Parking emergency brake control method, controller, vehicle and storage medium

Abstract

The present application provides a control method, controller, vehicle and storage medium for parking emergency braking. It relates to the field of vehicle automatic control. The method includes: determining whether the vehicle meets the parking emergency braking condition based on the distance between the vehicle and the obstacle and the current parking speed. When the vehicle meets the parking emergency braking condition and the parking assist function is turned on, the preset correspondence between the parking speed and the braking deceleration is obtained. The preset correspondence is determined after the vehicle is subjected to emergency braking tests at different parking speeds under different parking emergency braking conditions; the vehicle is emergency braked based on the current parking speed of the vehicle and the preset correspondence. The method is used to achieve the goal of stopping the vehicle in time while providing the driver with the best braking experience and improving the overall driving experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle automatic control, and in particular to a parking emergency braking control method, a controller, a vehicle and a storage medium. Background Art

[0002] With the continuous advancement of vehicle technology, parking assistance has become an important part of improving driving safety and convenience. In situations where the vehicle needs emergency braking, such as when encountering an obstacle during reversing, the parking assistance function can provide emergency braking deceleration, thereby helping the driver to operate the vehicle more safely in complex parking environments.

[0003] In the related art, a vehicle is usually stopped quickly by presetting a high deceleration, but the high deceleration setting may cause the vehicle to stop suddenly, causing discomfort to the driver, thus affecting the overall driving experience. Summary of the invention

[0004] The present application provides a parking emergency braking control method, a controller, a vehicle and a storage medium, which are used to improve the discomfort caused to the driver during emergency braking of the vehicle during parking, thereby improving the user's driving experience.

[0005] In a first aspect, the present application provides a parking emergency brake control method, which is applied to a controller of a vehicle, and the method comprises:

[0006] determining whether the vehicle meets a parking emergency braking condition according to the distance between the vehicle and the obstacle and the current parking speed;

[0007] When the vehicle meets the parking emergency braking condition and the parking assist function is turned on, obtaining a preset corresponding relationship between the parking speed and the braking deceleration, wherein the preset corresponding relationship is determined after performing emergency braking tests on the vehicle at different parking speeds under different parking emergency braking conditions;

[0008] The vehicle is emergency braked according to the current parking speed of the vehicle and the preset corresponding relationship.

[0009] In a possible implementation manner, determining whether the vehicle meets the parking emergency braking condition according to the distance between the vehicle and the obstacle and the current parking speed includes:

[0010] determining a collision time based on a distance between the vehicle and the obstacle and a current parking speed;

[0011] If the collision time is less than a preset collision time threshold, it is determined that the vehicle meets the parking emergency braking condition.

[0012] In a possible implementation manner, performing emergency braking on the vehicle according to the current parking speed of the vehicle and the preset corresponding relationship includes:

[0013] determining a current braking deceleration according to a current parking speed of the vehicle and the preset corresponding relationship;

[0014] Emergency braking is performed on the vehicle according to the current braking deceleration.

[0015] In a possible implementation manner, the preset corresponding relationship includes:

[0016] If the parking speed is less than a preset first speed threshold and greater than zero, determining the braking deceleration to be the first braking deceleration;

[0017] If the parking speed is greater than or equal to the first speed threshold and less than or equal to a preset second speed threshold, determining the braking deceleration to be the second braking deceleration;

[0018] The first speed threshold is smaller than the second speed threshold, and the first braking deceleration is smaller than the second braking deceleration.

[0019] In a possible implementation manner, the preset corresponding relationship further includes:

[0020] If the parking speed is greater than the second speed threshold and less than or equal to a preset third speed threshold, determining the braking deceleration to be the third braking deceleration;

[0021] If the parking speed is greater than the third speed threshold, determining the braking deceleration to be a fourth braking deceleration;

[0022] The second speed threshold is smaller than the third speed threshold, the second braking deceleration is smaller than the third braking deceleration, and the third braking deceleration is smaller than the fourth braking deceleration.

