Braking method, vehicle controller and vehicle

Abstract

The invention relates to the technical field of automobiles, in particular to a braking method, a vehicle controller and a vehicle. The method comprises the following steps: acquiring an actual distance from a vehicle backing direction to an obstacle and a moving speed of the obstacle; under the condition that the ratio of the actual distance to the moving speed is smaller than preset time, operation data of the vehicle and head data of a driver are obtained; determining an attention result based on the operation data and the head data; and based on the attention result, the actual distance and the operation data, when it is determined that emergency braking is started, a brake is controlled to start emergency braking.

Description

Technical Field

[0001] The present disclosure relates to the field of automobile technology, and in particular to a braking method, a vehicle controller and a vehicle. Background Art

[0002] Currently, when a vehicle is reversing, the user can use the rearview mirror to determine the distance between the vehicle and an obstacle. If the user fails to operate in a timely manner or makes an error in the operation, the vehicle may hit the obstacle, causing damage to the vehicle.

[0003] Therefore, how to prevent a vehicle from hitting an obstacle when reversing has become a problem that needs to be solved urgently. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a braking method, a vehicle controller and a vehicle, which are used to solve the problem of how to prevent the vehicle from hitting an obstacle when reversing.

[0005] In a first aspect, the present application provides a braking method, including: obtaining the actual distance to an obstacle in the reversing direction and the moving speed of the obstacle; when the ratio of the actual distance to the moving speed is less than a preset time, obtaining the vehicle's operating data and the driver's head data; based on the operating data and the head data, determining the attention result; based on the attention result, the actual distance and the operating data, determining when to initiate emergency braking, and controlling the brake to initiate emergency braking.

[0006] In the second aspect, the present application provides a vehicle controller, including: an acquisition module, used to obtain the actual distance to the obstacle in the reversing direction and the moving speed of the obstacle; a processing module, used to control the acquisition module to obtain the vehicle's operating data and the driver's head data when the ratio of the actual distance obtained by the acquisition module to the moving speed is less than a preset time; the acquisition module is also used to determine the attention result based on the operating data and head data obtained by the acquisition module; the acquisition module is also used to control the brake to start emergency braking when determining to start emergency braking based on the attention result, the actual distance and the operating data.

[0007] In a third aspect, the present application provides a vehicle, the vehicle comprising the vehicle controller as described above.

[0008] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above method.

[0009] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0010] As can be seen from the above, in the braking method provided by the present disclosure, the vehicle controller obtains the actual distance from the obstacle in the reversing direction and the moving speed of the obstacle; when the ratio of the actual distance to the moving speed is less than the preset time, the vehicle operation data and the driver's head data are obtained; based on the operation data and the head data, the attention result is determined; based on the attention result, the actual distance and the operation data, when it is determined that the emergency braking is initiated, the brake is controlled to initiate the emergency braking. Since the vehicle's brake initiates the emergency braking, it can avoid the driver's lack of concentration when reversing or weak perception of the risk of rear collision, which causes the vehicle to collide with the obstacle, solving the problem of how to prevent the vehicle from hitting an obstacle when reversing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0013] Figure 1 exemplarily shows one of the flow charts of a braking method provided in the first embodiment;

[0014] Figure 2 2 is a schematic diagram of a braking method according to the first embodiment of the present invention;

[0015] Figure 3 FIG. 3 exemplarily shows a flow chart of a braking method provided in the first embodiment;

[0016] Figure 4 FIG4 is a fourth flow chart of a braking method provided in the first embodiment;

[0017] Figure 5 FIG. 5 exemplarily shows a fifth flow chart of a braking method provided in the first embodiment;

[0018] Figure 6 One of the structural diagrams of the vehicle controller provided in the second embodiment is exemplarily shown in FIG.

[0019] Figure 7 FIG. 2 exemplarily shows a second structural diagram of the vehicle controller provided in the second embodiment. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0022] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device 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 device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0023] Embodiment 1

[0024] Figure 1 A flow chart of a vehicle control method is shown in FIG. 1 , and the execution subject of this example may be a vehicle controller, such as Figure 1 As shown, the method includes:

[0025] S11. Acquire the actual distance to the obstacle in the reversing direction and the moving speed of the obstacle.

