Vehicle emergency braking method and device, electronic equipment and readable storage medium

Abstract

The invention discloses a vehicle emergency braking method and device, electronic equipment and a readable storage medium, and the method comprises the steps that in response to a preset emergency braking working condition of a vehicle, condition parameters used for recognizing the braking working condition of an intelligent driving assistance system are obtained; the braking working condition is determined based on the condition parameters, and gain parameters corresponding to the braking working condition, the expected deceleration in the intelligent driving assistance system and the actual deceleration of the vehicle are obtained; the expected braking force of the intelligent driving assistance system is calculated according to the gain parameter, the expected deceleration and the actual deceleration; and braking force with the same value as the expected braking force is continuously applied to a braking device of the vehicle, so that emergency braking of the vehicle is achieved. According to the method, the braking working condition of the current vehicle is recognized, the corresponding gain parameter is called, and then the needed braking force is calculated and executed, so that the response speed of the system is increased, and the occupied space of software is saved.

Description

Technical Field

[0001] The present invention belongs to the field of automobile technology and relates to a vehicle emergency braking method, device, electronic equipment and a readable storage medium. Background Art

[0002] With the popularization of vehicles, frequent traffic accidents have become a major problem faced by people. Drivers may not be able to respond promptly and appropriately to scenes that require braking due to various reasons, such as driver distraction, excessive fatigue, or road conditions that are difficult to identify due to weather conditions, etc., which may cause serious traffic accidents. When Autonomous Emergency Braking (AEB) detects an emergency condition and the driver does not apply the brakes appropriately, the electronic stability system will apply braking torque to the vehicle according to the deceleration requested by the driver assistance system to achieve automatic emergency braking.

[0003] During the control process of automatic emergency braking, if a vehicle, pedestrian or cyclist is identified in front, the function will be triggered by triggering a tactile alarm (Automatic Warning Brake, AWB) with different levels of adjustment. At present, the control of front cross traffic target braking (FCTB) and rear cross traffic target braking (RCTB) has been derived from this technology. Both are emergency braking at low speeds. In terms of control, the automatic emergency braking control, front cross traffic target braking control and rear cross traffic target braking control that identify vehicles, pedestrians and cyclists are similar longitudinal acceleration controls. This control is mainly based on the difference between the target deceleration and the actual deceleration, and then uses a proportional-integral-differential controller for closed-loop processing to calculate the braking force in real time. Then the braking system builds pressure to control the vehicle's deceleration and stop the vehicle quickly.

[0004] However, in the actual test process, it was found that if the same set of logic is used, it is impossible to cover and handle these three scenarios. For example, in normal automatic emergency braking conditions, the deceleration is normally around -9m / s², and the response and accuracy meet the requirements. However, in front cross-target braking and rear cross-target braking, the deceleration generally requires a deceleration of -4m / s², which will cause deceleration overshoot and affect comfort, which is easy to cause complaints from end customers. If the high-speed automatic emergency braking control, front cross-target braking control, and rear cross-target braking control are developed as three functions in the normal development method, the code will be too redundant, affecting chip calculations and causing unnecessary waste. If the chip computing power is insufficient, the CPU load rate will exceed the limit, causing functional degradation and affecting functional safety.

[0005] Therefore, it is necessary to provide an improved technical solution to overcome the above technical problems existing in the prior art. Summary of the invention

[0006] The purpose of this application is to provide a vehicle emergency braking method, device, electronic device and readable storage medium, which improves the system's response speed and saves software space by identifying the current vehicle's braking condition and retrieving the corresponding gain parameters, thereby calculating the required braking force and executing it.

[0007] To achieve the above objectives: In a first aspect, the present invention provides a vehicle emergency braking method, characterized in that the method comprises: In response to the vehicle being in a preset emergency braking condition, obtaining a condition parameter for identifying a braking condition of an intelligent driving assistance system; Determine the braking condition based on the condition parameter, and obtain a gain parameter corresponding to the braking condition, as well as an expected deceleration in the intelligent driving assistance system and an actual deceleration of the vehicle; Calculating the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration; A braking force having the same value as the expected braking force is continuously applied to the braking device of the vehicle, thereby achieving emergency braking of the vehicle.