[0023] In a possible implementation manner, the first speed threshold is 2 km / h, the second speed threshold is 6 km / h, and the third speed threshold is 12 km / h.

[0024] In a possible implementation manner, the first braking deceleration is less than 4 m / s 2 ;

[0025] The second braking deceleration is greater than or equal to 4m / s2 and less than or equal to 8m / s 2 ;

[0026] The third braking deceleration is greater than 8 m / s 2 , and less than or equal to 12m / s 2 ;

[0027] The fourth braking deceleration is greater than 12 m / s 2 .

[0028] In a second aspect, the present application provides a control device for parking emergency braking, the device comprising:

[0029] a processing module, configured to determine whether the vehicle satisfies a parking emergency braking condition according to a distance between the vehicle and an obstacle and a current parking speed;

[0030] an acquisition module, configured to acquire a preset corresponding relationship between a parking speed and a braking deceleration when the vehicle meets a parking emergency braking condition and a parking assist function is turned on, wherein the preset corresponding relationship is determined after performing an emergency braking test at different parking speeds on the vehicle under different parking emergency braking conditions;

[0031] The control module is used to perform emergency braking on the vehicle according to the current parking speed of the vehicle and the preset corresponding relationship.

[0032] In a possible implementation manner, the processing module is specifically configured to:

[0033] determining a collision time based on a distance between the vehicle and the obstacle and a current parking speed;

[0034] If the collision time is less than a preset collision time threshold, it is determined that the vehicle meets the parking emergency braking condition.

[0035] In a possible implementation manner, the control module is specifically used to:

[0036] determining a current braking deceleration according to a current parking speed of the vehicle and the preset corresponding relationship;

[0037] Emergency braking is performed on the vehicle according to the current braking deceleration.

[0038] In a possible implementation manner, the preset corresponding relationship includes:

[0039] If the parking speed is less than a preset first speed threshold and greater than zero, determining the braking deceleration to be the first braking deceleration;

[0040] If the parking speed is greater than or equal to the first speed threshold and less than or equal to a preset second speed threshold, determining the braking deceleration to be the second braking deceleration;

[0041] The first speed threshold is smaller than the second speed threshold, and the first braking deceleration is smaller than the second braking deceleration.

[0042] In a possible implementation manner, the preset corresponding relationship further includes:

[0043] If the parking speed is greater than the second speed threshold and less than or equal to a preset third speed threshold, determining the braking deceleration to be the third braking deceleration;

[0044] If the parking speed is greater than the third speed threshold, determining the braking deceleration to be a fourth braking deceleration;

[0045] The second speed threshold is smaller than the third speed threshold, the second braking deceleration is smaller than the third braking deceleration, and the third braking deceleration is smaller than the fourth braking deceleration.

[0046] In a possible implementation manner, the first speed threshold is 2 km / h, the second speed threshold is 6 km / h, and the third speed threshold is 12 km / h.

[0047] In a possible implementation manner, the first braking deceleration is less than 4 m / s 2 ;

[0048] The second braking deceleration is greater than or equal to 4m / s2 and less than or equal to 8m / s 2 ;

[0049] The third braking deceleration is greater than 8 m / s 2 , and less than or equal to 12m / s 2 ;

[0050] The fourth braking deceleration is greater than 12 m / s 2 .

[0051] In a third aspect, the present application provides a controller, including: a processor, a memory;

[0052] The memory stores computer-executable instructions;

[0053] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the parking emergency braking control method as described in any one of the first aspects.

[0054] In a fourth aspect, the present application provides a vehicle, comprising: a vehicle body and the controller described in the third aspect.

[0055] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the parking emergency braking control method described in any one of the first aspects.

[0056] In a sixth aspect, the present application provides a computer program product, the computer program product comprising a computer program, and the computer program, when executed by a processor, is used to implement the parking emergency braking control method described in any one of the first aspects.

