Brake control method and device, electronic equipment and storage medium

Abstract

The invention discloses a brake control method and device, electronic equipment and a storage medium, and the method comprises the steps: responding to an alignment triggering instruction, and obtaining a vehicle driving state and an alignment area distance away from an alignment area; determining a braking critical distance according to the driving speed of the vehicle driving state and the braking control time delay; and when the alignment area distance is matched with the braking critical distance, the vehicle is controlled to be braked. According to the embodiment of the invention, high-precision braking control of the vehicle can be realized, the parking control precision can be improved, potential safety hazards caused by parking errors of the vehicle can be reduced, and the use safety of the vehicle can be improved.

Description

Technical Field

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

[0002] At present, low-speed unmanned vehicles have the problem of low automatic driving control accuracy. When performing parking docking control on low-speed unmanned vehicles, the parking accuracy of the unmanned vehicles needs to be improved. For example, when a low-speed unmanned vehicle is docking for charging, it is necessary to dock the charging receiving end of the low-speed unmanned vehicle or the passenger new energy vehicle with the transmitting end of the power supply device to achieve charging. However, due to the low self-driving control accuracy of the low-speed unmanned vehicle, it is impossible to meet the distance accuracy requirements for the docking between the above-mentioned charging receiving end and the transmitting end. The unmanned vehicle's braking control error is large, resulting in a high docking control failure rate. Even due to the docking failure, the unmanned vehicle collides with other obstacles, causing safety hazards. Therefore, there is an urgent need for a braking control method to improve the accuracy of the unmanned vehicle's alignment control. Summary of the invention

[0003] The present invention provides a braking control method, device, electronic device and storage medium to achieve braking control of a vehicle, which can improve vehicle control accuracy, reduce safety hazards caused by vehicle docking failure, and improve vehicle safety.

[0004] According to one aspect of the present invention, a braking control method is provided, wherein the method comprises:

[0005] In response to the alignment trigger instruction, obtaining a driving state of the vehicle and an alignment area distance from the alignment area;

[0006] Determine a critical braking distance according to the driving speed of the vehicle and the braking control delay;

[0007] When the alignment area distance matches the braking critical distance, the vehicle is controlled to brake.

[0008] According to another aspect of the present invention, there is provided a brake control device, wherein the device comprises:

[0009] A parameter acquisition module, for acquiring a vehicle driving state and an alignment area distance from an alignment area in response to an alignment trigger instruction;

[0010] A distance determination module, used to determine a critical braking distance according to a driving speed of the vehicle and a braking control delay;

[0011] The braking control module is used to control the vehicle to brake when the alignment area distance matches the braking critical distance.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the braking control method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the braking control method described in any embodiment of the present invention when executed.

[0017] The technical solution of the embodiment of the present invention collects the vehicle's driving status and the alignment area distance from the alignment area when receiving the alignment trigger instruction, determines the critical braking distance according to the driving speed of the vehicle's driving status and the braking control delay, and can brake the vehicle when the alignment area distance is at the critical braking distance, thereby realizing the braking control of the vehicle, improving the vehicle control accuracy, reducing the safety hazards caused by vehicle docking failure, and improving the safety of vehicle use.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a braking control method provided according to Embodiment 1 of the present invention;

[0021] Figure 2 is a flow chart of another braking control method provided according to the second embodiment of the present invention;

[0022] Figure 3 is an example diagram of a vehicle braking control process provided according to Embodiment 3 of the present invention;

[0023] Figure 4 is a structural schematic diagram of a brake control device provided according to a fourth embodiment of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the braking control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 1 is a flowchart of a braking control method provided according to Embodiment 1 of the present invention. This embodiment is applicable to vehicle braking control. The method can be executed by a braking control device. The braking control device can be implemented in the form of hardware and / or software. The braking control device can be configured in a controller / remote controller of a vehicle or unmanned vehicle. Figure 1 As shown, the method includes:

[0029] Step 110: In response to the alignment trigger instruction, obtain the driving state of the vehicle and the alignment area distance from the alignment area.

