Vehicle Braking Function Control Method, Device, Equipment and Storage Medium

Abstract

The present invention belongs to the technical field of automobiles, and discloses a vehicle braking function control method, device, equipment and storage medium; the method includes: obtaining driving parameters of the host vehicle, and obtaining a braking area of the host vehicle according to the driving parameters; obtaining moving parameters of a target object, obtaining a moving intention of the target object according to the moving parameters, and judging whether the target object normally leaves the braking area of the host vehicle; when the target object abnormally leaves the braking area, maintaining the braking function of the host vehicle until a preset exit condition is satisfied; by determining the braking area through the driving parameters of the host vehicle, and by identifying whether there is a moving object in the braking area and whether the moving object is about to leave the braking area to determine whether to continuously activate the braking function, and analyzing whether to exit the braking function after the moving object leaves the braking area through the moving intention of the moving object, the braking function can be enabled more accurately, the safety of vehicle automatic driving can be improved, and the occurrence of automatic driving accidents can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a vehicle braking function control method, device, equipment and storage medium. Background Art

[0002] Currently, there are many types of perception sensors relied on by intelligent driving functions. However, each sensor is limited by its own software and hardware, resulting in abnormal target signals. Ordinary abnormal target signals may have no impact on the performance of intelligent driving functions. More serious abnormal target signals may reduce the performance of intelligent driving, but extremely serious abnormal target signals will cause the function to fail.

[0003] During the braking process of the AEB function, if a single-frame detection of the target is lost, it may cause the AEB function to exit. When the second frame of the target appears, the AEB function will be restricted by the braking actuator and not respond to the braking deceleration, resulting in the failure of the AEB function and extremely serious collision accidents, seriously threatening the lives and safety of the driver and passengers. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vehicle braking function control method, device, equipment and storage medium, aiming to solve the technical problem in the prior art that the braking function cannot process the suddenly appearing moving object in time after exiting the braking due to the disappearance of the moving object, resulting in untimely braking or driving accidents in emergency braking.

[0005] To achieve the above object, the present invention provides a vehicle braking function control method, and the method includes the following steps:

[0006] Obtain the driving parameters of the host vehicle, and obtain the braking area of the host vehicle according to the driving parameters;

[0007] Obtain the movement parameters of the target object, and obtain the movement intention of the target object according to the movement parameters;

[0008] Judge whether the target object normally leaves the braking area of the host vehicle according to the movement intention;

[0009] When the target object abnormally leaves the braking area, maintain the braking function of the host vehicle until a preset exit condition is met.

[0010] Optionally, the obtaining the driving parameters of the host vehicle and obtaining the braking area of the host vehicle according to the driving parameters includes:

[0011] Obtain the driving parameters of the host vehicle, and the driving parameters include the current deceleration, the current vehicle speed, the lateral acceleration and the steering wheel angle;

[0012] Obtain the braking estimated distance according to the current deceleration and the current vehicle speed;

[0013] Obtain the driving trajectory of the host vehicle based on the lateral acceleration and the steering wheel angle;

[0014] Obtain the body width of the host vehicle, and obtain the braking area of the host vehicle based on the body width and the driving trajectory of the host vehicle.

[0015] Optionally, the obtaining the movement parameters of the target object and obtaining the movement intention of the target object based on the movement parameters includes:

[0016] Obtain the movement parameters of the target object, where the movement parameters include a reference position, a reference speed, and a reference acceleration;

[0017] Obtain the movement state of the target object based on the reference position and the reference speed;

[0018] Obtain the movement intention of the target object based on the movement state and the reference acceleration.

[0019] Optionally, the judging whether the target object normally leaves the braking area of the host vehicle according to the movement intention includes:

[0020] Obtain the estimated departure time for the target object to leave the braking area of the host vehicle according to the movement parameters of the target object;

[0021] Judge whether the target object normally leaves the braking area of the host vehicle according to the movement intention and the estimated departure time.