[0057] The present application provides a parking emergency brake control method, controller, vehicle and storage medium. By judging the distance between the vehicle and the obstacle and the current parking speed, it is determined whether emergency braking is required; when the conditions are met, emergency braking is implemented using the preset correspondence between the parking speed and the braking deceleration. This method not only ensures that the vehicle can stop in time, but also improves the driver's braking experience, thereby improving the overall driving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application;

[0060] Figure 2 A flow chart of a first embodiment of a parking emergency brake control method provided by the present application;

[0061] Figure 3 A flow chart of a second embodiment of a parking emergency brake control method provided by the present application;

[0062] Figure 4 A schematic diagram of the results of an emergency braking test provided in an embodiment of the present application;

[0063] Figure 5 A schematic diagram of the results of another emergency braking test provided in an embodiment of the present application;

[0064] Figure 6 A schematic diagram of the structure of a parking emergency brake control device provided in an embodiment of the present application;

[0065] Figure 7 A schematic diagram of the structure of a controller provided in an embodiment of the present application.

[0066] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0067] 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, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0068] In the development of modern automobile technology, parking assistance systems have become an important driver assistance function. With the acceleration of urbanization, parking space has become increasingly tight, and drivers face increasing challenges when parking. These systems help drivers park more safely and conveniently through sensors, cameras and other technical means. However, although parking assistance systems have reduced the burden on drivers to a certain extent, there are still some technical challenges in braking performance in emergency situations.

[0069] In the related art, the existing parking assistance system usually uses a preset high deceleration parameter to achieve rapid braking of the vehicle. This is to minimize the risk of collision in an emergency and ensure that the vehicle can stop in the shortest distance. However, in the case of a low parking speed, the vehicle usually has enough time and distance to stop safely. In this case, the use of high deceleration for emergency braking is too drastic, causing the vehicle to stop suddenly, giving the driver an uncomfortable feeling of sudden braking, thus affecting the overall driving experience.

[0070] In response to the above problems, the inventors considered that different braking decelerations could be used at different parking speeds. Specifically, when it is determined that the vehicle meets the parking emergency braking conditions and the parking assist function is turned on, the preset correspondence between the parking speed and the braking deceleration can be obtained, and the vehicle can be emergency braked according to the current parking speed of the vehicle and the preset correspondence. A milder braking deceleration can be used at a lower parking speed, thereby avoiding the discomfort caused by the sudden braking of the vehicle. At the same time, at a higher parking speed, a higher braking deceleration can still be used to ensure quick and safe parking. Based on this, the present application proposes a control method for parking emergency braking, which aims to improve the braking performance of the vehicle at different parking speeds, enhance the driver's comfort during emergency braking, and optimize the overall driving experience.

[0071] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1, including a vehicle 100 and an obstacle 101, wherein the vehicle 100 is provided with a controller 102. When the driver drives the vehicle 100 into a parking space for parking, if the controller 102 detects the existence of the obstacle 101 and determines that there is a potential collision risk between the vehicle 100 and the obstacle 101, emergency braking can be performed to stop the vehicle in time to avoid or mitigate the collision.

[0072] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0073] Figure 2 This is a flow chart of the first embodiment of the parking emergency brake control method provided by this application. Figure 2 The parking emergency brake control method is applied to a vehicle controller, comprising:

[0074] S201. Determine whether the vehicle meets a parking emergency braking condition according to the distance between the vehicle and the obstacle and the current parking speed.

[0075] The execution subject of the embodiment of the present application may be a controller, or a parking emergency brake control device provided in the controller. The parking emergency brake control device may be implemented by software, or by a combination of software and hardware. The parking emergency brake control device may be a processor in the controller. For ease of understanding, the following description is made by taking the execution subject as an example of a controller.

[0076] In this step, in order to ensure the safety of the vehicle during parking, the controller may determine whether the vehicle meets the parking emergency braking conditions according to the distance between the vehicle and the obstacle and the current parking speed.

[0077] In an optional implementation, the controller may obtain the safe distance between the vehicle and the obstacle, determine the collision time according to the safe distance and the current parking speed of the vehicle, and determine that the vehicle meets the parking emergency braking condition according to the collision time being less than a preset collision time threshold. The safe distance refers to the straight-line distance between the vehicle and the obstacle.