[0030] Among them, the alignment trigger instruction can be an instruction information that triggers the vehicle to perform braking control. The alignment trigger instruction can be triggered by the vehicle controller according to preconfigured rules, or the alignment trigger instruction can be triggered by the user, or the alignment trigger instruction can be triggered by other devices that cooperate with the vehicle, for example, it can be triggered by the vehicle charging device. The vehicle driving state may include driving information related to vehicle braking, and the vehicle driving state may include the current driving speed and braking acceleration of the vehicle. The alignment area can be an area that the vehicle needs to reach accurately after parking control. The alignment area may include the charging docking area reached by the vehicle during the charging process, and may also include the parking space of the vehicle during the warehousing process, etc. The alignment area distance can be the straight-line distance from the vehicle to the alignment area, and the alignment area distance can be determined by a distance sensor or a navigation map.

[0031] In an embodiment of the present invention, when an alignment trigger instruction is obtained, the vehicle driving state can be collected. For example, the driving speed, braking acceleration, braking control delay and other information related to vehicle braking can be collected as the vehicle driving state. It can be understood that after receiving the alignment trigger instruction, the vehicle driving state can be continuously collected until braking is completed; the distance to the alignment area can also be measured as the alignment area distance. The method of measuring the alignment area distance can include collecting an image of the alignment area through a camera and determining the alignment area distance by recognizing the image, or collecting the alignment area distance from the alignment area through a radar sensor, or determining the distance from the current position to the alignment area through a navigation map as the alignment area distance, etc.

[0032] Step 120: Determine a critical braking distance according to the driving speed of the vehicle and the braking control delay.

[0033] The driving speed may be information indicating the current driving speed of the vehicle, and the driving speed may be obtained through a speed sensor or an inertial sensor configured in the vehicle. The braking control delay may be a control delay caused by the transmission of a control instruction in the vehicle, and the braking control delay may be related to the type of vehicle and the type of vehicle communication equipment, and the braking control delay may be pre-calibrated in the vehicle. The critical braking distance may be a critical distance for braking the vehicle, and the critical braking distance may correspond to a distance for braking the vehicle, and the critical braking distance may be determined by the driving degree and the braking control delay.

[0034] In an embodiment of the present invention, the driving speed and braking control delay within the acquired vehicle driving state can be extracted, and the critical braking distance can be determined according to the driving speed and the braking control delay. For example, the driving distance of the vehicle within the braking command transmission time can be determined by the braking control delay, and the braking distance required for vehicle braking can be determined by the driving speed. The sum of the driving distance and the braking distance can be used as the critical braking distance.

[0035] Step 130: When the aiming area distance matches the braking critical distance, control the vehicle to brake.

[0036] Specifically, the acquired alignment area distance can be compared with the braking critical distance. It can be understood that the alignment area distance can be continuously collected after receiving the alignment trigger instruction, and the collected control area distance can be compared with the braking critical distance in real time. When the control area distance matches the braking critical distance, the match can include the alignment area distance being equal to the braking critical distance, or the distance difference between the alignment area distance and the braking critical distance being less than a preset distance error. The vehicle can be controlled to brake, so that the vehicle reaches the alignment area when the speed is zero, thereby achieving high-precision braking control.

[0037] The embodiment of the present invention collects the driving state of the vehicle and the distance of the alignment area from the alignment area when receiving the alignment trigger instruction, determines the critical braking distance according to the driving speed of the vehicle and the braking control delay, and brakes the vehicle when the distance of the alignment area is at the critical braking distance, thereby realizing the braking control of the vehicle, improving the vehicle control accuracy, reducing the safety hazards caused by vehicle docking failure, and improving the safety of vehicle use.

[0038] Further, based on the above-mentioned embodiments of the invention, in response to the alignment trigger instruction, obtaining the driving state of the vehicle and the alignment area distance from the alignment area includes at least one of the following:

[0039] Receive the alignment trigger command sent by the cloud server, collect the vehicle's driving status and the distance to the alignment area;

[0040] Receiving an alignment trigger command triggered by a vehicle user, collecting the vehicle driving status and the distance to the alignment area;

[0041] Receive the alignment trigger command transmitted by the vehicle interaction device, collect the vehicle driving status and the distance to the control area;

[0042] Receive an alignment trigger instruction triggered by the vehicle controller when the vehicle interaction device is detected, and collect the vehicle driving status and the alignment area distance.

