A braking method, vehicle controller and vehicle

Abstract

The present disclosure relates to the technical field of automobiles, and particularly relates to a braking method, a vehicle controller and a vehicle. The method comprises the following steps: acquiring an actual distance from an obstacle in a reversing direction and a moving speed of the obstacle; acquiring running data of the vehicle and head data of a driver in a case that a ratio of the actual distance and the moving speed is less than a preset time; determining an attention result based on the running data and the head data; and determining to control a brake to start emergency braking based on the attention result, the actual distance and the running data when the emergency braking is started.

Description

Technical Field

[0001] This disclosure relates to the field of automotive technology, and more particularly to a braking method, a vehicle controller, and a vehicle. Background Technology

[0002] Currently, when reversing, users can use the rearview mirror to judge the distance between the vehicle and obstacles. If the user does not operate in time or makes a mistake, the vehicle may hit the obstacle and cause damage.

[0003] Therefore, how to avoid vehicles hitting obstacles while reversing has become an urgent problem to be solved. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a braking method, a vehicle controller, and a vehicle for solving the problem of how to prevent a vehicle from colliding with an obstacle while reversing.

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

[0006] Secondly, this application provides a vehicle controller, comprising: an acquisition module for acquiring the actual distance to an obstacle in the reversing direction and the moving speed of the obstacle; a processing module for controlling the acquisition module to acquire vehicle operation data and driver head data when the ratio of the actual distance to the moving speed acquired by the acquisition module is less than a preset time; the acquisition module is further configured to determine an attention result based on the operation data and head data acquired by the acquisition module; and the acquisition module is further configured to control the brake to initiate emergency braking when it is determined that emergency braking should be initiated based on the attention result, the actual distance, and the operation data.

[0007] Thirdly, this application provides a vehicle that includes the vehicle controller described above.

[0008] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method.

[0009] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0010] As described above, the braking method provided in this disclosure involves the vehicle controller acquiring the actual distance to the obstacle in the reversing direction and the obstacle's moving speed; when the ratio of the actual distance to the moving speed is less than a preset time, acquiring vehicle operating data and driver head data; determining the attention result based on the operating data and head data; and determining, based on the attention result, the actual distance, and the operating data, controlling the brakes to initiate emergency braking when it is determined to do so. Because the vehicle's brakes initiate emergency braking, it avoids collisions between the vehicle and obstacles caused by insufficient driver focus or weak awareness of rear collision risks while reversing, thus solving the problem of how to prevent vehicles from hitting obstacles while reversing. Attached Figure Description

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

[0012] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 The diagram above illustrates one of the flowcharts of a braking method provided in this embodiment.

[0014] Figure 2 The second schematic diagram of a braking method provided in Embodiment 1 is illustrated in the figure below.

[0015] Figure 3 The third schematic diagram of a braking method provided in this embodiment is illustrated in the example.

[0016] Figure 4 The fourth schematic flowchart of a braking method provided in Embodiment 1 is illustrated in the figure below;

[0017] Figure 5 The fifth example of a flowchart illustrating a braking method provided in Embodiment 1 is shown below;

[0018] Figure 6 The diagram below exemplarily illustrates one of the structural schematics of the vehicle controller provided in Embodiment 2.

[0019] Figure 7 The second example of the structural schematic diagram of the vehicle controller provided in this embodiment is shown in the figure. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0021] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0023] Example 1

[0024] Figure 1 The diagram illustrates a flowchart of a vehicle control method. The executing entity in this example can be a vehicle controller, such as... Figure 1 As shown, the method includes:

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

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

[0027] In some examples, the vehicle controller can obtain the actual distance to obstacles using a distance measuring device mounted on the vehicle. For instance, the distance measuring device could be a laser rangefinder sensor.

[0028] In some examples, the vehicle controller can determine the distance the vehicle has traveled at adjacent time points based on the position information of obstacles in the vehicle's coordinate system at those adjacent time points. The vehicle's speed is then determined based on the difference between adjacent time points and the travel distance.