[0078] In an optional embodiment, the safe distance between the vehicle and the obstacle can be accurately obtained by a variety of sensors installed on the vehicle, including laser radar, radar and on-board camera. Laser radar generates a high-precision three-dimensional environment map by emitting laser beams and measuring their reflection time; radar uses radio waves to detect the distance and speed of objects; on-board cameras provide high-resolution visual information and can identify and classify different types of obstacles.

[0079] The current parking speed of the vehicle can be obtained by a speed sensor installed on the vehicle. The speed sensor can be located at the wheel or the transmission and can detect the speed of the vehicle in real time.

[0080] For example, the preset collision time threshold is 1s. Based on the distance between the vehicle and the obstacle being 1m and the current parking speed being 5km / h, the collision time is determined to be 0.7s. Based on the collision time of 0.7s being less than the preset collision time threshold of 1s, it is determined that the vehicle meets the parking emergency braking conditions.

[0081] S202: When the vehicle meets the parking emergency braking condition and the parking assistance function is turned on, a preset corresponding relationship between the parking speed and the braking deceleration is obtained.

[0082] In this step, when the vehicle meets the parking emergency braking condition and detects that the parking assist function has been turned on, the preset corresponding relationship between the parking speed and the braking deceleration can be obtained. The preset corresponding relationship is determined after performing emergency braking tests on the vehicle at different parking speeds under different parking emergency braking conditions.

[0083] Optionally, the controller may determine that the parking assist function is turned on in any of the following ways.

[0084] Method 1: The controller may receive an input signal from the driver, such as pressing a parking assist button or selecting a corresponding gear, to determine that the parking assist function is turned on.

[0085] Method 2: The controller can determine that the parking assist function is turned on by detecting the vehicle's sensor signal. For example, when the vehicle's ultrasonic sensor or camera detects an obstacle around the vehicle, the parking assist function can be automatically activated.

[0086] Method 3: The controller can automatically activate the parking assist function according to the driving status of the vehicle. For example, when the speed of the vehicle drops below a preset threshold and the steering wheel rotation angle exceeds a certain range, it can be determined that the vehicle is performing a parking operation, and the parking assist function is automatically activated.

[0087] For the preset corresponding relationship, it may include: if the parking speed is less than a preset first speed threshold and greater than zero, determining the braking deceleration to be the first braking deceleration;

[0088] If the parking speed is greater than or equal to the first speed threshold and less than or equal to the preset second speed threshold, determining the braking deceleration to be the second braking deceleration;

[0089] If the parking speed is greater than the second speed threshold and less than or equal to a preset third speed threshold, determining the braking deceleration to be the third braking deceleration;

[0090] If the parking speed is greater than the third speed threshold, determining the braking deceleration to be a fourth braking deceleration;

[0091] Among them, the first speed threshold is smaller than the second speed threshold, the second speed threshold is smaller than the third speed threshold; the first braking deceleration is smaller than the second braking deceleration, the second braking deceleration is smaller than the third braking deceleration, and the third braking deceleration is smaller than the fourth braking deceleration.

[0092] S203: emergency braking the vehicle according to the current parking speed of the vehicle and a preset corresponding relationship.

[0093] In this step, the controller can obtain the current parking speed of the vehicle, determine the current braking deceleration according to the preset correspondence determined after performing emergency braking tests on the vehicle at different parking speeds under different parking emergency braking conditions, and perform emergency braking on the vehicle.

[0094] For example, the controller can obtain the current parking speed of the vehicle as 5km / h, and determine the current braking deceleration as -6m / s according to the preset corresponding relationship. 2 , apply emergency brakes to the vehicle.

[0095] In an embodiment of the present application, the controller can determine whether the vehicle meets the parking emergency braking conditions based on the distance between the vehicle and the obstacle and the current parking speed. When it is determined that the vehicle meets the parking emergency braking conditions and the parking assist function is enabled, the controller can obtain the preset correspondence between the parking speed and the braking deceleration, and perform emergency braking on the vehicle based on the current parking speed of the vehicle and the preset correspondence. In the above process, by utilizing the preset correspondence between the parking speed and the braking deceleration, the appropriate braking deceleration can be determined according to the current parking speed, thereby achieving precise braking control, which can not only stop the vehicle in time to avoid collision, but also provide the driver with the best braking feeling and optimize the overall driving experience.