[0043] In an embodiment of the present invention, there may be multiple ways to generate an alignment trigger instruction, and the ways to generate an alignment trigger instruction may include being sent by a cloud server, triggered by a vehicle user, transmitted by a vehicle interactive device, triggered by a vehicle controller, etc.

[0044] In one embodiment of the invention, the cloud server may be a server or server cluster that provides services for the vehicle. The cloud server may be a server based on cloud computer technology that can provide cloud services for the vehicle. The cloud server may send an alignment trigger instruction to the vehicle. When the vehicle receives the alignment trigger instruction, it may collect the vehicle's driving status and the distance to the alignment area.

[0045] In some embodiments of the invention, a vehicle user may be a user who controls the vehicle. The vehicle user may be a driver of the vehicle or an operator who remotely controls an unmanned vehicle. The vehicle user may issue an alignment trigger instruction to the vehicle according to business needs. When the vehicle receives the alignment trigger instruction, it may collect information about the vehicle's driving status and the distance to the alignment area.

[0046] In some embodiments of the invention, the vehicle interaction device may be a device for collaborative interaction between vehicles, and the vehicle exchange device may include charging equipment, traffic command equipment, unmanned vehicle host computer, etc. The vehicle exchange device may send an alignment trigger instruction to the vehicle according to its own configured functions. When the vehicle receives the alignment trigger instruction transmitted by the vehicle interaction device, the vehicle can collect the vehicle's driving status and the distance to the alignment area.

[0047] In some embodiments of the invention, the vehicle controller may be a main control unit configured in the vehicle. The vehicle controller may be pre-configured with execution logic. When the vehicle meets specific conditions, for example, the vehicle arrives at the navigation destination or the vehicle arrives at the charging area, the controller may generate an alignment trigger instruction. The vehicle controller may generate an alignment trigger instruction in response to information interaction with the vehicle interaction device, thereby collecting the vehicle's driving status and the distance to the alignment area.

[0048] In some embodiments of the invention, before obtaining the vehicle driving state and the distance to the alignment area, the method further includes: switching the vehicle driving speed to the vehicle's minimum stable speed.

[0049] Among them, the vehicle stable minimum speed can be a speed that ensures the stability of the vehicle during the braking process, and the vehicle stable minimum speed can be pre-configured.

[0050] In an embodiment of the present invention, in order to ensure the safety of the vehicle during braking, the vehicle speed may be switched to a stable vehicle speed before braking is performed, so that the vehicle reaches a critical braking distance for braking at the stable vehicle speed.

[0051] Embodiment 2

[0052] Figure 2 is a flow chart of another braking control method provided according to the second embodiment of the present invention. The embodiment of the present invention is a specific embodiment based on the above embodiment, and describes the process of determining the critical braking distance. Figure 2 The method provided in the embodiment of the present invention specifically includes the following steps:

[0053] Step 210: In response to the alignment trigger instruction, obtain the driving state of the vehicle and the alignment area distance from the alignment area.

[0054] In some embodiments of the invention, collecting the aiming area distance includes at least one of the following: calling a distance sensor installed on the vehicle to measure the aiming area distance from the aiming area; obtaining a pre-configured map, and determining the control area distance from the control area on the map.

[0055] In an embodiment of the present invention, the distance of the alignment area can be determined by a distance sensor or a map installed in the vehicle. The distance sensor may include an optical distance sensor, an ultrasonic distance sensor, a capacitive distance sensor, an inductive sensor, etc. The vehicle may be equipped with a distance sensor at least at the front, rear, and side of the vehicle. The map may be a map in the vehicle for direction guidance or position determination, and the map may be a navigation map in the vehicle, and the map may include at least the alignment area.

[0056] Specifically, a distance sensor may be installed in the vehicle, and the distance sensor may be used to collect the distance from the current position of the vehicle to the target area as the target area distance. Alternatively, the vehicle may also determine the distance between the current position and the target area through a map, and the distance determined through the map may be used as the target area distance.

[0057] Step 220: extract the driving speed and braking control delay of the vehicle.

[0058] In an embodiment of the present invention, the vehicle driving state includes at least the vehicle's driving speed and braking control delay. The driving speed may indicate the current speed of the vehicle, and the braking control delay may be the delay in transmitting instructions within the vehicle. The braking control delay may be the length of time between issuing a vehicle control instruction and the start of braking control of the vehicle.