[0008] In one embodiment, the conditional parameters for identifying the braking condition of the intelligent driving assistance system include the expected deceleration in the intelligent driving assistance system, the gear position and the vehicle speed of the vehicle.

[0009] In one embodiment, determining the braking condition based on the condition parameter includes: If the expected deceleration is not greater than a preset deceleration threshold and the gear position of the vehicle is the D gear, determining that the braking condition is an automatic emergency braking condition; If the expected deceleration is greater than the preset deceleration threshold and less than 0, and the gear position of the vehicle is the D gear, and the vehicle speed is not greater than the preset vehicle speed threshold, then the braking condition is determined to be a front crossing target braking condition; If the expected deceleration is greater than the preset deceleration threshold and less than 0, and the gear position of the vehicle is R gear, and the vehicle speed is not greater than the preset vehicle speed threshold, then the braking condition is determined to be a rear-crossing target braking condition.

[0010] In one embodiment, the gain parameters include a proportional gain coefficient, an integral gain coefficient, and a differential gain coefficient.

[0011] In one embodiment, the automatic emergency braking condition, the front crossing target braking condition and the rear crossing target braking condition respectively correspond to a set of proportional gain coefficients, integral gain coefficients and differential gain coefficients for calculating the expected braking force.

[0012] In one implementation, the expected braking force of the intelligent driving assistance system is calculated according to the gain parameter, the expected deceleration, and the actual deceleration, and the calculation formula is as follows:

[0013] Wherein, u(t) is the desired braking force, is the proportional gain coefficient, e(t) is the difference between the expected deceleration and the actual deceleration, is the integral gain coefficient, t is the signal period, is the differential gain coefficient.

[0014] In one implementation, obtaining the gain parameter corresponding to the braking condition includes: A gain parameter corresponding to the braking condition is obtained through a proportional-integral-differential controller of the vehicle.

[0015] In a second aspect, the present invention provides a vehicle emergency braking device, comprising: A condition parameter acquisition module, used for acquiring a condition parameter for identifying a braking condition of an intelligent driving assistance system in response to the vehicle being in a preset emergency braking condition; a braking condition determination module, configured to determine the braking condition based on the condition parameter, and obtain a gain parameter corresponding to the braking condition, as well as an expected deceleration in the intelligent driving assistance system and an actual deceleration of the vehicle; A braking force calculation module, used to calculate the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration; The brake execution module is used to continuously apply a braking force having the same value as the expected braking force to the braking device of the vehicle, thereby realizing emergency braking of the vehicle.

[0016] In a third aspect, the present application provides an electronic device, characterized in that it includes: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method described in the first aspect.

[0018] The present application provides a vehicle emergency braking method, device, electronic device and readable storage medium, including: in response to the vehicle being in a preset emergency braking condition, obtaining conditional parameters for identifying the braking condition of an intelligent driving assistance system; determining the braking condition based on the conditional parameters, and obtaining a gain parameter corresponding to the braking condition, as well as the expected deceleration in the intelligent driving assistance system and the actual deceleration of the vehicle; calculating the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration; and continuously applying a braking force of the same value as the expected braking force to the braking device of the vehicle, thereby achieving emergency braking of the vehicle. The present invention improves the response speed of the system and saves software space by identifying the braking condition of the current vehicle, retrieving the corresponding gain parameter, and then calculating and executing the required braking force. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic flow chart of a vehicle emergency braking method provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a vehicle emergency brake device provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of systems and methods consistent with some aspects of the present application as detailed in the appended claims.

[0022] It should be noted that in this article, step codes such as S1 and S2 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. When implementing the step, those skilled in the art may execute S2 first and then S1, etc., but these should all be within the scope of protection of this application.

