Vehicle braking control method, device, equipment and storage medium

Abstract

The present invention belongs to the technical field of autonomous driving, and discloses a vehicle braking control method, device, equipment and storage medium. The present invention obtains a vehicle tire image captured by a vehicle-mounted camera; compares the vehicle tire image with the initial tire image to obtain the tire wear condition; obtains the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map; and determines the braking control strategy according to the tire adhesion coefficient. By monitoring different degrees of tire wear, a preset tire maximum executable deceleration mapping relationship model is searched according to the tire wear degree, and finally when the tire adhesion coefficient is less than a first threshold, the intervention timing of the AEB function is controlled by calculating the required braking distance, and the vehicle's maximum executable deceleration is estimated according to the tire wear condition, and the vehicle AEB triggering timing is automatically adjusted, which solves the problem of insufficient vehicle braking ability due to tire wear problems and ensures that the AEB function can work normally throughout the tire life cycle.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle braking control method, device, equipment and storage medium. Background Art

[0002] During normal use of the vehicle, the wheels and tires will wear out as the vehicle is used, which will reduce the adhesion coefficient between the wheels and the road and weaken the braking ability. If the AEB function still sends deceleration to the actuator according to the previous triggering time, the braking ability of the tires will be weakened, resulting in insufficient braking force and a collision or the speed will not drop as expected. The current AEB function does not take into account the problem of insufficient braking force caused by tire wear during use. In the actual use of the vehicle, the driver often fails to replace the worn tires in time, which will lead to performance differences during the AEB braking process. In the development of the AEB function, only the braking ability of the tires when they are not worn is considered, which cannot cover the complete service life cycle of the tires. Therefore, how to solve the problem of insufficient vehicle braking ability caused by tire wear has become an urgent problem to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle braking control method, device, equipment and storage medium, aiming to solve the technical problem of insufficient vehicle braking ability due to tire wear.

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

[0006] Obtaining a vehicle tire image captured by a vehicle-mounted camera;

[0007] Comparing the vehicle tire image with an initial tire image to obtain tire wear conditions;

[0008] Obtaining a tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map;

[0009] A braking control strategy is determined according to the tire adhesion coefficient.

[0010] Optionally, determining a braking control strategy according to the tire adhesion coefficient includes:

[0011] comparing a tire adhesion coefficient with an adhesion coefficient threshold;

[0012] When the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy;

[0013] When the tire adhesion coefficient is less than the adhesion coefficient threshold, the braking control strategy is determined to be a distance braking strategy.

[0014] Optionally, when the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy includes:

[0015] When the vehicle is at risk of collision, obtain the corresponding braking deceleration of the vehicle;

[0016] When the braking deceleration is not greater than the deceleration threshold, a signal for starting automatic braking is sent.

[0017] Optionally, when there is a risk of collision of the vehicle, obtaining the braking deceleration includes:

[0018] Get the current vehicle speed and distance collected by the vehicle sensors;

[0019] Calculating the current vehicle speed and the current distance according to a preset calculation formula;

[0020] The braking deceleration is obtained according to the calculation results.

[0021] Optionally, when the tire adhesion coefficient is less than the adhesion coefficient threshold, determining that the braking control strategy is a distance braking strategy includes:

[0022] When there is a risk of collision between the vehicle and the target object, the target distance between the vehicle and the target object is obtained through the vehicle-mounted sensor;

[0023] comparing the target distance to the collision distance threshold;

[0024] When the target distance is not greater than the collision distance threshold, a signal for starting automatic braking is sent.

[0025] Optionally, before comparing the target distance with the collision distance threshold, the method further includes:

[0026] The extreme deceleration is obtained by calculating according to the tire adhesion coefficient and the acceleration of gravity;

[0027] Get the current vehicle speed collected by the vehicle sensor;

[0028] Calculating the current vehicle speed and the extreme deceleration according to a preset calculation formula;

[0029] The collision distance threshold corresponding to the vehicle is obtained according to the calculation results.