[0022] Optionally, the judging whether the target object normally leaves the braking area of the host vehicle according to the movement intention and the estimated departure time includes:

[0023] When the movement intention is to leave the braking area, obtain the actual departure time of the moving object. If the time difference between the actual departure time and the estimated departure time meets a preset time difference, then the target object normally leaves the braking area of the host vehicle;

[0024] When the movement intention is to leave the braking area or maintain driving, obtain the actual departure time of the moving object. If the time difference between the actual departure time and the estimated departure time does not meet the preset time, then the target object abnormally leaves the braking area of the host vehicle.

[0025] Optionally, the maintaining the braking function of the host vehicle until a preset exit condition is met when the target object abnormally leaves the braking area includes:

[0026] When the target object abnormally leaves the braking area, activate the braking function of the host vehicle until the activation time of the braking function of the host vehicle meets a preset time;

[0027] When the startup time meets the preset time, control the braking function of the host vehicle according to the reference state of the target object;

[0028] When the target object abnormally leaves the braking area, maintaining the braking function of the host vehicle until after meeting the preset exit condition further includes:

[0029] When the target object normally leaves the braking area, exit the braking function of the host vehicle.

[0030] Optionally, when the startup time meets the preset time, controlling the braking function of the host vehicle according to the reference state of the target object includes:

[0031] Obtain the target object state;

[0032] When the state of the target object is driving away, exit the braking function of the host vehicle;

[0033] When the state of the target object is not driving away, maintain the braking function of the host vehicle.

[0034] In addition, to achieve the above object, the present invention also proposes a vehicle braking function control device, and the vehicle braking function control device includes:

[0035] An acquisition module, configured to acquire driving parameters of the host vehicle, and obtain the braking area of the host vehicle according to the driving parameters;

[0036] The acquisition module is further configured to acquire movement parameters of the target object, and obtain the movement intention of the target object according to the movement parameters;

[0037] A control module, configured to judge whether the target object normally leaves the braking area of the host vehicle according to the movement intention;

[0038] The control module is further configured to maintain the braking function of the host vehicle until a preset exit condition is met when the target object abnormally leaves the braking area.

[0039] In addition, to achieve the above object, the present invention also proposes a vehicle braking function control device, and the vehicle braking function control device includes: a memory, a processor, and a vehicle braking function control program stored on the memory and executable on the processor, and the vehicle braking function control program is configured to implement the steps of the vehicle braking function control method as described above.

[0040] In addition, to achieve the above object, the present invention also proposes a storage medium, on which a vehicle braking function control program is stored, and when the vehicle braking function control program is executed by a processor, the steps of the vehicle braking function control method as described above are implemented.

[0041] The present invention determines a braking area based on the self-vehicle driving parameters, distinguishes whether to continuously activate the braking function based on whether there is a moving object in the braking area and whether the moving object is about to leave the braking area, further analyzes the moving intention of the moving object to determine whether to exit the braking function after leaving the braking area, can enable the braking function more accurately, reduce the generation of abnormal signals during braking, ensure the stable execution of each function during the vehicle driving process, achieve safer autonomous driving, and avoid the situation where the braking function cannot handle the suddenly emerging moving object in time after exiting the braking due to the disappearance of the moving object, resulting in untimely braking or emergency braking and causing driving accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic structural diagram of a vehicle braking function control device for the hardware operating environment involved in the embodiment solution of the present invention;

[0043] Figure 2 is a schematic flowchart of the first embodiment of the vehicle braking function control method of the present invention;

[0044] Figure 3 is a schematic diagram of the self-vehicle braking area in an embodiment of the vehicle braking function control method of the present invention;

[0045] Figure 4 is a complete flowchart of braking control in an embodiment of the vehicle braking function control method of the present invention;

[0046] Figure 5 is a schematic flowchart of the second embodiment of the vehicle braking function control method of the present invention;

[0047] Figure 6 is a structural block diagram of the first embodiment of the vehicle braking function control device of the present invention.

[0048] The implementation, functional features, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] Refer to Figure 1 , Figure 1 is a schematic structural diagram of a vehicle braking function control device for the hardware operating environment involved in the embodiment solution of the present invention.