[0023] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] like Figure 1 As shown, an embodiment of the present application provides a vehicle emergency braking method, comprising: Step S101, in response to the vehicle being in a preset emergency braking condition, obtaining condition parameters for identifying the braking condition of the intelligent driving assistance system.

[0025] It is understood that when an emergency occurs or is about to occur on the road on which the vehicle is traveling, if the driver does not apply the brakes appropriately, the electronic stability system will apply braking torque to the vehicle according to the deceleration requested by the driver assistance system to achieve automatic emergency braking.

[0026] In one embodiment, the condition parameters used to identify the braking condition of the intelligent driving assistance system include the expected deceleration in the intelligent driving assistance system, the gear position of the vehicle, and the vehicle speed.

[0027] It can be understood that the expected deceleration in the intelligent driving assistance system is the expected deceleration issued by the vehicle's intelligent driving assistance system to achieve the target braking effect, and the vehicle's gear position is a different mode that characterizes the vehicle's driving speed and traction.

[0028] Step S102, determining the braking condition based on the condition parameters, and obtaining the gain parameters corresponding to the braking condition, as well as the expected deceleration in the intelligent driving assistance system and the actual deceleration of the vehicle.

[0029] It is understandable that for normal automatic emergency braking control, the vehicle speed range it covers is relatively wide. Generally, a normal response of -9 m / s² deceleration and a control accuracy of ±10% are required in the range of 0-80 km / h. However, front cross target braking and rear cross target braking in the low speed section generally require a vehicle speed of 5-15 km / h, a response of -4 m / s² deceleration and a control accuracy of ±10%. The same control parameters of automatic emergency braking control will overshoot when used for front cross target braking and rear cross target braking, and cannot meet the control accuracy requirement of ±10%. If the front cross target braking and rear cross target braking are developed as two separate functions, the code will be too redundant, affecting chip calculations and causing a waste of computing power.

[0030] Furthermore, after identifying and determining the current braking condition, the control accuracy requirement of ±10% can be met by calling the gain parameters corresponding to different braking conditions.

[0031] In one embodiment, determining the braking condition based on the condition parameter includes: If the expected deceleration is not greater than the preset deceleration threshold and the vehicle's gear is in D gear, the braking condition is determined to be an automatic emergency braking condition; if the expected deceleration is greater than the preset deceleration threshold and less than 0, and the vehicle's gear is in D gear, and the vehicle speed is not greater than the preset speed threshold, the braking condition is determined to be a front crossing target braking condition; if the expected deceleration is greater than the preset deceleration threshold and less than 0, and the vehicle's gear is in R gear, and the vehicle speed is not greater than the preset speed threshold, the braking condition is determined to be a rear crossing target braking condition.

[0032] It can be understood that when the absolute value of the expected deceleration in the intelligent driving assistance system is large enough, the automatic emergency braking can respond normally; when the absolute value of the expected deceleration is small or even close to 0, it is judged as the front crossing target braking condition or the rear crossing target braking condition according to the gear position of the vehicle. Among them, the above conditions can only operate normally when the vehicle is at a low speed.

[0033] Specifically, the preset deceleration threshold may be -5m / s², and the preset vehicle speed threshold may be 20kph.

[0034] In one embodiment, the gain parameters include a proportional gain coefficient, an integral gain coefficient, and a differential gain coefficient.

[0035] It can be understood that by adjusting the values ​​of the proportional gain coefficient, the integral gain coefficient and the differential gain coefficient, the required braking force can be calculated under different braking conditions and the control accuracy requirements can be met.

[0036] In one embodiment, the automatic emergency braking condition, the front crossing target braking condition and the rear crossing target braking condition respectively correspond to a set of proportional gain coefficients, integral gain coefficients and differential gain coefficients for calculating the expected braking force.

[0037] It is understandable that in the prior art, if the braking control of different braking conditions is to be realized, the function needs to be developed separately according to each braking condition. The present invention achieves emergency braking of the vehicle by associating the gain parameter with the braking condition and adjusting the proportional gain coefficient, the integral gain coefficient and the differential gain coefficient under different braking conditions.