[0059] Step 230: The product of the braking control time delay and the driving speed is taken as the delayed braking distance.

[0060] The delayed braking distance may be the distance that the vehicle is delayed in traveling due to a braking control delay.

[0061] Specifically, the distance traveled by the vehicle at the driving speed within the time period corresponding to the braking control delay can be used as the delayed braking distance, and the product of the braking control delay and the driving speed can be determined, and the product can be used as the delayed braking distance.

[0062] Step 240: Obtain the braking acceleration of the vehicle, and determine the braking distance according to the braking acceleration and the driving speed.

[0063] The braking acceleration may be the speed at which the vehicle changes during braking. The braking acceleration may be pre-configured or determined by the braking performance of the vehicle. The braking acceleration may be pre-calibrated in the vehicle.

[0064] In the embodiment of the present invention, when determining the braking distance, the braking acceleration pre-configured for the vehicle can be obtained, and the distance required for the vehicle to brake can be determined by the braking acceleration and the driving speed, and the distance can be used as the braking distance. It can be understood that the process of determining the braking distance based on the braking acceleration and the driving speed can be regarded as the process of decelerating the vehicle from the driving speed to 0 according to the braking acceleration. In this process, the braking distance can be determined by the following formula:

[0065]

[0066] Among them, a can represent the braking acceleration, v can represent the driving speed, and L2 can represent the braking distance.

[0067] Step 250: taking the sum of the delayed braking distance and the braking distance as the critical braking distance.

[0068] In the embodiment of the present invention, the sum of the delayed braking distance and the braking distance may be used as the critical braking distance, that is, the critical braking distance may be the distance required for controlling the vehicle to brake.

[0069] Step 260: When the aiming area distance matches the braking critical distance, control the vehicle to brake.

[0070] In the embodiment of the present invention, the aiming area distance may be compared with the braking critical distance, and when the comparison area distance reaches the braking critical distance, the vehicle may be braked, so that the vehicle can reach the aiming area with high precision after braking.

[0071] The embodiment of the present invention collects the vehicle driving state and the alignment area distance when an alignment trigger instruction is obtained, obtains the vehicle driving speed and the braking control delay within the driving state, uses the product of the braking control delay and the driving speed as the delayed braking distance, determines the pre-configured braking acceleration, determines the braking distance according to the braking acceleration and the driving speed, uses the sum of the braking distance and the braking acceleration as the braking critical distance, and controls the vehicle to brake when the braking critical distance matches the alignment area distance, thereby achieving high-precision control of the vehicle braking process, reducing the distance error caused by the vehicle command propagation delay, improving the braking control accuracy, reducing the safety hazards caused by vehicle docking failure, and improving the safety of vehicle use.

[0072] Further, based on the above-mentioned embodiment of the invention, when the alignment area distance matches the braking critical distance, controlling the vehicle to brake includes:

[0073] Determine the distance difference between the alignment area distance and the braking critical distance; when the distance difference is less than a preset error threshold, control the vehicle to brake according to the braking acceleration so that the vehicle is aligned with the alignment area when it stops.

[0074] Among them, the preset error threshold can be the maximum error distance allowed in the braking control process. The preset error threshold can be determined by the vehicle's software and hardware error parameters. The preset error threshold can be determined by information such as the vehicle's driving speed error, braking acceleration error, and delay error. The driving speed error can be caused by the vehicle's driving speed collection software and hardware devices, while the braking acceleration error can be caused by the vehicle's deceleration control hardware, and the delay error can be caused by the vehicle's communication network error. The preset error threshold can be determined by performing statistical analysis on the error generating factors in the vehicle and the above factors.

[0075] In an embodiment of the present invention, the distance difference between the alignment area distance and the braking critical distance can be obtained, and the distance difference can be compared with a preconfigured preset error threshold. When the distance difference is less than the preset error threshold, the vehicle can be controlled to brake according to the braking acceleration, so that the vehicle docks with the alignment area when it stops. The maximum error of the vehicle braking control is limited by the preset error threshold to ensure the accuracy of the vehicle braking control.