[0051] As Figure 1As shown, the vehicle braking function control device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art can understand that Figure 1 the structure shown in does not constitute a limitation on the vehicle braking function control device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0053] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle braking function control program.

[0054] In Figure 1 the vehicle braking function control device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle braking function control device of the present invention may be arranged in the vehicle braking function control device. The vehicle braking function control device calls the vehicle braking function control program stored in the memory 1005 through the processor 1001 and executes the vehicle braking function control method provided by the embodiments of the present invention.

[0055] The embodiments of the present invention provide a vehicle braking function control method. Referring to Figure 2 , Figure 2 it is a schematic flowchart of the first embodiment of the vehicle braking function control method of the present invention.

[0056] In this embodiment, the vehicle braking function control method includes the following steps:

[0057] Step S10: Obtain the driving parameters of the host vehicle, and obtain the braking area of the host vehicle according to the driving parameters.

[0058] It can be understood that the driving parameters of the host vehicle may include the current deceleration, the current vehicle speed, the lateral acceleration, and the steering wheel angle.

[0059] It should be understood that the braking area of the host vehicle refers to the space range required for the vehicle to decelerate or stop. During driving, when the driver needs to decelerate or stop, the braking system will be operated to decelerate the vehicle. The braking area is the space range to ensure the vehicle decelerates safely and avoid collisions with obstacles ahead. The schematic diagram of the braking area of the host vehicle can be referred to Figure 3 .

[0060] It should be noted that the obtaining of the driving parameters of the host vehicle and obtaining the braking area of the host vehicle according to the driving parameters includes: obtaining the driving parameters of the host vehicle, where the driving parameters include the current deceleration, the current vehicle speed, the lateral acceleration, and the steering wheel angle; obtaining the estimated braking distance according to the current deceleration and the current vehicle speed; obtaining the driving trajectory of the host vehicle according to the lateral acceleration and the steering wheel angle; obtaining the body width of the host vehicle, and obtaining the braking area of the host vehicle according to the body width and the driving trajectory of the host vehicle.

[0061] Among them, it can be understood that the calculation of the estimated braking distance is based on the kinematic principle in physics. Among them, the braking distance is equal to the square of the initial speed divided by (2 multiplied by the acceleration). In this embodiment, the initial speed is the current vehicle speed, and the acceleration is the opposite of the deceleration (because the acceleration is negative during deceleration).

[0062] Among them, it should be understood that the lateral acceleration of the vehicle refers to the acceleration in the direction perpendicular to the driving direction of the vehicle, which is the acceleration generated by the centrifugal force when the vehicle is turning.

[0063] Among them, it should be noted that obtaining the driving trajectory of the host vehicle according to the lateral acceleration and the steering wheel angle can be converted into a calculation problem of a mathematical model. The lateral acceleration can be obtained by a lateral acceleration sensor on the vehicle, and the steering wheel angle can be obtained by a steering wheel angle sensor.

[0064] Among them, in specific implementation, a simplified vehicle dynamics model can be established in advance according to the host vehicle. This model considers the lateral movement, longitudinal movement of the vehicle, and the interaction between the tires and the ground. According to this model, the lateral displacement and heading angle of the vehicle are calculated. Based on this lateral displacement and heading angle, combined with the current position and speed of the vehicle, the predicted positions of the vehicle at multiple future times can be calculated. Connecting the multiple predicted positions can obtain the driving trajectory of the host vehicle.

[0065] It is understandable that the driving trajectory of the vehicle may be a line, and the braking area of the vehicle may be obtained based on the line plus the range covered by the width of the vehicle.

[0066] It should be noted that the executor of this embodiment is a vehicle braking function control device, wherein the vehicle braking function control device has functions such as data processing, data communication and program running. The vehicle braking function control device can be an integrated controller, a control computer and other devices, and of course it can also be other devices with similar functions, and this embodiment does not limit this.

[0067] Step S20: Acquire movement parameters of the target object, and obtain the movement intention of the target object according to the movement parameters.

[0068] It is understandable that the movement parameters of the target object may include a reference position, a reference speed, and a reference acceleration, that is, the position, speed, and acceleration of the target object.