[0038] In one implementation, obtaining a gain parameter corresponding to a braking condition includes: The gain parameters corresponding to the braking condition are obtained through the vehicle's proportional-integral-derivative controller.

[0039] It can be understood that the proportional-integral-derivative controller (PID controller for short) forms a control deviation according to a given value and an actual output value, and forms a control quantity by linearly combining the deviation in proportion, integral and differential to control the controlled object. In the present invention, the proportional-integral-derivative controller calls the proportional gain coefficient, integral gain coefficient and derivative gain coefficient corresponding to the current braking condition, and then calculates the braking force required by the system.

[0040] Step S103, calculating the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration.

[0041] In one embodiment, the expected braking force of the intelligent driving assistance system is calculated according to the gain parameter, the expected deceleration and the actual deceleration, and the calculation formula is as follows:

[0042] Where u(t) is the expected braking force, is the proportional gain coefficient, e(t) is the difference between the expected deceleration and the actual deceleration, is the integral gain coefficient, t is the signal period, is the differential gain coefficient.

[0043] It can be understood that the difference between the actual deceleration of the vehicle and the expected deceleration in the intelligent driving assistance system is the deviation of the proportional-integral-differential control. The expected braking force can be calculated through proportional-integral-differential. According to the formula F=M*a (F is force, M is the vehicle weight, and a is acceleration), the expected braking force in each signal cycle can be calculated, that is, dFx. The final output expected braking force can be obtained by accumulating dFx.

[0044] Specifically, the differential gain coefficient is usually marked as 0, and the signal period may be 5-20 ms.

[0045] Step S104: continuously applying a braking force having the same value as the expected braking force to the braking device of the vehicle, thereby achieving emergency braking of the vehicle.

[0046] It can be understood that by continuously applying braking force to the braking device, the actual deceleration of the vehicle can be made close to the expected deceleration in the intelligent driving assistance system, thereby achieving emergency braking with the desired effect.

[0047] Through the above method, the braking condition of the current vehicle is identified under emergency braking conditions, and the corresponding gain parameters are retrieved, and then the required braking force is calculated and executed. Compared with the existing technology, the response speed of the system is improved and the software space is saved.

[0048] Based on the same inventive concept as the above embodiments, the present application provides a vehicle emergency braking device. Figure 2 , is a vehicle emergency braking device provided in an embodiment of the present application, and the vehicle emergency braking device can be implemented in software and / or hardware. The device includes: A condition parameter acquisition module 21, for acquiring a condition parameter for identifying a braking condition of an intelligent driving assistance system in response to the vehicle being in a preset emergency braking condition; A braking condition determination module 22, configured to determine the braking condition based on the condition parameter, and obtain a gain parameter corresponding to the braking condition, as well as an expected deceleration in the intelligent driving assistance system and an actual deceleration of the vehicle; A braking force calculation module 23, used to calculate the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration; The brake execution module 24 is used to continuously apply a braking force having the same value as the expected braking force to the braking device of the vehicle, thereby achieving emergency braking of the vehicle.

[0049] Based on the same inventive concept as the above embodiments, the present application embodiment provides an electronic device, such as Figure 3 As shown, the device includes: a processor 301 and a memory 302 storing a computer program; wherein, Figure 3 The processor 301 shown in the figure is not used to indicate that the number of the processor 301 is one, but is only used to indicate the positional relationship of the processor 301 relative to other devices. In actual applications, the number of the processor 301 may be one or more; similarly, Figure 3The memory 302 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 302 relative to other devices. In practical applications, the number of memories 302 can be one or more. When the processor 301 runs the computer program, the above-mentioned vehicle emergency braking method is implemented.

[0050] The device may also include: at least one network interface 303. The various components in the device are coupled together via a bus system 304. It is understood that the bus system 304 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 304 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 3 Various buses are labeled as bus system 304 .