[0030] Optionally, after determining the braking control strategy according to the tire adhesion coefficient, the method further includes:

[0031] Determine the vehicle driving state based on the tire adhesion coefficient and the vehicle driving data collected by the on-board sensor;

[0032] When the driving state of the vehicle is a dangerous state, generating vehicle danger warning information;

[0033] The vehicle danger warning information is sent to remind the driver that the vehicle is in danger of collision.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also provides a vehicle brake control device, the vehicle brake control device comprising:

[0035] An acquisition module, used to acquire a vehicle tire image captured by a vehicle-mounted camera;

[0036] A processing module, used for comparing the vehicle tire image with an initial tire image to obtain a tire wear condition;

[0037] The processing module is further used to obtain the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map;

[0038] A control module is used to determine a braking control strategy according to the tire adhesion coefficient.

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

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

[0041] The present invention obtains the vehicle tire image collected by the vehicle camera; compares the vehicle tire image with the initial tire image to obtain the tire wear condition; obtains the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map; and determines the braking control strategy according to the tire adhesion coefficient. By monitoring different tire wear degrees, a preset tire maximum executable deceleration mapping relationship model is searched according to the tire wear degree. Finally, when the tire adhesion coefficient is less than the first threshold, the intervention timing of the AEB function is controlled by calculating the required braking distance, the maximum executable deceleration of the vehicle is estimated according to the tire wear condition, and the vehicle AEB triggering timing is automatically adjusted, thereby solving the problem of insufficient vehicle braking ability due to tire wear problems and ensuring that the AEB function can work normally throughout the tire life cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of a vehicle brake control device in a hardware operating environment involved in an embodiment of the present invention;

[0043] Figure 2 A schematic flow chart of a first embodiment of a vehicle braking control method according to the present invention;

[0044] Figure 3 A schematic diagram of an adhesion coefficient curve of an embodiment of a vehicle braking control method of the present invention;

[0045] Figure 4 A schematic flow chart of a second embodiment of a vehicle braking control method according to the present invention;

[0046] Figure 5 It is a structural block diagram of the first embodiment of the vehicle brake control device of the present invention.

[0047] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0048] 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.

[0049] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a vehicle brake control device in the hardware operating environment involved in the embodiment of the present invention.

[0050] like Figure 1 As shown, the vehicle brake 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 (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also 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 (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the vehicle brake control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0052] like Figure 1 As 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 control program.

[0053] exist Figure 1 In the vehicle braking 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 control device of the present invention can be arranged in the vehicle braking control device, and the vehicle braking control device calls the vehicle braking control program stored in the memory 1005 through the processor 1001, and executes the vehicle braking control method provided in an embodiment of the present invention.

[0054] The embodiment of the present invention provides a vehicle braking control method, referring to Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a vehicle braking control method according to the present invention.

[0055] In this embodiment, the vehicle braking control method includes the following steps:

[0056] Step S10: Acquire the vehicle tire image captured by the vehicle-mounted camera.

[0057] It should be noted that the executor of this embodiment is a vehicle brake control device, wherein the vehicle brake control device has functions such as data processing, data communication and program running. The vehicle brake 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.

[0058] It can be understood that the vehicle tire image refers to the current state image of the tire, which is collected by a camera mounted on the wheel.

[0059] Step S20: Compare the vehicle tire image with the initial tire image to obtain tire wear conditions.

[0060] It can be understood that the initial tire image refers to the image when the tire is in good condition, and the tire wear condition refers to the degree of wear of the tire. By comparing the vehicle tire image with the initial tire image and comparing it with the built-in perception deep learning model, the current tire wear condition can be obtained.

[0061] Step S30: Obtaining the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map.

[0062] It can be understood that the adhesion coefficient map refers to a map of correspondence between tire wear degree and adhesion coefficient, and the tire adhesion coefficient refers to the adhesion coefficient corresponding to the tire wear degree.

[0063] In a specific implementation, the tire adhesion coefficient is obtained by looking up a map according to the tire wear state, such as Figure 3 As shown, this embodiment mainly considers the planning and control of the AEB function when the vehicle is in the wear period.

[0064] Step S40: Determine a braking control strategy according to the tire adhesion coefficient.

[0065] It can be understood that the braking control strategy refers to the strategy for controlling the intervention timing of the AEB function.

[0066] It should be noted that, in order to avoid vehicle collision, further, after determining the braking control strategy according to the tire adhesion coefficient, it also includes: determining the vehicle driving state according to the tire adhesion coefficient and the vehicle driving data collected by the on-board sensor; when the vehicle driving state is a dangerous state, generating vehicle danger warning information; sending the vehicle danger warning information to remind the driver that the vehicle is in danger of collision.