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

[0030] Establish a vehicle coordinate system with the center of the vehicle as the 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. If the ratio of actual distance to moving speed is less than a preset time, acquire vehicle operation data and driver head data.

[0032] In some examples, the Rear Cross Traffic Alert (RCTA) system includes a Level 1 alarm and a Level 2 alarm. A Level 1 alarm is triggered when the ratio of the actual distance to the moving speed exceeds a preset time, at which point the vehicle controller generates a preset warning message indicating the presence of an obstacle. This warning message allows the driver to be aware of obstacles around the vehicle. A Level 2 alarm is triggered when the ratio of the actual distance to the moving speed is less than a preset time. In this case, the distance between the vehicle and the obstacle is relatively short. To prevent a collision caused by the driver's failure to notice the obstacle, the vehicle controller acquires vehicle operation data and driver head data. Based on these data, the controller determines the driver's attention level. Based on the attention level, actual distance, and operation data, the controller determines when to initiate emergency braking and activates the brakes. This effectively prevents collisions caused by the driver's failure to notice obstacles.

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

[0034] In some examples, when determining the attention result, the running data and 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 first labeling results of the first training sample data; wherein, the first training sample data includes at least one vehicle historical operation data and driver head data, and the first labeling results include the attention results corresponding to the vehicle historical operation data and driver head data.

[0036] The first training sample data is input into the first neural network model for learning, and the 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, thus obtaining the 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 pose feature points; a first result is determined based on the facial feature points and head pose feature points; a second result is determined based on the running data; and the attention result is determined based on the first and second results.

[0039] S14. Based on the attention results, actual distance, and operational data, determine when to initiate emergency braking and control the brakes to initiate emergency braking.

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

[0041] Obtain the second training sample data and the second labeling result of the second training sample data. The second training sample data includes historical attention results, actual distance, and running data. The second labeling result includes a label indicating whether emergency braking was initiated based on the historical attention results, actual distance, and running data.

[0042] The second training sample data is input into the second neural network model for learning, and the second prediction result of the second neural network model on the second training sample data is obtained.

[0043] Based on the second prediction result and the second labeling result, the network parameters of the second neural network model are adjusted until the second neural network model converges, thus obtaining the braking model.

[0044] In some examples, when determining whether to initiate emergency braking, if the attention result is inattentiveness, the actual distance is less than the distance threshold, and the system is in a fault-free and inactive state, emergency braking is initiated; if the attention result is attentiveness, a prompt message is generated.

[0045] As described above, the braking method provided in this embodiment involves the vehicle controller acquiring the actual distance to the obstacle in the reversing direction and the obstacle's moving speed; when the ratio of the actual distance to the moving speed is less than a preset time, acquiring vehicle operating data and driver head data; determining the attention result based on the operating data and head data; and controlling the brakes to initiate emergency braking when it is determined to initiate emergency braking based on the attention result, the actual distance, and the operating data. Because the vehicle's brakes initiate emergency braking, the problem of the vehicle colliding with an obstacle due to insufficient driver focus or weak awareness of rear collision risks while reversing can be avoided, thus protecting the safety of the driver's life and property.

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

[0047] S130. Extract feature points from the head data to obtain facial feature points and head pose feature points;

[0048] In some examples, facial feature points include eye feature points.

[0049] In some examples, the head data can be a driver's face image captured by an image acquisition device located inside the vehicle's cabin. The vehicle controller then separates the foreground and background of the face image to obtain a foreground image. The vehicle controller extracts feature points from the foreground image to obtain facial feature points and head pose feature points. Subsequently, based on the facial feature points and head pose feature points, the driver's gaze direction is determined, and this gaze direction is used as the first result.

[0050] S131. Determine the first result based on facial feature points and head pose feature points.

[0051] S132. Based on the running data, determine the second result.

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

[0053] S133. Based on the first and second results, determine the attention result.

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

[0055] When the direction of the gaze in the first result is towards the vehicle's rearview mirror, and the second result is no braking, the attention result is determined to be inattention.

[0056] If the direction of the gaze in the first result is not pointing towards the vehicle's rearview mirror, and the second result indicates braking, the attention result is determined to be inattention.