[0026] In some examples, after the vehicle starts the reverse function, the vehicle begins to reverse, and the vehicle controller obtains the actual distance to the obstacle in the reverse direction and the moving speed of the obstacle.

[0027] In some examples, the vehicle controller may obtain the actual distance to the obstacle through a distance measuring device installed on the vehicle. Exemplarily, the distance measuring device may be a laser ranging sensor.

[0028] In some examples, the vehicle controller may determine the movement distance of the vehicle at adjacent moments based on the position information of the obstacle in the vehicle coordinate system at adjacent moments, and determine the movement speed of the vehicle based on the difference between adjacent moments and the movement distance.

[0029] The process of establishing the vehicle coordinate system includes:

[0030] A vehicle coordinate system is established with the center of the vehicle as the coordinate origin, the reversing direction parallel to the ground as the x-axis, the direction parallel to the ground and perpendicular to the reversing direction as the y-axis, and the direction perpendicular to the ground as the z-axis.

[0031] S12. When the ratio of the actual distance to the moving speed is less than the preset time, the vehicle operation data and the driver's head data are obtained.

[0032] In some examples, the rear cross traffic alert system (RCTA) includes a first-level alarm and a second-level alarm; wherein, when the ratio of the actual distance to the moving speed is greater than the preset time, it is determined to be in a first-level alarm, and the vehicle controller generates a preset prompt message at this time; wherein, the preset prompt message is used to indicate the presence of an obstacle. At this time, the driver can pay attention to the obstacles around the vehicle based on the preset prompt message. Afterwards, when the ratio of the actual distance to the moving speed is less than the preset time, it is determined to be in a second-level alarm, at which time the distance between the vehicle and the obstacle is relatively close. In order to avoid the driver not noticing the obstacles around the vehicle, causing the vehicle to collide with the obstacle, the vehicle controller obtains the vehicle's operating data and the driver's head data, and determines the attention result based on the operating data and the head data; based on the attention result, the actual distance and the operating data, when it is determined to start the emergency brake, the brake is controlled to start the emergency brake. In this way, the problem that the driver does not notice the obstacles around the vehicle and causes the vehicle to collide with the obstacle can be avoided.

[0033] S13. Determine the attention result based on the operation data and the head data.

[0034] In some examples, when determining the attention result, the running data and the head data can be input into the attention model for recognition to obtain the attention result. The training process of the attention model includes:

[0035] Obtain first training sample data and a first marking result of the first training sample data; wherein the first training sample data includes at least one historical operation data of a vehicle and head data of a driver, and the first marking result includes attention results corresponding to the historical operation data of the vehicle and the head data of the driver.

[0036] The first training sample data is input into the first neural network model for learning, and a first prediction result of the first neural network model on the first training sample data is obtained.

[0037] Based on the first prediction result and the first labeling result, the network parameters of the first neural network model are adjusted until the first neural network model converges to obtain an attention model.

[0038] In some examples, when determining the attention result, feature points can be extracted from the head data to obtain facial feature points and head posture feature points; based on the facial feature points and head posture feature points, a first result can be determined; based on the running data, a second result can be determined; and based on the first result and the second result, the attention result can be determined.

[0039] S14. When it is determined that emergency braking is to be initiated based on the attention result, the actual distance and the operating data, the brake is controlled to initiate emergency braking.

[0040] In some examples, when determining whether to initiate emergency braking, the attention result, actual distance, and operation data may be input into a braking model for data processing to determine whether to initiate emergency braking. The training process of the braking model includes:

[0041] The second training sample data and the second marking result of the second training sample data are obtained, wherein the second training sample data includes historical attention results, actual distance and operation data, and the second marking result includes a mark of whether to start emergency braking corresponding to the historical attention results, actual distance and operation data.

[0042] The second training sample data is input into the second neural network model for learning to obtain a second prediction result of the second neural network model for the second training sample data.

[0043] Based on the second prediction result and the second marking result, the network parameters of the second neural network model are adjusted until the second neural network model converges to obtain a braking model.

[0044] In some examples, when determining whether to initiate emergency braking, if the attention result is inattention, and the actual distance is less than the distance threshold, and the operating status is that the system has no faults and the system is not activated, it is determined to initiate emergency braking; if the attention result is focused, a prompt message is generated.