[0069] It should be understood that the position, speed and acceleration of the target object can be obtained through the vehicle's onboard sensors, radar, lidar, machine vision, vehicle network and other methods. This embodiment does not limit this and can be obtained and calculated according to the vehicle's time conditions.

[0070] It is understandable that the movement intention may include leaving the braking area and maintaining driving. Leaving the braking area may mean driving away from the oncoming vehicle, or may mean driving away from the rear or the front, and judging whether the target object has a tendency to leave after approaching to obtain the target object change.

[0071] It should be noted that the step of obtaining the movement parameters of the target object and obtaining the movement intention of the target object based on the movement parameters includes: obtaining the movement parameters of the target object, wherein the movement parameters include a reference position, a reference speed and a reference acceleration; obtaining the movement state of the target object based on the reference position and the reference speed; and obtaining the movement intention of the target object based on the movement state and the reference acceleration.

[0072] It is understood that the movement state includes stillness, uniform linear motion, uniformly accelerated linear motion, uniformly decelerated linear motion, variable accelerated linear motion, curved motion, etc. According to the reference position and reference speed of the target object, it can be determined which movement state the target object is currently in.

[0073] It should be understood that the determination of movement intention may be based on the movement state of the target object and the change trend of the reference acceleration, and may also be understood as the driving trend of the target object relative to the vehicle.

[0074] Among them, in specific implementation, for example, if the target object was originally in a stationary state and suddenly starts to accelerate, its movement intention may be to drive out of the braking area. If the target object was originally in a uniform linear motion state and suddenly starts to decelerate, its movement intention may be to prepare to enter the braking area. If the reference acceleration of the target object is continuously changing, it may be necessary to further analyze its behavior pattern to more accurately judge its movement intention.

[0075] Step S30: Determine whether the target object is normally leaving the braking area of the host vehicle according to the movement intention.

[0076] It can be understood that when determining whether the target object is normally leaving the braking area of the host vehicle according to the movement intention, the target object has already left the braking area of the host vehicle. At this time, the purpose of the determination is whether the target object leaves the braking area of the host vehicle due to a signal detection error or due to the normal movement of the target object.

[0077] It should be understood that if the target object leaves the braking area of the host vehicle due to a signal detection error, this may be a potential safety risk, and the vehicle needs to make corresponding adjustments or issue a warning. If the target object is normally moving away from the braking area of the host vehicle, for example, an oncoming vehicle has passed by, then the vehicle can continue to maintain its current driving state.

[0078] It should be noted that determining whether the target object is normally leaving the braking area of the host vehicle can be based on the movement intention to further estimate and calculate the movement time and movement distance of the target object leaving the braking area of the host vehicle, and further determine whether it is a normal departure from the braking area of the host vehicle according to the movement time and movement distance.

[0079] It can be understood that the target object can leave the braking area of the host vehicle normally or abnormally. Simply put, leaving the braking area of the host vehicle normally can be based on the target object passing by or passing around the host vehicle, or overtaking, etc., and driving away after passing the host vehicle; leaving the braking area of the host vehicle abnormally may be due to a malfunction of the signal detection device of the host vehicle (such as devices and equipment with data acquisition functions such as radar and vision computers), resulting in an error in signal acquisition or no signal being collected, thus causing the host vehicle to think that the target object has left the braking area.

[0080] Step S40: When the target object leaves the braking area abnormally, maintain the braking function of the host vehicle until a preset exit condition is met.

[0081] It is understandable that this embodiment may be a state where the host vehicle needs to perform braking during driving when encountering a target, for example, when braking is required for an oncoming vehicle going downhill. When it is recognized that the oncoming vehicle has left and the braking can be cancelled, if it is found at this time that the departure of the oncoming vehicle is a data recognition error and it has not left, it is easy to cause a traffic accident due to the wrong control of the braking function.

[0082] It should be understood that maintaining the braking function of the host vehicle may be that when it is determined that the target leaves the braking area of the host vehicle abnormally, the braking of the host vehicle can still be maintained until it is determined that the departure of the target will not affect the driving of the host vehicle, and then the braking function of the host vehicle can be exited.

