

[0100] For example, the preset speeds corresponding to a 20% brake pedal opening are 40 km / h, 50 km / h, and 60 km / h. The target acceleration data set includes the target acceleration a1 for 40 km / h, the target acceleration a2 for 50 km / h, and the target acceleration a3 for 60 km / h. The initial braking time corresponding to the preset speed of 40 km / h is the time t1 required for the reference vehicle to decelerate 20 km / h from a braking start speed of 40 km / h according to the target acceleration a1. The initial braking time corresponding to the preset speed of 50 km / h is the time t2 required for the reference vehicle to decelerate 20 km / h from a braking start speed of 50 km / h according to the target acceleration a2. The initial braking time corresponding to the preset speed of 60 km / h is the time t3 required for the reference vehicle to decelerate 20 km / h from a braking start speed of 60 km / h according to the target acceleration a3. The average of t1, t2, and t3 is used as the effective braking time.

[0101] It should be noted that, in this embodiment, when the preset adjustment conditions are met, for each brake pedal opening, the most recently collected acceleration of the vehicle when decelerating to the target speed value according to the brake pedal opening at a certain preset speed as the braking start speed (which may be the average of multiple accelerations collected during the deceleration process) is obtained as the actual acceleration corresponding to the preset speed under the brake pedal opening. The average of the actual accelerations corresponding to multiple preset speeds under the brake pedal opening is calculated as the first actual braking efficiency parameter under the brake pedal opening. The ratio of the first actual braking efficiency parameter under the brake pedal opening to the target actual braking time is calculated as the second actual braking efficiency parameter under the brake pedal opening.

[0102] The target actual braking time at the brake pedal opening is the average of the actual braking times at multiple preset speeds corresponding to the brake pedal opening. The actual braking time at the preset speed corresponding to the brake pedal opening refers to the time required for the speed to decrease to the target speed value when braking at the preset speed as the braking start speed according to the brake pedal opening.

[0103] In a certain test scenario, the curves showing the changes in brake pedal opening and acceleration over time are as follows: Figure 5 As shown, the horizontal axis represents time, a curve representing brake pedal opening versus time; the vertical axis represents brake pedal opening, a curve representing acceleration versus time; and the vertical axis represents braking acceleration, where g is the acceleration due to gravity. Figure 5 It is known that when the brake pedal opening is 20%, 30%, 40%, 50%, and 60%, the acceleration value is relatively stable when the brake pedal opening is kept stable. Therefore, in this application, the brake pedal opening is determined to be 20%, 30%, 40%, 50%, and 60% as representative brake pedal openings. The benchmark braking efficiency parameters and the actual braking efficiency parameters under these representative brake pedal openings are used to adjust the benchmark braking efficiency parameters.

[0104] In this embodiment, the vehicle control process is as follows: Figure 6 As shown, reference vehicle baseline data is collected and processed to obtain the baseline braking efficiency parameters corresponding to the reference vehicle. The vehicle collects data based on its own sensing devices and performs a collision risk assessment based on the collected data. During braking, the vehicle's own power control system or braking control system collects braking data to obtain actual braking efficiency parameters. Based on the baseline braking efficiency parameters and the actual braking efficiency parameters, the calibration trigger timing parameters are adjusted to obtain the target trigger timing parameters. Subsequently, when a collision risk exists, the warning control model controls the vehicle's output module to output an alarm action or braking action based on the target trigger timing parameters. The sensing devices can include various radars and cameras, and the output module can include the vehicle's instrument panel, vehicle main unit, etc.

[0105] In this embodiment, the reference braking efficiency parameter is determined by referring to the vehicle's acceleration. The reference braking efficiency parameter can accurately indicate the vehicle's braking performance under factory conditions, making the adjustment parameter determined based on the reference braking efficiency parameter and the actual braking efficiency parameter more accurate. This improves the accuracy of the target triggering timing parameter, further avoiding the situation where the vehicle's anti-collision action is not timely and causes a collision accident, thus improving the safety of the vehicle's driving process.