[0051] The memory 302 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 302 described in the embodiments of the present application is intended to include but is not limited to these and any other suitable types of memories.

[0052] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer-readable storage medium, in which a computer program is stored. The computer-readable storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is executed by the processor, the above method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0053] In the present application, the same or similar terminology concepts, technical solutions and / or application scenario descriptions are generally described in detail only the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of the present application, for the same or similar terminology concepts, technical solutions and / or application scenario descriptions that are not described in detail later, reference can be made to the previous related detailed descriptions.

[0054] In the present application, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0055] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle emergency braking method, characterized in that: The method comprises: In response to the vehicle being in a preset emergency braking condition, obtaining a condition parameter for identifying a braking condition of an intelligent driving assistance system; Determine the braking condition based on the condition parameter, and obtain a gain parameter corresponding to the braking condition, as well as an expected deceleration in the intelligent driving assistance system and an actual deceleration of the vehicle; Calculating the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration; A braking force having the same value as the expected braking force is continuously applied to the braking device of the vehicle, thereby achieving emergency braking of the vehicle.

2. The method according to claim 1, characterized in that The condition parameters for identifying the braking condition of the intelligent driving assistance system include the expected deceleration in the intelligent driving assistance system, the gear position and the vehicle speed of the vehicle.

3. The method according to claim 2, characterized in that The determining the braking condition based on the condition parameter comprises: If the expected deceleration is not greater than a preset deceleration threshold and the gear position of the vehicle is the D gear, determining that the braking condition is an automatic emergency braking condition; If the expected deceleration is greater than the preset deceleration threshold and less than 0, and the gear position of the vehicle is the D gear, and the vehicle speed is not greater than the preset vehicle speed threshold, then the braking condition is determined to be a front crossing target braking condition; If the expected deceleration is greater than the preset deceleration threshold and less than 0, and the gear position of the vehicle is R gear, and the vehicle speed is not greater than the preset vehicle speed threshold, then the braking condition is determined to be a rear-crossing target braking condition.

4. The method according to claim 1, characterized in that The gain parameters include a proportional gain coefficient, an integral gain coefficient, and a differential gain coefficient.

5. The method according to claims 3 and 4, characterized in that The automatic emergency braking condition, the front crossing target braking condition and the rear crossing target braking condition respectively correspond to a set of proportional gain coefficients, integral gain coefficients and differential gain coefficients, which are used to calculate the expected braking force.

6. The method according to claim 5, characterized in that The expected braking force of the intelligent driving assistance system is calculated according to the gain parameter, the expected deceleration and the actual deceleration, and the calculation formula is as follows: Wherein, u(t) is the desired braking force, is the proportional gain coefficient, e(t) is the difference between the expected deceleration and the actual deceleration, is the integral gain coefficient, t is the signal period, is the differential gain coefficient.

7. The method according to claim 1, characterized in that The obtaining of the gain parameter corresponding to the braking condition comprises: A gain parameter corresponding to the braking condition is obtained through a proportional-integral-differential controller of the vehicle.

8. A vehicle emergency braking device, characterized in that: The device comprises: A condition parameter acquisition module, used for acquiring a condition parameter for identifying a braking condition of an intelligent driving assistance system in response to the vehicle being in a preset emergency braking condition; a braking condition determination module, configured to determine the braking condition based on the condition parameter, and obtain a gain parameter corresponding to the braking condition, as well as an expected deceleration in the intelligent driving assistance system and an actual deceleration of the vehicle; A braking force calculation module, used to calculate the expected braking force of the intelligent driving assistance system according to the gain parameter, the expected deceleration and the actual deceleration; The brake execution module is used to continuously apply a braking force having the same value as the expected braking force to the braking device of the vehicle, thereby realizing emergency braking of the vehicle.

9. An electronic device, characterized in that: include: A processor and a memory for storing executable instructions; wherein the processor is configured to execute the instructions to implement the vehicle emergency braking method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor, the vehicle emergency braking method according to any one of claims 1 to 7 is implemented.

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