[0057] If the direction of the gaze in the first result is not pointing towards the vehicle's rearview mirror, and the second result is not braking, the attention result is determined to be inattention.

[0058] As described above, the braking method provided in this embodiment allows the vehicle controller to determine whether to initiate emergency braking based on the driver's attention level. This avoids the problem of the vehicle colliding with obstacles due to insufficient driver focus or weak awareness of rear collision risks while reversing, thus protecting the safety of the driver and their property.

[0059] In some feasible examples, operational data includes the operating status of the vehicle's electronic stability control system; combined with Figure 1 ,like Figure 3 As shown, the above S14 can be implemented by the following S140 and S141.

[0060] S140. If the attention result is that the attention is not focused, the actual distance is less than the distance threshold, and the system is in a fault-free and inactive state, determine to start emergency braking.

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

[0062] As described above, in the braking method provided by this embodiment, if the vehicle controller determines that the driver's attention is not focused, the actual distance is less than the distance threshold, and the system is in a fault-free and inactive state, it indicates that the driver's concentration is insufficient or their ability to perceive the risk of rear collision is weak when reversing. Therefore, the vehicle controller initiates emergency braking. This controls the brakes to initiate emergency braking, thereby protecting the life and property safety of the vehicle.

[0063] In some feasible examples, combining Figure 3 ,like Figure 4 As shown, the braking method provided in this embodiment of the present disclosure further includes: S15.

[0064] S15. If the attention result is that the driver is attentive, generate a prompt message; wherein the prompt message is used to instruct the driver to pay attention to the obstacle.

[0065] In some examples, the prompts can provide drivers with strong audio-visual alerts, thus ensuring effective reminders to the driver to a certain extent while greatly reducing the chances of triggering emergency braking and startling the driver.

[0066] As described above, the braking method provided in this embodiment indicates that the vehicle controller determines the driver's concentration or awareness of rear collision risks when reversing if the driver's attention result is positive. However, to prevent unnecessary errors by the driver, the vehicle controller generates prompts to continue alerting the driver to obstacles around the vehicle, thereby protecting the driver's life and property.

[0067] In some feasible examples, combining Figure 1 ,like Figure 5 As shown, the braking method provided in this embodiment of the present disclosure further includes: S16.

[0068] S16. Based on the attention results, actual distance, and operational data, if it is determined that emergency braking will not be initiated, continue to acquire actual distance and movement speed.

[0069] As described above, the braking method provided in this embodiment determines, based on attention results, actual distance, and operational data, that emergency braking should not be initiated. This indicates that the driver is highly focused or has a strong awareness of the risk of rear-end collisions while reversing. Subsequently, the vehicle controller continues to acquire actual distance and speed data, thereby continuously detecting the positional relationship between obstacles and the vehicle. This prevents unnecessary errors by the driver that could lead to a collision between the vehicle and an obstacle, protecting the driver's life and property.

[0070] Example 2

[0071] Figure 6 The diagram above illustrates the structure of the vehicle controller provided in Embodiment 2 of this application. Figure 6 As shown, the vehicle controller includes an acquisition module 81 and a processing module 82.

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

[0073] The processing module is used to control the acquisition module to acquire vehicle operation data and driver 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 also used to determine the attention result based on the runtime data and header data acquired by the acquisition module;

[0075] The acquisition module is also used to determine, based on attention results, actual distance, and operational data, when to initiate emergency braking and control the brakes to initiate emergency braking.

[0076] 7. The vehicle controller according to claim 1, wherein the processing module, when performing the task of determining attention results based on running data and head data, is configured to:

[0077] Feature points are extracted from the head data to obtain facial feature points and head pose feature points;

[0078] The first result is determined based on facial feature points and head pose feature points;

[0079] Based on the operational data, a second result is determined;

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

[0081] 8. The vehicle controller according to claim 1, characterized in that the operating data includes the operating status of the vehicle electronic stability control system; when the processing module determines to initiate emergency braking based on attention results, actual distance, and operating data, it controls the brakes to initiate emergency braking, including:

[0082] If the attention result indicates inattention, the actual distance is less than the distance threshold, and the system is in a fault-free and inactive state, then emergency braking is initiated.