[0083] It should be noted that when the target abnormally leaves the braking area, maintaining the braking function of the host vehicle until a preset exit condition is met includes: when the target abnormally leaves the braking area, starting the braking function of the host vehicle until the start time of the braking function of the host vehicle meets the preset time; when the start time meets the preset time, controlling the braking function of the host vehicle according to the reference state of the target; after maintaining the braking function of the host vehicle until the preset exit condition is met when the target abnormally leaves the braking area, it further includes: when the target normally leaves the braking area, exiting the braking function of the host vehicle.

[0084] It should be further noted that when the start time meets the preset time, controlling the braking function of the host vehicle according to the reference state of the target includes: obtaining the target state; when the target state is driving away, exiting the braking function of the host vehicle; when the target state is not driving away, maintaining the braking function of the host vehicle.

[0085] Among them, it is understandable that starting the braking function of the host vehicle until the start time of the braking function of the host vehicle meets the preset time may be that when the target abnormally leaves the braking area of the host vehicle, the braking function of the host vehicle is not immediately stopped and the braking is still maintained, which can effectively avoid the risk of vehicle collision caused by data acquisition error or data analysis error, where the target is still within the braking area of the host vehicle but the braking of the host vehicle is immediately cancelled.

[0086] Among them, it should be understood that the start time may be the time when the braking function is enabled after recognizing that the target abnormally leaves the braking area, and the preset time may be 3 - 5 seconds, or other time lengths, which are not limited in this embodiment.

[0087] Among them, it is understandable that in controlling the braking function of the host vehicle according to the reference state of the target, the reference state may be whether the target is still within the braking area of the host vehicle after the preset time, or whether there is a new target still within the braking area of the host vehicle; if the target is still within the braking area of the host vehicle after the preset time or there is a new target within the braking area of the host vehicle, the braking function of the host vehicle is still started.

[0088] In a specific implementation, for example, when a oncoming vehicle going downhill needs to decelerate, after the vehicle abnormally leaves its own braking area, the braking function of the vehicle is maintained for 3 to 5 seconds. After 3 to 5 seconds, the target object is recognized again to re-determine whether it is within its own braking area. If not, the braking function is exited.

[0089] In this embodiment, the braking area is determined based on the vehicle's own driving parameters. Whether to continuously activate the braking function is distinguished based on whether there is a moving object in the braking area and whether the moving object is about to leave the braking area. Further, by analyzing the moving intention of the moving object to analyze whether to exit the braking function after the moving object leaves the braking area, the braking function can be enabled more accurately, reducing the generation of abnormal signals during braking, ensuring the stable execution of each function during the vehicle driving process, achieving safer autonomous driving, and avoiding the situation where the braking function exits due to the disappearance of the moving object and then fails to handle the suddenly appearing moving object in time, resulting in untimely braking or emergency braking and causing driving accidents.

[0090] Reference Figure 5 , Figure 5 is a schematic flowchart of the second embodiment of the vehicle braking function control method of the present invention.

[0091] Based on the above first embodiment, in step S30 of the vehicle braking function control method of this embodiment, it includes:

[0092] Step S31: Obtain the estimated departure time for the target object to leave the vehicle's own braking area according to the movement parameters of the target object.

[0093] It can be understood that the estimated departure time can be the estimated time for the target object to leave the vehicle's own braking area obtained through mathematical calculations based on the movement parameters of the target object.

[0094] It should be understood that the estimated time may not be exactly the same as the actual departure time of the target object. The target object may leave faster or later.

[0095] It can be understood that the movement parameters of the target object may include the speed, distance (position), acceleration, and direction of the target object, etc.

[0096] It should be noted that during the movement of the target object, the vehicle itself may also have changes in parameters such as position, speed, acceleration, and direction. Based on the relative changes in distance, speed, and acceleration, the estimated departure distance can be calculated.

[0097] Step S32: Judge whether the target object is normally leaving the vehicle's own braking area according to the movement intention and the estimated departure time.