[0045] As can be seen from the above, in the braking method provided by the embodiment of the present disclosure, the vehicle controller obtains the actual distance from the obstacle in the reversing direction and the moving speed of the obstacle; when the ratio of the actual distance to the moving speed is less than the preset time, the vehicle operation data and the driver's head data are obtained; based on the operation data and the head data, the attention result is determined; based on the attention result, the actual distance and the operation data, when it is determined that the emergency braking is initiated, the brake is controlled to initiate the emergency braking. Since the vehicle's brake initiates the emergency braking, it can avoid the problem of the vehicle colliding with the obstacle due to the driver's lack of concentration when reversing or the weak ability to perceive the risk of rear collision, thereby protecting the life and property of the vehicle.

[0046] In some possible implementation examples, combined with Figure 1 ,like Figure 2 As shown, the above S13 can be specifically implemented through the following S130-S133.

[0047] S130, extracting feature points from the head data to obtain facial feature points and head posture feature points;

[0048] In some examples, the facial landmarks include eye landmarks.

[0049] In some examples, the head data may be a facial image of the driver captured by an image capture device disposed in a cabin of the vehicle. Then, the vehicle controller separates the foreground and background of the facial image to obtain a foreground image. The vehicle controller extracts feature points from the foreground image to obtain facial feature points and head posture feature points. Then, based on the facial feature points and the head posture feature points, the driver's sight direction is determined, and the realized direction is used as the first result.

[0050] S131. Determine a first result based on facial feature points and head posture feature points.

[0051] S132. Determine a second result based on the operation data.

[0052] In some examples, the operation data includes a braking signal, and if the braking signal in the operation data is not 0, the second result is determined to be braking. If the braking signal in the operation data is 0, the second result is determined to be no braking.

[0053] S133. Determine an attention result based on the first result and the second result.

[0054] In some examples, when the sight line direction in the first result is toward a rearview mirror of the vehicle and the second result is braking, the attention result is determined to be focused attention.

[0055] When the sight line direction in the first result is directed toward the rearview mirror of the vehicle, and the second result is no braking, it is determined that the attention result is inattention.

[0056] When the sight line direction in the first result is not directed to the rearview mirror of the vehicle, and the second result is braking, it is determined that the attention result is inattention.

[0057] When the sight line direction in the first result is not directed to the rearview mirror of the vehicle, and the second result is no braking, it is determined that the attention result is inattention.

[0058] As can be seen from the above, in the braking method provided by the embodiment of the present disclosure, the vehicle controller determines whether to initiate emergency braking based on the attention result. This can avoid the problem that the driver is not focused enough when reversing or has a weak ability to perceive the risk of rear collision, which causes the vehicle to collide with obstacles, thereby protecting the life and property safety of the vehicle.

[0059] In some examples, the operating data includes the operating status of the vehicle electronic stability control system; Figure 1 ,like Figure 3 As shown, the above S14 can be specifically implemented through the following S140 and S141.

[0060] S140: When the attention result is inattention, the actual distance is less than the distance threshold, and the operating status is that the system has no faults and the system is not activated, determine to start emergency braking.

[0061] S141. Control the brake to initiate emergency braking.

[0062] As can be seen from the above, in the braking method provided by the embodiment of the present disclosure, when the vehicle controller determines that the attention result is inattention, and the actual distance is less than the distance threshold, and the operating state is that the system is fault-free and the system is not activated, it means that the driver is not focused enough when reversing or has a weak ability to perceive the risk of rear collision. Therefore, the vehicle controller initiates emergency braking. The brake is controlled to initiate emergency braking, thereby protecting the life and property safety of the vehicle.

[0063] In some possible implementation examples, combined with Figure 3 ,like Figure 4 As shown, the braking method provided in the embodiment of the present disclosure further includes: S15.

[0064] S15. When the attention result is that the driver is focused, generate prompt information; wherein the prompt information is used to instruct the driver to pay attention to obstacles.

[0065] In some examples, the prompt information can give the driver a strong sound and light reminder, thereby ensuring effective reminders to the driver to a certain extent, and greatly reducing the situation where emergency braking is triggered and thus scares the driver.