[0083] Control the brakes to initiate emergency braking.

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

[0085] The processing module is also configured to generate a prompt message when the attention result is that the driver is attentive; the prompt message 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 includes:

[0087] The processing module is also configured to continue acquiring actual distance and speed of movement when it is determined not to initiate emergency braking, based on attention results, actual distance, and operational data.

[0088] All relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and their functions will not be repeated here.

[0089] Of course, the vehicle controller provided in this embodiment of the invention includes, but is not limited to, the modules described above. 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 by the vehicle controller during operation, such as diagnostic data.

[0090] Figure 7 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention, as shown below. 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] The following is combined with Figure 7 A detailed introduction to each component of the vehicle controller:

[0092] The processor 51 is the control center of the vehicle controller. It can be a single processor or a collective term for multiple processing elements. For example, the processor 51 can be a central processing unit (CPU), 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 one example, processor 51 may include one or more CPUs, for example... Figure 7 CPU0 and CPU1 are shown in the diagram. Furthermore, as one embodiment, the vehicle controller may include multiple processors, such as... Figure 7 The processors 51 and 55 are shown. Each of these processors can be a single-core processor or a multi-core processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0094] The memory 52 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or it may be 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 discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible 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, memory 52 is used to store data from this invention and the software program for executing this invention. Processor 51 can perform various functions of the air conditioner by running or executing the software program stored in memory 52 and by calling the data stored in memory 52.

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

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

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

[0099] This application also provides a vehicle that may include the vehicle controller in any of the embodiments.

[0100] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method in any of the embodiments.

[0101] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily 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 this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A braking method, characterized in that, include: Obtain the actual distance to the obstacle in the reversing direction and the moving speed of the obstacle; If the ratio of the actual distance to the moving speed is less than a preset time, acquire the vehicle's operating data and the driver's head data; Based on the operational data and the head data, the attention result is determined; Based on the attention results, the actual distance, and the operational data, when it is determined that emergency braking should be initiated, the brakes are controlled to initiate emergency braking.

2. The braking method according to claim 1, characterized in that, The determination of attention results based on the runtime data and the head data includes: Feature points are extracted from the head data to obtain facial feature points and head pose feature points; Based on the facial feature points and the head pose feature points, a first result is determined; Based on the aforementioned operational data, a second result is determined; Based on the first result and the second result, the attention result is determined.

3. The braking method according to claim 1, characterized in that, The operational data includes the operating status of the vehicle's electronic stability control system; The step of determining when to initiate emergency braking based on the attention result, the actual distance, and the operational data, and then controlling the brakes to initiate emergency braking, includes: If the attention result is inattentiveness, the actual distance is less than the distance threshold, and the operating status is that the system is fault-free and not activated, then emergency braking is initiated. Control the brakes to initiate emergency braking.

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

5. The braking method according to claim 1, characterized in that, The method further includes: Based on the attention results, the actual distance, and the operational data, if it is determined that emergency braking will not be initiated, the actual distance and the moving speed will continue to be acquired.

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

7. The vehicle controller according to claim 6, characterized in that, When the processing module determines the attention result based on the running data and the header data, it is configured to: Feature points are extracted from the head data to obtain facial feature points and head pose feature points; Based on the facial feature points and the head pose feature points, a first result is determined; Based on the aforementioned operational data, a second result is determined; Based on the first result and the second result, the attention result is determined.

8. The vehicle controller according to claim 6, characterized in that, The operational data includes the operating status of the vehicle's electronic stability control system; When the processing module determines to initiate emergency braking based on the attention result, the actual distance, and the operational data, it controls the brakes to initiate emergency braking, including: If the attention result is inattentiveness, the actual distance is less than the distance threshold, and the operating status is that the system is fault-free and not activated, then emergency braking is initiated. Control the brakes to initiate emergency braking.

9. A vehicle, characterized in that, The vehicle includes a vehicle controller as described in any one of claims 6-8.

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

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