[0096] exist Figure 2 Based on the embodiment shown below, combined with Figure 3, the above-mentioned parking emergency braking control method is further described in detail.

[0097] Figure 3 This is a flow chart of the second embodiment of the parking emergency brake control method provided by this application. Figure 3 , the method may include:

[0098] S301. Determine a collision time according to the distance between the vehicle and the obstacle and the current parking speed.

[0099] In this step, the controller can determine the safe distance between the vehicle and the obstacle, and determine the collision time based on the safe distance and the current parking speed of the vehicle.

[0100] For example, the radar installed on the vehicle can determine that the safety distance between the obstacle and the vehicle is 2m. Based on the safety distance of 2m and the current parking speed of the vehicle of 9km / h, the collision time is determined to be 0.8s.

[0101] In an optional embodiment, when determining the collision time based on the safety distance and the current parking speed of the vehicle, a certain safety margin can be reserved. The safety margin refers to a certain distance subtracted from the safety distance in advance when calculating the collision time to account for possible measurement errors, driver reaction time, changes in road conditions or other unforeseen factors.

[0102] Specifically, the safety margin may be set based on at least one of factors such as vehicle speed, environmental conditions, sensor accuracy, driver reaction time, vehicle load, road conditions, and system responsiveness.

[0103] For example, when the safety margin is set to 0.3m, the safety distance between the obstacle and the vehicle can be measured by the radar on the vehicle as 2m. After deducting the safety margin of 0.3m from the safety distance, the effective safety distance is 1.7m. Combined with the vehicle's current parking speed of 9km / h, the calculated collision time is 0.68 seconds.

[0104] S302: If the collision time is less than a preset collision time threshold, it is determined that the vehicle meets the parking emergency braking condition.

[0105] In this step, the calculated collision time (i.e., the time required for the vehicle to collide with the obstacle at the current parking speed) can be used to determine whether it is less than a collision time threshold preset in the controller. If it is less than the collision time threshold, it indicates that the vehicle meets the conditions for triggering parking emergency braking.

[0106] The collision time threshold is a pre-set time limit used to determine when emergency measures need to be taken to avoid a collision between the vehicle and an obstacle. Specifically, it is a reference time. When the calculated collision time, that is, the time required for the vehicle to collide with an obstacle at the current speed, is less than this threshold, the controller may consider it necessary to take immediate action, such as triggering emergency braking, to prevent a collision. Setting the collision time threshold ensures that the vehicle has enough time and distance to intervene safely before potential danger occurs, thereby improving driving safety.

[0107] For example, the collision time threshold is preset in the controller as 1 s, and then it can be determined that the vehicle meets the parking emergency braking condition based on the determined collision time of 0.7 s being less than the collision time threshold of 1 s.

[0108] S303: When the vehicle meets the parking emergency braking condition and the parking assistance function is turned on, a preset corresponding relationship between the parking speed and the braking deceleration is obtained.

[0109] In this step, when the vehicle meets the emergency braking condition and the parking assist function is detected to be turned on, a preset corresponding relationship between the parking speed and the braking deceleration can be obtained. The preset corresponding relationship is determined by performing emergency braking tests on the vehicle at different parking speeds under different emergency braking conditions.

[0110] Optionally, the parking emergency brake can be used as a rear low-speed assist system, and the parking speed range is usually between 2km / h and 12km / h. Most drivers usually park at speeds below 6km / h.

[0111] Optionally, the first speed threshold is 2 km / h; the second speed threshold is 6 km / h; the third speed threshold is 12 km / h; the first braking deceleration is less than 4 m / s 2 ; The second braking deceleration is greater than or equal to 4m / s2 and less than or equal to 8m / s 2 ; The third braking deceleration is greater than 8m / s 2 , and less than or equal to 12m / s 2 ; The fourth braking deceleration is greater than 12m / s 2 A preset corresponding relationship between the parking speed V and the braking deceleration a is established as shown in Table 1.