[0066] As can be seen from the above, in the braking method provided by the embodiment of the present disclosure, the vehicle controller determines that when the attention result is focused, it means that the driver is focused when reversing or has a strong ability to perceive the risk of rear collision. However, in order to avoid unnecessary mistakes made by the driver, the vehicle controller can continue to remind the driver to pay attention to obstacles around the vehicle by generating prompt information, thereby protecting the life and property safety of the vehicle.

[0067] In some possible implementation examples, combined with Figure 1 ,like Figure 5 As shown, the braking method provided in the embodiment of the present disclosure further includes: S16.

[0068] S16. When it is determined that emergency braking is not to be initiated based on the attention result, the actual distance and the operating data, the actual distance and the moving speed are continued to be obtained.

[0069] From the above, it can be seen that in the braking method provided by the embodiment of the present disclosure, the vehicle controller determines not to initiate emergency braking based on the attention result, actual distance and operation data, indicating that the driver is concentrating when reversing or has a strong ability to perceive the risk of rear collision. Afterwards, the vehicle controller continues to obtain the actual distance and moving speed, so that the vehicle controller can continuously detect the positional relationship between the obstacle and the vehicle, avoiding unnecessary mistakes made by the driver, causing the vehicle to collide with the obstacle, and protecting the life and property safety of the vehicle.

[0070] Embodiment 2

[0071] Figure 6 The structural diagram of the vehicle controller provided in the second embodiment of the present application is exemplarily shown in FIG. Figure 6 As shown, the vehicle controller includes: an acquisition module 81 and a processing module 82.

[0072] An acquisition module is used to acquire the actual distance to the obstacle in the reversing direction and the moving speed of the obstacle;

[0073] A processing module, used for controlling the acquisition module to acquire the vehicle's operating data and the driver's head data when the ratio of the actual distance acquired by the acquisition module to the moving speed is less than a preset time;

[0074] The acquisition module is further used to determine the attention result based on the operation data and the head data acquired by the acquisition module;

[0075] The acquisition module is also used to determine, based on the attention result, the actual distance and the operation data, when the emergency braking is initiated, and control the brake to initiate the emergency braking.

[0076] 7. The vehicle controller according to claim 1, characterized in that the processing module, when determining the attention result based on the operation data and the head data, is configured to:

[0077] Extract feature points from head data to obtain facial feature points and head posture feature points;

[0078] Determine a first result based on the facial feature points and the head posture feature points;

[0079] determining a second result based on the operational data;

[0080] Based on the first result and the second result, an attention result is determined.

[0081] 8. The vehicle controller according to claim 1, wherein the operating data includes the operating status of the vehicle body electronic stability control system; when the processing module determines to start the emergency brake based on the attention result, the actual distance and the operating data, the brake is controlled to start the emergency brake, including:

[0082] In the case where the attention result is inattention, and the actual distance is less than the distance threshold, and the operating status is that the system has no faults and the system is not activated, determining to initiate emergency braking;

[0083] Control the brake to activate emergency braking.

[0084] 4. The braking method according to claim 1, characterized in that the method further comprises:

[0085] The processing module is also configured to generate prompt information when the attention result is focused; wherein the prompt information is used to instruct the driver to pay attention to obstacles.

[0086] 5. The braking method according to claim 1, characterized in that the method further comprises:

[0087] The processing module is also configured to continue to obtain the actual distance and moving speed when determining not to initiate emergency braking based on the attention result, the actual distance and the operating data.

[0088] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0089] Of course, the vehicle controller provided by the embodiment of the present invention includes but is not limited to the above modules, for example, the vehicle controller may also include a storage module 83. The storage module 83 may be used to store the program code of the vehicle controller, and may also be used to store data generated during the operation of the vehicle controller, such as diagnostic data.

[0090] Figure 7 A schematic diagram of the structure of a vehicle controller provided by an embodiment of the present invention is shown in FIG. Figure 7 As shown, the vehicle controller may include: at least one processor 51 , a memory 52 , a communication interface 53 and a communication bus 54 .

[0091] Combine the following Figure 7 A detailed introduction to the various components of the vehicle controller:

[0092] The processor 51 is the control center of the vehicle controller, and may be a processor or a general term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0093] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as Figure 7 Also, as an embodiment, the vehicle controller may include multiple processors, such as Figure 7 51 and 55 are shown in FIG. Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0094] The memory 52 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via a communication bus 54. The memory 52 may also be integrated with the processor 51.