[0106] See appendix Figure 7 , Figure 7 This illustration shows a structural block diagram of a vehicle control device according to one embodiment of this application. For use in a vehicle, the device 800 includes:

[0107] The parameter determination module 810 is used to determine adjustment parameters during vehicle operation based on the reference braking efficiency parameters and actual braking efficiency parameters corresponding to the opening of multiple brake pedals. The reference braking efficiency parameters corresponding to the opening of the brake pedal are used to indicate the braking efficiency of the reference vehicle when braking at the opening of the brake pedal, and the actual braking efficiency parameters corresponding to the opening of the brake pedal are used to indicate the braking efficiency of the vehicle when braking at the opening of the brake pedal.

[0108] The adjustment module 820 is used to adjust the preset calibration trigger timing parameters according to the adjustment parameters to obtain the target trigger timing parameters;

[0109] The control module 830 is used to control the vehicle to output an anti-collision risk action corresponding to the target trigger timing parameter when a collision risk is detected and the time indicated by the target trigger timing parameter is reached.

[0110] Optionally, the adjustment module 820 is further configured to: determine the preset adjustment value corresponding to the adjustment parameter based on the mapping relationship between the preset adjustment parameter and the preset adjustment value, and use it as the adjustment value corresponding to the calibration trigger timing parameter; calculate the sum of the adjustment value and the calibration trigger timing parameter to obtain the first trigger timing parameter; determine the target trigger timing parameter based on the comparison result between the first trigger timing parameter, the upper limit value of the preset trigger timing parameter, and the lower limit value of the preset trigger timing parameter; and calibrate the trigger timing parameter to be between the upper limit value of the preset trigger timing parameter and the lower limit value of the preset trigger timing parameter.

[0111] Optionally, the adjustment module 820 is also used to obtain the smaller of the first trigger timing parameter and the upper limit value of the preset trigger timing parameter as the second trigger timing parameter;

[0112] The larger of the second trigger timing parameter and the lower limit of the preset trigger timing parameter is used as the target trigger timing parameter.

[0113] Optionally, the parameter determination module 810 is further configured to, during vehicle operation, determine adjustment parameters based on the reference braking efficiency parameters and actual braking efficiency parameters corresponding to each of the multiple brake pedal openings, if preset adjustment conditions are met; wherein the preset adjustment conditions include at least one of the following: after the previous determination of the target trigger timing parameters, the vehicle's mileage reaches a preset mileage; after the previous determination of the target trigger timing parameters, the count of at least one counter corresponding to a brake pedal opening is greater than a first count threshold; after the previous determination of the target trigger timing parameters, the count of the counters corresponding to the multiple brake pedal openings is reset to zero; after the count of the counters corresponding to the brake pedal openings is reset to zero, each time the duration of braking at the brake pedal opening is detected to reach a preset duration, the count of the counter corresponding to the brake pedal opening is incremented by one; after the previous determination of the target trigger timing parameters, the count of at least three counters corresponding to the brake pedal openings is greater than a second count threshold; the first count threshold is greater than the second count threshold.

[0114] Optionally, the device further includes an acquisition module for acquiring an acceleration data set corresponding to each brake pedal opening; the acceleration data set corresponding to the brake pedal opening includes multiple preset speeds, each with its own acceleration value; the acceleration value corresponding to each preset speed in the acceleration data set corresponding to the brake pedal opening is the acceleration value of the reference vehicle when the reference vehicle uses the preset speed as the braking start speed and decelerates to the target speed value according to the brake pedal opening; and the reference braking efficiency parameter corresponding to the brake pedal opening is determined based on the multiple preset speeds in the acceleration data set corresponding to the brake pedal opening.