[0067] It is understandable that the vehicle driving data includes but is not limited to the vehicle speed data and the distance to the collision object, and the vehicle driving status includes but is not limited to the vehicle dangerous status and the vehicle normal status.

[0068] In the specific implementation, the on-board sensor collects vehicle driving data in real time, and then performs calculations based on the collected vehicle driving data to determine the vehicle driving status. When the vehicle driving status is a dangerous state, it is determined that the vehicle may collide, and then generates vehicle danger warning information. The vehicle danger warning information is sent to the driver to remind the driver that the vehicle is in danger of collision.

[0069] It should be noted that the actual mileage of the tires of the vehicles used in the development of the AEB function is often less than 20,000 kilometers. At this time, the tire condition is good and the peak braking deceleration can reach about -10m / s. 2 At this time, the AEB function is triggered by using the deceleration control method, that is, when the AEB system calculates the required deceleration to be less than the preset deceleration threshold (such as -9.5m / s 2 , which can be calibrated), the AEB system sends a braking request signal to the actuator IPB, requesting a deceleration of -9.5m / s 2 , according to the formula It can be seen that if the vehicle speed is 40kph and the target object is 0kph in the direction of the vehicle, based on the calibration parameters of this state, the vehicle starts braking when the perceived output distance is 6.5m. However, if the tires are severely worn, the peak braking deceleration is reduced to -6m / s 2 If the same braking deceleration request is sent to the actuator at the same time when the tire is in good condition, the tire of the vehicle will only be able to execute -6m / s 2 , according to the formula It is known that after a braking distance of 6.5m, the vehicle speed can only be reduced to 24kph, and the vehicle cannot be completely stopped, resulting in a collision between the vehicle and the target object. In the solution of the present invention, the tire-road adhesion coefficient is determined by the degree of tire wear, thereby determining that the maximum deceleration that the current tire can perform is -6m / s 2 , then according to the formula It is known that braking starts when the distance output by the perception fusion module is 10.3m. After a braking distance of 10.3m, the vehicle can stop and avoid collision with the target object. In actual engineering applications, engineers will reserve some distance Δx2 (calibrable) for the comfort of the driver and passengers based on the perception fusion error Δx1 and considering collision avoidance. Therefore, the formula Should be

[0070] This embodiment obtains the vehicle tire image captured by the vehicle camera; compares the vehicle tire image with the initial tire image to obtain the tire wear condition; obtains the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map; and determines the braking control strategy according to the tire adhesion coefficient. By monitoring different tire wear degrees, the preset tire maximum executable deceleration mapping relationship model is searched according to the tire wear degree. Finally, when the tire adhesion coefficient is less than the first threshold, the intervention timing of the AEB function is controlled by calculating the required braking distance, the maximum executable deceleration of the vehicle is estimated according to the tire wear condition, and the vehicle AEB triggering timing is automatically adjusted, which solves the problem of insufficient vehicle braking ability due to tire wear problems and ensures that the AEB function can work normally throughout the tire life cycle.

[0071] refer to Figure 4 , Figure 4 The figure is a flow chart of a second embodiment of a vehicle braking control method according to the present invention.

[0072] Based on the first embodiment, the vehicle braking control method of this embodiment includes, in step S40:

[0073] Step S41: Compare the tire adhesion coefficient with the adhesion coefficient threshold.

[0074] It can be understood that the adhesion coefficient threshold is used to determine the critical adhesion coefficient value for the intervention timing of the AEB function.

[0075] Step S42: When the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy.

[0076] It can be understood that the deceleration braking strategy refers to a control strategy that uses deceleration to trigger the AEB function.

[0077] It should be noted that in order to perform automatic braking accurately, further, when the tire adhesion coefficient is not less than the adhesion coefficient threshold, the braking control strategy is determined to be a deceleration braking strategy, including: when there is a risk of collision between the vehicle and the vehicle, obtaining the corresponding braking deceleration of the vehicle; when the braking deceleration is not greater than the deceleration threshold, sending a signal to start automatic braking.

[0078] It can be understood that the braking deceleration refers to the braking deceleration required for the vehicle to avoid a collision, and the deceleration threshold refers to the deceleration critical value used to determine whether to turn on the automatic braking function.