[0095] In a specific implementation, the memory 52 is used to store the data of the present invention and execute the software program of the present invention. The processor 51 can execute various functions of the air conditioner by running or executing the software program stored in the memory 52 and calling the data stored in the memory 52.

[0096] The communication interface 53 uses any transceiver-like device to communicate with other devices or communication networks, such as Radio Access Network (RAN), Wireless Local Area Networks (WLAN), terminals, the cloud, etc. The communication interface 53 may include an acquisition module to implement the acquisition function.

[0097] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0098] As an example, combining Figure 6 The functions implemented by the acquisition module 82 of the vehicle controller are similar to Figure 7 The function of the communication interface 53 in the vehicle controller is the same as that of the processing module 81 in the vehicle controller. Figure 7 The functions of the processor 51 in the vehicle controller are the same as those of the storage module 83 in the vehicle controller. Figure 7 The function of the memory 52 in is the same.

[0099] An embodiment of the present application also provides a vehicle, which may include the vehicle controller in any embodiment.

[0100] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method in any embodiment.

[0101] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A braking method, characterized in that: include: Obtaining the actual distance to the obstacle in the reversing direction and the moving speed of the obstacle; When the ratio of the actual distance to the moving speed is less than a preset time, obtaining the vehicle's operating data and the driver's head data; Determining an attention result based on the operational data and the head data; When it is determined based on the attention result, the actual distance and the operation data that emergency braking is to be initiated, the brake is controlled to initiate emergency braking.

2. The braking method according to claim 1, characterized in that: The determining of the attention result based on the operation data and the head data comprises: Extracting feature points from the head data to obtain facial feature points and head posture feature points; Determine a first result based on the facial feature points and the head posture feature points; Determining a second result based on the operating data; Based on the first result and the second result, an attention result is determined.

3. The braking method according to claim 1, characterized in that: The operating data includes the operating status of the vehicle body electronic stability control system; When determining to initiate emergency braking based on the attention result, the actual distance, and the operation data, controlling the brake to initiate emergency braking comprises: In a case where the attention result is inattention, the actual distance is less than a distance threshold, and the operating state is that the system has no faults and the system is not activated, determining to initiate emergency braking; Control the brake to activate emergency braking.

4. The braking method according to claim 3, characterized in that: The method further comprises: When the attention result is that the driver is focused, a prompt message is generated; wherein the prompt message is used to instruct the driver to pay attention to obstacles.

5. The braking method according to claim 1, characterized in that: The method further comprises: When it is determined based on the attention result, the actual distance and the operating data that emergency braking is not to be initiated, the actual distance and the moving speed continue to be acquired.

6. A vehicle controller, characterized in that: include: An acquisition module, used to acquire the actual distance to the obstacle in the reversing direction and the moving speed of the obstacle; a processing module, configured to control the acquisition module to acquire the vehicle operation data and the driver's head data when the ratio of the actual distance acquired by the acquisition module to the moving speed is less than a preset time; The acquisition module is further used to determine an attention result based on the operation data and the head data acquired by the acquisition module; The acquisition module is also used to determine, based on the attention result, the actual distance and the operation data, when emergency braking is initiated, to control the brake to initiate emergency braking.

7. The vehicle controller according to claim 1, characterized in that: When determining the attention result based on the operation data and the head data, the processing module is configured to: Extracting feature points from the head data to obtain facial feature points and head posture feature points; Determine a first result based on the facial feature points and the head posture feature points; Determining a second result based on the operating data; Based on the first result and the second result, an attention result is determined.

8. The vehicle controller according to claim 1, characterized in that: The operating data includes the operating status of the vehicle body electronic stability control system; When the processing module determines to initiate emergency braking based on the attention result, the actual distance and the operation data, controlling the brake to initiate emergency braking includes: In a case where the attention result is inattention, the actual distance is less than a distance threshold, and the operating state is that the system has no faults and the system is not activated, determining to initiate emergency braking; Control the brake to activate emergency braking.

9. A vehicle, characterized in that: The vehicle comprises a vehicle controller as claimed in any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 5 when executed by a processor.

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