[0098] It should be noted that determining whether the target object is normally leaving the vehicle's braking area based on the moving intention and the estimated departure time includes: when the moving intention is to leave the braking area, obtaining the actual departure time of the moving object. If the time difference between the actual departure time and the estimated departure time meets a preset time difference, then the target object is normally leaving the vehicle's braking area; when the moving intention is to leave the braking area or maintain driving, obtaining the actual departure time of the moving object. If the time difference between the actual departure time and the estimated departure time does not meet the preset time, then the target object is abnormally leaving the vehicle's braking area.

[0099] Among them, it can be understood that the actual departure time can be the time difference between the time point when the vehicle identifies the target object and the time point when the target object is no longer recognized.

[0100] Among them, it should be understood that the preset time difference can be a preset threshold, which can be 1 second, 2 seconds, etc. The embodiments do not limit this, and it can be determined according to the actual situation.

[0101] Among them, it should be understood that it is used to determine whether the difference between the actual departure time and the estimated departure time is within an acceptable range. If the time difference is within the preset time difference, it is considered that the departure of the target object is normal; if the time difference exceeds the preset time difference, it is considered that the departure of the target object is abnormal, which may be caused by data recognition errors or other reasons.

[0102] It should be emphasized that in addition, it is also possible to consider whether there is a conflict or intersection between the moving trajectory of the target object and the driving trajectory of the vehicle. If there is a conflict or intersection, then this may mean that the target object leaves the vehicle's braking area due to signal detection errors or other abnormal situations.

[0103] In specific implementation, if the target object leaves the vehicle's braking area within the expected time according to the expected trajectory, then it can be determined that the target object leaves normally. If the target object leaves the vehicle's braking area outside the expected time or does not leave according to the expected trajectory, then it can be determined that the target object leaves abnormally.

[0104] This embodiment predicts the estimated time for the target object to normally leave the vehicle's braking area by detecting the moving parameters of the target object, and at the same time obtains the actual time for the target object to leave the vehicle's braking area. By comparing the time difference between the actual time and the estimated time with the preset time difference, it can be determined whether the target object is normally leaving the vehicle's braking area, and the vehicle's braking function can be controlled more accurately to achieve safer autonomous driving.

[0105] Refer to Figure 6 , Figure 6 which is the structural block diagram of the first embodiment of the vehicle braking function control device of the present invention.

[0106] As shown Figure 6 in the figure, the vehicle braking function control device proposed in the embodiment of the present invention includes:

[0107] An acquisition module 10, configured to acquire driving parameters of the host vehicle, and obtain a braking area of the host vehicle according to the driving parameters;

[0108] The acquisition module 10 is further configured to acquire moving parameters of the target object, and obtain a moving intention of the target object according to the moving parameters;

[0109] A control module 20, configured to determine whether the target object is to leave the braking area of the host vehicle normally according to the moving intention;

[0110] The control module 20 is further configured to maintain the braking function of the host vehicle until a preset exit condition is met when the target object leaves the braking area abnormally.

[0111] In this embodiment, the braking area is determined by the driving parameters of the host vehicle. Whether to continuously activate the braking function is distinguished by whether there is a moving object in the braking area and whether the moving object is to leave the braking area. The moving intention of the moving object is analyzed to determine whether to exit the braking function after the moving object leaves the braking area, which can enable the braking function more accurately, improve the safety of vehicle automatic driving, and avoid the occurrence of automatic driving accidents.

[0112] In one embodiment, the acquisition module 10 is further configured to acquire driving parameters of the host vehicle, and the driving parameters include the current deceleration, the current vehicle speed, the lateral acceleration, and the steering wheel angle;

[0113] Obtain a braking estimated distance according to the current deceleration and the current vehicle speed;

[0114] Obtain a driving trajectory of the host vehicle according to the lateral acceleration and the steering wheel angle;

[0115] Obtain the body width of the host vehicle, and obtain a braking area of the host vehicle according to the body width and the driving trajectory of the host vehicle.