[0115] Optionally, there are multiple acceleration data sets corresponding to the brake pedal opening; the reference braking efficiency parameters include a first reference braking efficiency parameter indicating the braking degree of the reference vehicle and a second reference braking efficiency parameter indicating the stability of the braking degree of the reference vehicle; the acquisition module is further configured to calculate the variance of the acceleration values ​​corresponding to multiple preset speeds in each acceleration data set corresponding to the brake pedal opening, as the variance of each acceleration data set corresponding to the brake pedal opening; obtain the acceleration data set with the smallest variance from the multiple acceleration data sets corresponding to the brake pedal opening, as the target acceleration data set corresponding to the brake pedal opening; and calculate the mean of the acceleration values ​​corresponding to multiple preset speeds in the target acceleration data set corresponding to the brake pedal opening. The first reference braking efficiency parameter is used as the braking efficiency parameter corresponding to the brake pedal opening. Based on the first reference braking efficiency parameter and the effective braking duration, the second reference braking efficiency parameter corresponding to the brake pedal opening is determined. The effective braking duration corresponding to the brake pedal opening is determined based on the initial braking duration corresponding to multiple preset speeds at the brake pedal opening. The initial braking duration corresponding to the preset speed at the brake pedal opening refers to the time required for the reference vehicle to decelerate to the target speed value at the preset speed as the braking start speed and at the target acceleration corresponding to the preset speed at the brake pedal opening. The target acceleration corresponding to the preset speed at the brake pedal opening is the acceleration corresponding to the preset speed in the target acceleration data set corresponding to the brake pedal opening.

[0116] Optionally, the reference braking efficiency parameters include a first reference braking efficiency parameter indicating the braking degree of a reference vehicle and a second reference braking efficiency parameter indicating the stability of the braking degree of the reference vehicle; the actual braking efficiency parameters include a first actual braking efficiency parameter indicating the braking degree of the vehicle and a second actual braking efficiency parameter indicating the stability of the braking degree of the vehicle; the parameter determination module 810 is further configured to calculate the ratio of the first actual braking efficiency parameter and the first reference braking efficiency parameter corresponding to each brake pedal opening, as a first calculation result corresponding to each brake pedal opening; calculate the ratio of the second actual braking efficiency parameter and the second reference braking efficiency parameter corresponding to each brake pedal opening, as a second calculation result corresponding to each brake pedal opening; and determine the adjustment parameters based on the average of the first calculation results corresponding to multiple brake pedal openings and the average of the second calculation results corresponding to multiple brake pedal openings.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0118] Furthermore, the functions in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module.

[0119] Furthermore, the functions in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module.

[0120] On the other hand, this application also provides a computer-readable storage medium storing program code that can be called by a processor to execute the methods described in the above method embodiments.