[0076] In some inventive embodiments, the preset error threshold is determined based on a maximum speed error of the vehicle's traveling speed, a maximum acceleration error of the braking acceleration, and a maximum delay error of the braking control delay.

[0077] Among them, the maximum speed error can be the maximum error of the driving speed, which can be determined by analyzing the vehicle's speed sensor accuracy or map accuracy. The maximum acceleration error can be determined by analyzing the vehicle's braking performance. The maximum delay error can be the maximum error of the braking control delay, which can be determined by analyzing the vehicle's communication network.

[0078] Specifically, the maximum speed error of the vehicle's driving speed, the maximum acceleration error of the braking acceleration, and the maximum delay error of the braking control delay may be analyzed, and the preset error threshold may be determined by jointly analyzing the above errors.

[0079] Embodiment 3

[0080] The embodiment of the present invention takes the braking control during the wireless charging docking process of an unmanned vehicle as an example. The distance between the charging receiving end and the charging transmitting end of the wireless charging device is required to be 60 to 100 mm, but the control accuracy of the unmanned vehicle's self-driving system is (±100mm, ±5°). The self-driving accuracy of the unmanned vehicle cannot meet the braking control accuracy of the wireless charging device, which may easily cause the unmanned vehicle to collide with the wireless charging device. There are safety hazards if the unmanned vehicle's self-driving system is used for braking only. Therefore, see Figure 3 The braking control method provided by the embodiment of the present invention may include the following process:

[0081] 1. The vehicle is guided by the self-driving system to the prepared parking point;

[0082] 2. The vehicle switches from the self-driving system to the braking commission mode, and the vehicle speed is switched to the vehicle's minimum stable speed. Other speeds can also be selected according to actual needs.

[0083] 3. When the vehicle's position sensor detects that the distance between the wireless charging transmitter and the charging receiver installed on the vehicle is L, the vehicle immediately starts braking. The installation position of the position sensor can determine the sender of the braking demand signal. For example, when the position sensor is installed on the wireless charging transmitter, if the wireless charging pile and the vehicle communicate through the cloud, the wireless charging transmitter sends a braking demand signal to the cloud platform, and the cloud platform transmits the braking demand to the vehicle end, and the vehicle end receives the braking demand and performs the braking action; if the wireless charging pile and the vehicle communicate directly, the wireless charging transmitter directly sends the braking demand signal to the vehicle end. When the position sensor is installed on the vehicle end, the transmission of the braking demand instruction can be completed by relying on the internal communication of the vehicle end.

[0084] 4. After a period of time, the vehicle brakes to a stop, and the wireless charger installed on the vehicle is within the charging adaptation range.

[0085] In an embodiment of the present invention, in order to achieve high-precision parking control, the distance L can be determined by the command delay and the vehicle speed. Specifically, since the transmission and signal processing of the braking command require a certain amount of time, we call it the command delay. The command delay will cause the vehicle to delay braking during braking. The increase in braking distance caused by the command delay is called the delayed braking distance, represented by L1. When the vehicle receives a braking request, the braking system builds up braking pressure and the vehicle is limited by inertia. The vehicle will continue to slide. This sliding distance is called the braking distance, represented by L2. The distance between the center of the charging adaptation range and the transmitting end of the wireless charging pile is represented by L0.

[0086] Since the position of the starting parking point is detected by the distance sensor, the error of L is caused by the measurement error of the distance sensor itself, and its actual amount can be expressed by the following formula:

[0087] L=L0+L1+L2, the actual value is within the interval [L-△L, L+△L], and the error interval is: [-△L, △L]; the error of the delayed braking distance L1 is determined by the delayed braking time and the vehicle speed, which can be expressed by the following formula: L1=vt1, its actual value is within the interval [(v-△v)×(t1-△t1), (v+△v)×(t1+△t1)], and the error interval is [vt1-(v-△v)×(t1-△t1), (v+△v)×(t1+△t1)-vt1]. Similarly, the error of the braking distance L2 is determined by the acceleration and speed, which can be expressed by the following formula: Its actual amount is in the range The error range is

[0088] In summary, L0 = L-L1-L2. According to the error intervals of the above quantities, the error interval of L0 is

[0089] The actual range that can meet the charging requirements is: [Lr-ΔLr, Lr+ΔLr], and the error range is [-ΔLr, ΔLr]. When the distance sensor detects that the distance between the current vehicle receiving end and the wireless charging transmitting end is L, parking begins immediately, which ensures that the final parking position meets the parking requirements for wireless charging.