[0079] In a specific implementation, when the data collected by the on-board sensors determines that the vehicle is at risk of collision, the braking deceleration required for the vehicle's current driving state to avoid collision is obtained, and then the braking deceleration and the deceleration threshold are compared. When it is determined that the braking deceleration is not greater than the deceleration threshold, a signal to turn on automatic braking is sent to trigger the AEB function.

[0080] It should be noted that when the tire adhesion coefficient is not less than the first threshold u0, due to road restrictions, the maximum adhesion coefficient that the vehicle can execute is u0. At this time, the AEB function is triggered by deceleration. The main method is: when the vehicle AEB system detects a collision risk, it will calculate the braking deceleration required to avoid the collision. When the required braking deceleration is not greater than the first set threshold a0, the AEB function is triggered.

[0081] It should be noted that in order to obtain the braking deceleration, further, when the vehicle is at risk of collision, obtaining the braking deceleration includes: obtaining the current vehicle speed and the current distance collected by the on-board sensor; calculating the current vehicle speed and the current distance according to a preset calculation formula; and obtaining the braking deceleration according to the calculation result.

[0082] It can be understood that the vehicle's current speed and the distance to the obstacle are obtained through the on-board sensor, and then calculated through the preset formula: The current vehicle speed and the distance to the obstacle are calculated to obtain the vehicle's braking deceleration.

[0083] Step S43: When the tire adhesion coefficient is less than the adhesion coefficient threshold, determining that the braking control strategy is a distance braking strategy.

[0084] It can be understood that the distance braking strategy refers to a control strategy that uses braking distance to control the intervention timing of the AEB system.

[0085] It should be noted that in order to perform automatic braking accurately, further, when the tire adhesion coefficient is less than the adhesion coefficient threshold, the braking control strategy is determined to be a distance braking strategy, including: when there is a risk of collision between the vehicle, obtaining the target distance between the vehicle and the target object through the on-board sensor; comparing the target distance with the collision distance threshold; when the target distance is not greater than the collision distance threshold, sending an automatic braking start signal.

[0086] It can be understood that the target object refers to the obstacle that may collide with the object detected by the on-board perception module, the target distance refers to the distance between the vehicle and the obstacle that may collide with the object, and the collision distance threshold refers to the minimum braking distance required for the vehicle to avoid a collision, indicating that when the distance between the vehicle and the obstacle is less than or equal to the minimum braking distance, even if the vehicle is braked, it cannot avoid a collision between the vehicle and the obstacle.

[0087] In a specific implementation, when the vehicle is at risk of collision, the target distance and the collision distance threshold are compared. When the target distance is not greater than the collision distance threshold, it is determined to turn on the AEB function and send an automatic braking signal for automatic braking. That is, once the distance between the vehicle and the obstacle is not greater than the minimum braking distance required for the vehicle to avoid collision, the AEB function is automatically turned on to brake the vehicle.

[0088] It should be noted that when the tire adhesion coefficient is less than the first threshold u0, due to tire limitations, the maximum deceleration that the vehicle can perform is insufficient. If the AEB function is triggered at the same time by deceleration, the deceleration effect of the vehicle will not be as expected due to the low tire adhesion coefficient, resulting in insufficient speed reduction or collision. At this time, the braking distance should be used to control the intervention timing of the AEB system. The method is as follows: the maximum tire adhesion coefficient is obtained according to the tire wear degree, and the maximum deceleration that the vehicle can perform is obtained according to the maximum tire adhesion coefficient. According to the formula:

[0089]

[0090] In the formula, v e Refers to the longitudinal speed of the vehicle along the axis of the vehicle, v t Refers to the speed of the target along the axis of the vehicle, a maxThe maximum deceleration that the vehicle can perform under the current wear condition is calculated, and the required collision avoidance distance x0 under the current tire wear condition is calculated. When there is a collision risk for the vehicle and the distance x between the vehicle and the target object output by the AEB system perception fusion module is ≤x0, the AEB function is triggered.

[0091] It should be noted that in order to accurately obtain the collision distance threshold, further, before comparing the target distance with the collision distance threshold, it also includes: calculating according to the tire adhesion coefficient and the acceleration of gravity to obtain the extreme deceleration; obtaining the current vehicle speed collected by the on-board sensor; calculating the current vehicle speed and the extreme deceleration according to a preset calculation formula; and obtaining the collision distance threshold corresponding to the vehicle according to the calculation result.