[0121] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or a cluster of ROMs. Optionally, computer-readable storage media include non-transitory computer-readable storage media. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: During vehicle operation, adjustment parameters are determined based on reference braking efficiency parameters and actual braking efficiency parameters corresponding to multiple brake pedal openings. The reference braking efficiency parameters corresponding to the brake pedal openings indicate the braking efficiency of the reference vehicle when braking at those brake pedal openings, and the actual braking efficiency parameters corresponding to the brake pedal openings indicate the braking efficiency of the vehicle when braking at those brake pedal openings. The reference braking efficiency parameters include a first reference braking efficiency parameter indicating the braking degree of the reference vehicle and a second reference braking efficiency parameter indicating the stability of the braking degree of the reference vehicle. During vehicle operation, before determining the adjustment parameters based on the reference braking efficiency parameters and actual braking efficiency parameters corresponding to multiple brake pedal openings, the process of obtaining the reference braking efficiency parameters includes: acquiring multiple acceleration data sets corresponding to each brake pedal opening; each acceleration data set corresponding to the brake pedal opening includes multiple acceleration values ​​corresponding to preset speeds; the acceleration value corresponding to each preset speed in each acceleration data set corresponding to the brake pedal opening is the acceleration value of the reference vehicle when the reference vehicle starts braking at that preset speed and decelerates to the target speed value according to the brake pedal opening; calculation The variance of the acceleration values ​​corresponding to the plurality of preset speeds in each acceleration data set corresponding to the brake pedal opening is used as the variance of each acceleration data set corresponding to the brake pedal opening. The acceleration data set with the smallest variance is obtained from the plurality of acceleration data sets corresponding to the brake pedal opening and used as the target acceleration data set corresponding to the brake pedal opening. The mean value of the acceleration values ​​corresponding to the plurality of preset speeds in the target acceleration data set corresponding to the brake pedal opening is calculated and used as the first reference braking efficiency parameter corresponding to the brake pedal opening. Based on the first reference braking efficiency parameter corresponding to the brake pedal opening and the effective braking duration, the... A second reference braking efficiency parameter is defined corresponding to the brake pedal opening degree; wherein, the effective braking duration corresponding to the brake pedal opening degree is determined based on the initial braking duration corresponding to the plurality of preset speeds under the brake pedal opening degree; the initial braking duration corresponding to the preset speed under the brake pedal opening degree refers to the time required for the reference vehicle to decelerate to a target speed value at the preset speed as the braking start speed and at the target acceleration corresponding to the preset speed under the brake pedal opening degree; the target acceleration corresponding to the preset speed under the brake pedal opening degree is the acceleration corresponding to the preset speed in the target acceleration data group corresponding to the brake pedal opening degree. The preset calibration trigger timing parameters are adjusted according to the adjustment parameters to obtain the target trigger timing parameters; If a collision risk is detected in the vehicle, when the time indicated by the target triggering timing parameter is reached, the vehicle is controlled to output an anti-collision risk action corresponding to the target triggering timing parameter.

2. The method according to claim 1, characterized in that, The step of adjusting the preset calibration trigger timing parameters according to the adjustment parameters to obtain the target trigger timing parameters includes: Based on the mapping relationship between the preset adjustment parameters and the preset adjustment values, the preset adjustment value corresponding to the adjustment parameters is determined and used as the adjustment value corresponding to the calibration trigger timing parameter; The first trigger timing parameter is obtained by summing the adjustment value and the calibration trigger timing parameter. The target trigger timing parameter is determined based on the comparison result between the first trigger timing parameter, the upper limit of the preset trigger timing parameter, and the lower limit of the preset trigger timing parameter; the calibrated trigger timing parameter is between the upper limit of the preset trigger timing parameter and the lower limit of the preset trigger timing parameter.

3. The method according to claim 2, characterized in that, The step of determining the target trigger timing parameter based on the comparison result between the first trigger timing parameter, the upper limit value of the preset trigger timing parameter, and the lower limit value of the preset trigger timing parameter includes: The smaller of the first trigger timing parameter and the preset upper limit value of the trigger timing parameter is used as the second trigger timing parameter; The larger of the second trigger timing parameter and the lower limit value of the preset trigger timing parameter is obtained as the target trigger timing parameter.

4. The method according to claim 1, characterized in that, During vehicle operation, the adjustment parameters are determined based on the reference braking efficiency parameters corresponding to each of the multiple brake pedal openings and the actual braking efficiency parameters, including: During vehicle operation, if the preset adjustment conditions are met, the adjustment parameters are determined based on the reference braking efficiency parameters corresponding to each of the multiple brake pedal openings and the actual braking efficiency parameters. The preset adjustment conditions include at least one of the following: After the target triggering timing parameters were determined previously, the vehicle's mileage reached the preset mileage; After the target trigger timing parameters are determined in the previous step, the count of at least one counter corresponding to the brake pedal opening is greater than the first threshold. After the target trigger timing parameters are determined in the previous step, the count of each counter corresponding to the plurality of brake pedal openings is reset to zero. After the count of the counter corresponding to the brake pedal opening is reset to zero, each time the duration of braking of the vehicle at the brake pedal opening reaches a preset duration, the count of the counter corresponding to the brake pedal opening is incremented by one. After the target trigger timing parameters were determined previously, there were at least three brake pedal openings whose counter counts were greater than the second count threshold; the first count threshold was greater than the second count threshold.