[0090] The meanings of the parameters in the above description can be defined as follows:

[0091] L: The distance from the starting parking point to the installation point of the wireless charging transmitter

[0092] L0: The distance between the final parking point and the transmitter of the wireless charging station

[0093] L r : The distance between the transmitter and the receiver required for wireless charging

[0094] △L r :Can meet the error range between the transmitter and the receiver of charging

[0095] L1: Delayed braking distance

[0096] L2: Braking distance

[0097] v: The speed of the vehicle moving at a constant speed in parking mode

[0098] a: Vehicle braking acceleration

[0099] t1: Delay braking time

[0100] △t1: Delayed braking time error

[0101] t2: Braking time

[0102] △t2: Braking time error

[0103] △L: Detection error of sensor distance

[0104] In the embodiments of the present invention, the types of position sensors are not limited here, and may include laser distance sensors, ultrasonic distance sensors, etc. The position sensor may be installed on the vehicle or the wireless charging pile. When the vehicle has a distance sensor, the vehicle's distance sensor may be directly used to obtain the distance between the charging receiving end of the vehicle and the charging transmitting end of the wireless charging pile. In some embodiments, the above distance may also be determined by a map.

[0105] It is understandable that the above parking control process is not limited to vehicle charging scenarios, but can also be applied in other scenarios, such as high-precision self-driving parking, automatic parking, intelligent traffic control, etc., which can improve the accuracy of parking control, reduce vehicle parking errors, and improve vehicle safety. In addition, parking can also be achieved based on the map and the parking control method provided by the embodiment of the present invention. The distance between the docking area and the vehicle can be determined through the map, and the vehicle parking can be controlled based on the distance.

[0106] Embodiment 4

[0107] Figure 4 Schematic diagram of a brake control device according to Embodiment 4 of the present invention. Figure 4 As shown, the device comprises:

[0108] The parameter acquisition module 310 is used to obtain the vehicle driving state and the alignment area distance from the alignment area in response to the alignment trigger instruction.

[0109] The distance determination module 320 is used to determine the critical braking distance according to the driving speed of the vehicle and the braking control delay.

[0110] The braking control module 330 is used to control the vehicle to brake when the alignment area distance matches the braking critical distance.

[0111] In the embodiment of the present invention, when the parameter acquisition module receives the alignment trigger instruction, the vehicle driving state and the alignment area distance from the alignment area are collected; the distance determination module determines the critical braking distance according to the driving speed of the vehicle driving state and the braking control delay; the braking control module can brake the vehicle when the alignment area distance is at the critical braking distance, thereby realizing the braking control of the vehicle, improving the vehicle control accuracy, reducing the safety hazards caused by vehicle docking failure, and improving the safety of vehicle use.

[0112] Further, based on the above embodiments of the invention, the parameter acquisition module 310 is specifically used for at least one of the following:

[0113] Receiving the alignment trigger instruction sent by the cloud server, collecting the driving status of the vehicle and the distance of the alignment area;

[0114] Receiving the alignment trigger instruction triggered by the vehicle user, collecting the vehicle driving status and the alignment area distance;

[0115] Receiving the alignment trigger instruction transmitted by the vehicle interaction device, collecting the vehicle driving state and the reference area distance;

[0116] The alignment trigger instruction triggered by the vehicle controller when the vehicle interaction device is detected is received, and the vehicle driving state and the alignment area distance are collected.

[0117] Furthermore, based on the above-mentioned embodiment of the invention, it also includes: a speed switching module, which is used to switch the vehicle's driving speed to the vehicle's minimum stable speed.

[0118] In some inventive embodiments, the distance determination module 320 includes:

[0119] An information extraction unit is used to extract the driving speed and the braking control delay of the vehicle driving state.

[0120] The delayed distance unit is used to take the product of the braking control time delay and the driving speed as the delayed braking distance.

[0121] The braking distance unit is used to obtain the braking acceleration of the vehicle and determine the braking distance according to the braking acceleration and the driving speed.