[0092] It can be understood that the extreme deceleration refers to the maximum deceleration that the whole vehicle can perform under the current wear conditions, through the formula: a=ug, where a refers to the maximum deceleration that the whole vehicle can perform under the current wear conditions, u refers to the tire adhesion coefficient under the current wear conditions, and g is the acceleration of gravity. Then, based on the tire adhesion coefficient and the acceleration of gravity, the maximum deceleration that the whole vehicle can perform under the current wear conditions is calculated, and then the extreme deceleration and the current vehicle speed are input into the preset calculation formula for calculation to obtain the corresponding collision distance threshold of the vehicle.

[0093] This embodiment compares the tire adhesion coefficient with the adhesion coefficient threshold; when the tire adhesion coefficient is not less than the adhesion coefficient threshold, the braking control strategy is determined to be the deceleration braking strategy; when the tire adhesion coefficient is less than the adhesion coefficient threshold, the braking control strategy is determined to be the distance braking strategy. By real-time monitoring of tire wear status, the maximum executable deceleration of the vehicle is estimated according to the tire wear status, and the vehicle AEB triggering timing is automatically adjusted, effectively solving the problem of insufficient vehicle braking capacity due to tire wear.

[0094] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle braking control program is stored. When the vehicle braking control program is executed by a processor, the steps of the vehicle braking control method described above are implemented.

[0095] Reference Figure 5 , Figure 5 It is a structural block diagram of the first embodiment of the vehicle brake control device of the present invention.

[0096] like Figure 5 As shown, the vehicle braking control device proposed in the embodiment of the present invention includes:

[0097] The acquisition module 10 is used to acquire the vehicle tire image captured by the vehicle-mounted camera.

[0098] The processing module 20 is used to compare the vehicle tire image with the initial tire image to obtain the tire wear condition.

[0099] The processing module 20 is further used to obtain the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map.

[0100] The control module 30 is used to determine a braking control strategy according to the tire adhesion coefficient.

[0101] This embodiment obtains the vehicle tire image captured by the vehicle camera; compares the vehicle tire image with the initial tire image to obtain the tire wear condition; obtains the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map; and determines the braking control strategy according to the tire adhesion coefficient. By monitoring different tire wear degrees, the preset tire maximum executable deceleration mapping relationship model is searched according to the tire wear degree. Finally, when the tire adhesion coefficient is less than the first threshold, the intervention timing of the AEB function is controlled by calculating the required braking distance, the maximum executable deceleration of the vehicle is estimated according to the tire wear condition, and the vehicle AEB triggering timing is automatically adjusted, which solves the problem of insufficient vehicle braking ability due to tire wear problems and ensures that the AEB function can work normally throughout the tire life cycle.

[0102] In one embodiment, the control module 30 is further configured to compare the tire adhesion coefficient with an adhesion coefficient threshold;

[0103] When the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy;

[0104] When the tire adhesion coefficient is less than the adhesion coefficient threshold, the braking control strategy is determined to be a distance braking strategy.

[0105] In one embodiment, the control module 30 is further used to obtain a braking deceleration corresponding to the vehicle when there is a risk of collision of the vehicle;

[0106] When the braking deceleration is not greater than the deceleration threshold, a signal for starting automatic braking is sent.

[0107] In one embodiment, the control module 30 is further used to obtain the current vehicle speed and current distance collected by the vehicle-mounted sensor;

[0108] Calculating the current vehicle speed and the current distance according to a preset calculation formula;

[0109] The braking deceleration is obtained according to the calculation results.

[0110] In one embodiment, the control module 30 is further used to obtain a target distance between the vehicle and the target object through a vehicle-mounted sensor when there is a risk of collision between the vehicle;

[0111] comparing the target distance to the collision distance threshold;

[0112] When the target distance is not greater than the collision distance threshold, a signal for starting automatic braking is sent.

[0113] In one embodiment, the control module 30 is further used to calculate according to the tire adhesion coefficient and the gravity acceleration to obtain the extreme deceleration;

[0114] Get the current vehicle speed collected by the vehicle sensor;

[0115] Calculating the current vehicle speed and the extreme deceleration according to a preset calculation formula;

[0116] The collision distance threshold corresponding to the vehicle is obtained according to the calculation results.