[0116] In one embodiment, the acquisition module 10 is further configured to acquire moving parameters of the target object, and the moving parameters include a reference position, a reference speed, and a reference acceleration;

[0117] Obtain a moving state of the target object according to the reference position and the reference speed;

[0118] Obtain a moving intention of the target object according to the moving state and the reference acceleration.

[0119] In one embodiment, the control module 20 is further configured to obtain an estimated departure time for the target object to leave the self-vehicle braking area according to the movement parameters of the target object;

[0120] Judge whether the target object is leaving the self-vehicle braking area normally according to the movement intention and the estimated departure time.

[0121] In one embodiment, the control module 20 is further configured to, when the movement intention is to leave the braking area, obtain the actual departure time of the moving object. If the time difference between the actual departure time and the estimated departure time meets a preset time difference, then the target object is leaving the self-vehicle braking area normally;

[0122] When the movement intention is to leave the braking area or maintain driving, obtain the actual departure time of the moving object. If the time difference between the actual departure time and the estimated departure time does not meet the preset time, then the target object is leaving the self-vehicle braking area abnormally.

[0123] In one embodiment, the control module 20 is further configured to, when the target object leaves the braking area abnormally, activate the self-vehicle braking function until the activation time of the self-vehicle braking function meets a preset time;

[0124] When the activation time meets the preset time, control the braking function of the self-vehicle according to the reference state of the target object;

[0125] When the target object leaves the braking area abnormally and the self-vehicle braking function is maintained until a preset exit condition is met, it further includes:

[0126] When the target object leaves the braking area normally, exit the self-vehicle braking function.

[0127] In one embodiment, the control module 20 is further configured to obtain the target object state;

[0128] When the target object state is leaving, exit the self-vehicle braking function;

[0129] When the target object state is not leaving, maintain the self-vehicle braking function.

[0130] In addition, to achieve the above object, the present invention further provides a vehicle braking function control device, which includes: a memory, a processor, and a vehicle braking function control program stored on the memory and executable on the processor. The vehicle braking function control program is configured to implement the steps of the vehicle braking function control method as described above.

[0131] Since the vehicle braking function control device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here.

[0132] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle braking function control program is stored. When the vehicle braking function control program is executed by a processor, the steps of the vehicle braking function control method described above are implemented.

[0133] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here.

[0134] It should be understood that the above is only for illustration and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not make any restrictions in this regard.

[0135] It should be noted that the above-described work process is only illustrative and does not constitute a limitation to the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no restrictions are made here.

[0136] In addition, for the technical details not described in detail in this embodiment, reference can be made to the vehicle braking function control method provided in any embodiment of the present invention, which will not be elaborated here.

[0137] In addition, it should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitations, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0138] It should be understood that although the steps in the flowcharts in the embodiments of the present application are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit and can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0139] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0140] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0141] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the accompanying drawings, or directly or indirectly applied in other related technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. A method for controlling a vehicle braking function, characterized in that, The vehicle braking control method includes: Obtaining the driving parameters of the host vehicle, and obtaining the braking area of the host vehicle according to the driving parameters, where the driving parameters include the current deceleration, the current vehicle speed, the lateral acceleration, and the steering wheel angle; Obtaining the movement parameters of the target object, and obtaining the movement intention of the target object according to the movement parameters, where the movement parameters include the position, the speed, and the acceleration, and the movement intention includes leaving the braking area and maintaining driving; Judging whether the target object leaves the braking area of the host vehicle normally according to the movement intention; When the target object leaves the braking area abnormally, maintaining the braking function of the host vehicle until a preset exit condition is satisfied; The judging whether the target object leaves the braking area of the host vehicle normally according to the movement intention includes: Obtaining the estimated departure time for the target object to leave the braking area of the host vehicle according to the movement parameters of the target object; Judging whether the target object leaves the braking area of the host vehicle normally according to the movement intention and the estimated departure time; The judging whether the target object leaves the braking area of the host vehicle normally according to the movement intention and the estimated departure time includes: When the movement intention is to leave the braking area, obtaining the actual departure time of the moving object, and if the time difference between the actual departure time and the estimated departure time meets a preset time difference, then the target object leaves the braking area of the host vehicle normally; When the movement intention is to leave the braking area or maintain driving, obtaining the actual departure time of the moving object, and if the time difference between the actual departure time and the estimated departure time does not meet the preset time, then the target object leaves the braking area of the host vehicle abnormally.