[0122] The critical distance unit is used to take the sum of the delayed braking distance and the braking distance as the braking critical distance.

[0123] In some inventive embodiments, the brake control module 330 includes:

[0124] The difference determination unit is used to determine the distance difference between the alignment area distance and the braking critical distance.

[0125] The critical braking unit is used to control the vehicle to brake according to the braking acceleration when the distance difference is less than a preset error threshold, so that the vehicle is aligned with the alignment area when it stops.

[0126] In some embodiments of the invention, the preset error threshold in the brake control module 330 is determined based on the maximum speed error of the vehicle's driving speed, the maximum acceleration error of the braking acceleration, and the maximum delay error of the brake control delay.

[0127] In some embodiments of the invention, the acquisition of the alignment area distance in the parameter acquisition module 310 includes at least one of the following:

[0128] Calling a distance sensor installed on the vehicle to measure a distance from the target area to the target area;

[0129] A preconfigured map is obtained, and a distance of the control area from the control area is determined on the map.

[0130] The braking control device provided in the embodiment of the present invention can execute the braking control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0131] Embodiment 5

[0132] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0133] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0134] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a braking control method.

[0136] In some embodiments, the braking control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the braking control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the braking control method in any other appropriate manner (e.g., by means of firmware).

[0137] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0141] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0143] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0144] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A braking control method, characterized in that: The method comprises: In response to the alignment trigger instruction, obtaining a driving state of the vehicle and an alignment area distance from the alignment area; Determine a critical braking distance according to the driving speed of the vehicle and the braking control delay; When the alignment area distance matches the braking critical distance, the vehicle is controlled to brake.

2. The method according to claim 1, characterized in that: The step of obtaining the driving state of the vehicle and the alignment area distance from the alignment area in response to the alignment trigger instruction includes at least one of the following: Receiving the alignment trigger instruction sent by the cloud server, collecting the driving status of the vehicle and the distance of the alignment area; Receiving the alignment trigger instruction triggered by the vehicle user, collecting the vehicle driving status and the alignment area distance; Receiving the alignment trigger instruction transmitted by the vehicle interaction device, collecting the vehicle driving state and the reference area distance; The alignment trigger instruction triggered by the vehicle controller when the vehicle interaction device is detected is received, and the vehicle driving state and the alignment area distance are collected.

3. The method according to claim 1, characterized in that: Before obtaining the vehicle driving state and the distance to the alignment area, the method further includes: Switch the vehicle's driving speed to the lowest stable speed.

4. The method according to claim 1, characterized in that: The determining of the critical braking distance according to the driving speed and the braking control delay of the vehicle driving state includes: Extracting the driving speed and the braking control delay of the vehicle driving state; The product of the braking control time delay and the driving speed is taken as the delayed braking distance; Acquiring a braking acceleration of the vehicle, and determining a braking distance according to the braking acceleration and the driving speed; The sum of the delayed braking distance and the braking distance is used as the braking critical distance.

5. The method according to claim 4, characterized in that: When the alignment area distance matches the braking critical distance, controlling the vehicle to brake includes: determining a distance difference between the alignment area distance and the braking critical distance; When the distance difference is less than a preset error threshold, the vehicle is controlled to brake according to the braking acceleration so that the vehicle is aligned with the alignment area when it stops.

6. The method according to claim 5, characterized in that: The preset error threshold is determined based on a maximum speed error of the traveling speed of the vehicle, a maximum acceleration error of the braking acceleration, and a maximum delay error of the braking control delay.

7. The method according to claim 2, characterized in that: The collecting of the alignment area distance includes at least one of the following: Calling a distance sensor installed on the vehicle to measure a distance from the target area to the target area; A preconfigured map is obtained, and a distance of the control area from the control area is determined on the map.

8. A brake control device, characterized in that: The device comprises: A parameter acquisition module, for acquiring a vehicle driving state and an alignment area distance from an alignment area in response to an alignment trigger instruction; A distance determination module, used to determine a critical braking distance according to a driving speed of the vehicle and a braking control delay; The braking control module is used to control the vehicle to brake when the alignment area distance matches the braking critical distance.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the brake control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the braking control method according to any one of claims 1 to 7 when executed.

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