[0117] In one embodiment, the control module 30 is further used to determine the vehicle driving state according to the tire adhesion coefficient and the vehicle driving data collected by the vehicle-mounted sensor;

[0118] When the driving state of the vehicle is a dangerous state, generating vehicle danger warning information;

[0119] The vehicle danger warning information is sent to remind the driver that the vehicle is in danger of collision.

[0120] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0121] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0122] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0123] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0124] 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.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course 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, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle braking control method, characterized in that: The vehicle braking control method comprises: Obtaining a vehicle tire image captured by a vehicle-mounted camera; Comparing the vehicle tire image with an initial tire image to obtain tire wear conditions; Obtaining a tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map; Determining a braking control strategy according to the tire adhesion coefficient; Wherein, determining the braking control strategy according to the tire adhesion coefficient includes: comparing a tire adhesion coefficient with an adhesion coefficient threshold; When the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy, wherein the deceleration braking strategy is a control strategy that triggers the AEB function in a deceleration manner; When the tire adhesion coefficient is less than the adhesion coefficient threshold, the braking control strategy is determined to be a distance braking strategy, where the distance braking strategy is a control strategy that uses braking distance to control the intervention timing of the AEB system.

2. The method according to claim 1, characterized in that When the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy includes: When the vehicle is at risk of collision, obtain the corresponding braking deceleration of the vehicle; When the braking deceleration is not greater than the deceleration threshold, a signal for starting automatic braking is sent.

3. The method according to claim 2, characterized in that When there is a risk of collision between the vehicles, obtaining the braking deceleration includes: Get the current vehicle speed and distance collected by the vehicle sensors; Calculating the current vehicle speed and the current distance according to a preset calculation formula; The braking deceleration is obtained according to the calculation results.

4. The method according to claim 1, characterized in that When the tire adhesion coefficient is less than the adhesion coefficient threshold, determining that the braking control strategy is a distance braking strategy includes: When there is a risk of collision between the vehicle and the target object, the target distance between the vehicle and the target object is obtained through the vehicle-mounted sensor; comparing the target distance to a collision distance threshold; When the target distance is not greater than the collision distance threshold, a signal for starting automatic braking is sent.

5. The method according to claim 4, characterized in that Before comparing the target distance with the collision distance threshold, the method further includes: The extreme deceleration is obtained by calculating according to the tire adhesion coefficient and the acceleration of gravity; Get the current vehicle speed collected by the vehicle sensor; Calculating the current vehicle speed and the extreme deceleration according to a preset calculation formula; The collision distance threshold corresponding to the vehicle is obtained according to the calculation results.

6. The method according to claim 1, characterized in that After determining the braking control strategy according to the tire adhesion coefficient, the method further includes: Determine the vehicle driving state based on the tire adhesion coefficient and the vehicle driving data collected by the on-board sensor; When the driving state of the vehicle is a dangerous state, generating vehicle danger warning information; The vehicle danger warning information is sent to remind the driver that the vehicle is in danger of collision.

7. A vehicle brake control device, characterized in that: The vehicle brake control device comprises: An acquisition module, used to acquire a vehicle tire image captured by a vehicle-mounted camera; A processing module, used for comparing the vehicle tire image with an initial tire image to obtain a tire wear condition; The processing module is further used to obtain the tire adhesion coefficient according to the tire wear condition and the adhesion coefficient map; A control module, used for determining a braking control strategy according to the tire adhesion coefficient; The control module is further used to compare the tire adhesion coefficient with an adhesion coefficient threshold; When the tire adhesion coefficient is not less than the adhesion coefficient threshold, determining that the braking control strategy is a deceleration braking strategy, wherein the deceleration braking strategy is a control strategy that triggers the AEB function in a deceleration manner; When the tire adhesion coefficient is less than the adhesion coefficient threshold, the braking control strategy is determined to be a distance braking strategy, where the distance braking strategy is a control strategy that uses braking distance to control the intervention timing of the AEB system.

8. A vehicle brake control device, characterized in that: The device comprises: a memory, a processor, and a vehicle braking control program stored in the memory and executable on the processor, wherein the vehicle braking control program is configured to implement the steps of the vehicle braking control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a vehicle braking control program, and when the vehicle braking control program is executed by the processor, the steps of the vehicle braking control method according to any one of claims 1 to 6 are implemented.

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