2. The vehicle braking function control method according to claim 1, characterized in that, The obtaining the driving parameters of the host vehicle and obtaining the braking area of the host vehicle according to the driving parameters includes: Obtaining the driving parameters of the host vehicle, where the driving parameters include the current deceleration, the current vehicle speed, the lateral acceleration, and the steering wheel angle; Obtaining the braking estimated distance according to the current deceleration and the current vehicle speed; Obtaining the driving trajectory of the host vehicle according to the lateral acceleration and the steering wheel angle; Obtaining the body width of the host vehicle, and obtaining the braking area of the host vehicle according to the body width and the driving trajectory of the host vehicle.

3. The vehicle braking function control method according to claim 1, characterized in that, The obtaining the movement parameters of the target object and obtaining the movement intention of the target object according to the movement parameters includes: Obtaining the movement parameters of the target object, where the movement parameters include the reference position, the reference speed, and the reference acceleration; Obtaining the movement state of the target object according to the reference position and the reference speed; Obtaining the movement intention of the target object according to the movement state and the reference acceleration.

4. The vehicle braking function control method according to claim 1, characterized in that, The maintaining the braking function of the host vehicle until a preset exit condition is satisfied when the target object leaves the braking area abnormally includes: When the target object leaves the braking area abnormally, starting the braking function of the host vehicle until the starting time of the braking function of the host vehicle meets a preset time; When the starting time meets the preset time, controlling the braking function of the host vehicle according to the reference state of the target object; After the maintaining the braking function of the host vehicle until a preset exit condition is satisfied when the target object leaves the braking area abnormally, it further includes: When the target object normally leaves the braking area, exit the vehicle's braking function.

5. The vehicle braking function control method according to claim 4, wherein When the start time meets the preset time, controlling the braking function of the vehicle according to the reference state of the target object includes: Obtain the state of the target object; When the state of the target object is driving away, exit the vehicle's braking function; When the state of the target object is not driving away, maintain the vehicle's braking function.

6. A vehicle braking function control device, characterized in that, The vehicle braking function control device includes: An acquisition module, configured to acquire the driving parameters of the vehicle, obtain the vehicle's braking area according to the driving parameters, and the driving parameters include the current deceleration, the current vehicle speed, the lateral acceleration, and the steering wheel angle; The acquisition module is further configured to acquire the movement parameters of the target object, obtain the movement intention of the target object according to the movement parameters, the movement parameters include the position, the speed, and the acceleration, and the movement intention includes driving away from the braking area and maintaining driving; A control module, configured to judge whether the target object is normally leaving the vehicle's braking area according to the movement intention; The control module is further configured to maintain the vehicle's braking function until a preset exit condition is met when the target object abnormally leaves the braking area; The control module is further configured to obtain the estimated departure time for the target object to leave the vehicle's braking area according to the movement parameters of the target object; judge whether the target object is normally leaving the vehicle's braking area according to the movement intention and the estimated departure time; The control module is further configured to, when the movement intention is to drive away from the braking area, obtain the actual departure time of the moving object, and if the time difference between the actual departure time and the estimated departure time meets the preset time difference, then the target object is normally leaving the vehicle's braking area; When the movement intention is to drive away from the braking area or maintain driving, obtain the actual departure time of the moving object, and if the time difference between the actual departure time and the estimated departure time does not meet the preset time, then the target object abnormally leaves the vehicle's braking area.

7. A vehicle braking function control device, characterized in that The device includes: a memory, a processor, and a vehicle braking function control program stored on the memory and executable on the processor, and the vehicle braking function control program is configured to implement the vehicle braking function control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, A vehicle braking function control program is stored on the storage medium, and when the vehicle braking function control program is executed by the processor, it implements the vehicle braking function control method according to any one of claims 1 to 5.

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