5. The method according to claim 1, characterized in that, The actual braking efficiency parameters include a first actual braking efficiency parameter for indicating the degree of braking of the vehicle and a second actual braking efficiency parameter for indicating the stability of the degree of braking of the vehicle. The step of determining adjustment parameters based on the reference braking efficiency parameters corresponding to each of the multiple brake pedal openings and the actual braking efficiency parameters includes: Calculate the ratio of the first actual braking efficiency parameter and the first reference braking efficiency parameter corresponding to each brake pedal opening, and use it as the first calculation result corresponding to each brake pedal opening; Calculate the ratio of the second actual braking efficiency parameter and the second reference braking efficiency parameter corresponding to each brake pedal opening, and use it as the second calculation result corresponding to each brake pedal opening; The adjustment parameters are determined based on the average of the first calculation results corresponding to the multiple brake pedal openings and the average of the second calculation results corresponding to the multiple brake pedal openings.

6. A vehicle control device, characterized in that, The device includes: The parameter determination module is used to determine adjustment parameters during vehicle operation based on reference braking efficiency parameters and actual braking efficiency parameters corresponding to multiple brake pedal openings. The reference braking efficiency parameters corresponding to the brake pedal openings indicate the braking efficiency of a reference vehicle when braking at those brake pedal openings, and the actual braking efficiency parameters corresponding to the brake pedal openings indicate the braking efficiency of the vehicle when braking at those brake pedal openings. The reference braking efficiency parameters include a first reference braking efficiency parameter indicating the braking degree of the reference vehicle and a second reference braking efficiency parameter indicating the stability of the braking degree of the reference vehicle. Effectiveness parameters; before determining the adjustment parameters based on the reference braking efficiency parameters and actual braking efficiency parameters corresponding to multiple brake pedal openings during vehicle operation, the process of obtaining the reference braking efficiency parameters includes: obtaining multiple acceleration data sets corresponding to each brake pedal opening; each acceleration data set corresponding to the brake pedal opening includes multiple acceleration values ​​corresponding to preset speeds; the acceleration value corresponding to each preset speed in each acceleration data set corresponding to the brake pedal opening is the acceleration of the reference vehicle when the reference vehicle starts braking at that preset speed and decelerates to the target speed value according to the brake pedal opening. Value; calculate the variance of the acceleration values ​​corresponding to the plurality of preset speeds in each acceleration data group corresponding to the brake pedal opening, and use it as the variance of each acceleration data group corresponding to the brake pedal opening; obtain the acceleration data group with the smallest variance from the plurality of acceleration data groups corresponding to the brake pedal opening, and use it as the target acceleration data group corresponding to the brake pedal opening; calculate the mean of the acceleration values ​​corresponding to the plurality of preset speeds in the target acceleration data group corresponding to the brake pedal opening, and use it as the first reference braking efficiency parameter corresponding to the brake pedal opening; based on the first reference braking efficiency parameter corresponding to the brake pedal opening and the effective braking time... The second reference braking efficiency parameter corresponding to the brake pedal opening is determined; wherein, the effective braking duration corresponding to the brake pedal opening is determined based on the initial braking duration corresponding to the plurality of preset speeds under the brake pedal opening; the initial braking duration corresponding to the preset speed under the brake pedal opening refers to the time required for the reference vehicle to decelerate to a target speed value at the preset speed as the braking start speed and at the target acceleration corresponding to the preset speed under the brake pedal opening; the target acceleration corresponding to the preset speed under the brake pedal opening is the acceleration corresponding to the preset speed in the target acceleration data group corresponding to the brake pedal opening; The adjustment module is used to adjust the preset calibration trigger timing parameters according to the adjustment parameters to obtain the target trigger timing parameters; The control module is used to control the vehicle to output an anti-collision risk action corresponding to the target triggering timing parameter when the time indicated by the target triggering timing parameter is reached, in the event that a collision risk is detected in the vehicle.

7. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable program code, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-5.

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