[0112] Table 1

[0113]

[0114] Specifically, the preset corresponding relationship may include:

[0115] If the parking speed is less than a preset first speed threshold and greater than zero, determining the braking deceleration to be the first braking deceleration;

[0116] For example, the first speed threshold is 2 km / h, the parking speed is 1 km / h, and the first braking deceleration is less than 4 m / s 2 Since the parking speed of 1km / h is less than the preset first speed threshold of 2km / h, it can be determined that the braking deceleration is less than 4m / s 2 . Optionally, the braking deceleration can be 1m / s 2 .

[0117] If the parking speed is greater than or equal to the first speed threshold and less than or equal to the preset second speed threshold, determining the braking deceleration to be the second braking deceleration;

[0118] For example, the first speed threshold is 2 km / h, the second speed threshold is 6 km / h, and the parking speed is 4 km / h; the second braking deceleration is greater than or equal to 4 m / s2 and less than or equal to 8 m / s 2 Since the parking speed of 4km / h is greater than the first speed threshold of 2km / h and less than the preset second speed threshold of 6km / h, it can be determined that the braking deceleration is greater than or equal to 4m / s2 and less than or equal to 8m / s 2 . Optionally, the braking deceleration can be 6m / s 2 .

[0119] If the parking speed is greater than the second speed threshold and less than or equal to a preset third speed threshold, determining the braking deceleration to be the third braking deceleration;

[0120] For example, the second speed threshold is 6km / h, the third speed threshold is 12km / h, the parking speed is 10km / h, and the third braking deceleration is greater than 8m / s 2 , and less than or equal to 12m / s 2 Since the parking speed of 10km / h is greater than the second speed threshold of 8km / h and less than the preset third speed threshold of 12km / h, it can be determined that the braking deceleration is greater than 8m / s 2 , and less than or equal to 12m / s 2 . Optionally, the braking deceleration can be 10m / s 2 .

[0121] If the parking speed is greater than the third speed threshold, determining the braking deceleration to be a fourth braking deceleration;

[0122] For example, the third speed threshold is 12 km / h, the parking speed is 14 km / h; the fourth braking deceleration is greater than 12 m / s 2Since the parking speed of 14km / h is greater than the third speed threshold of 12km / h, it can be determined that the braking deceleration is greater than 12m / s 2 . Optionally, the braking deceleration can be 14m / s 2 .

[0123] In an optional embodiment, the specific implementation of determining the preset correspondence relationship by conducting emergency braking tests on the vehicle at different parking speeds under different emergency braking conditions may include the following steps: First, determine a series of parking speeds that should cover the common range of vehicles in actual use to ensure the comprehensiveness and representativeness of the test. Then, under the set emergency braking conditions, perform the test and record the braking deceleration data in detail to ensure the accuracy and reliability of the data. Next, analyze the collected braking deceleration data to identify the relationship between different parking speeds and braking effects, so as to understand the impact of speed changes on braking performance. Finally, calibrate the parking speed and braking deceleration to establish a preset correspondence between the two.

[0124] Figure 4 This is a schematic diagram of the results of an emergency braking test provided in the embodiment of this application. Figure 4 , when the parking speed is 4km / h (i.e. 1.1m / s in the figure), the braking deceleration is -6.5m / s².

[0125] By conducting a series of tests on the vehicle at different parking speeds and calibrating these parking speeds with the corresponding braking deceleration, it can be concluded that when the parking speed is in the range of 2km / h to 6km / h, the vehicle's braking deceleration will usually fall between 4m / s² and 8m / s².

[0126] Figure 5 This is a schematic diagram of the results of another emergency braking test provided in the embodiment of the present application. Figure 5 , when the parking speed is 8.6km / h (2.39m / s in the figure), the braking deceleration is -10.6m / s².

[0127] By conducting a series of tests on the vehicle at different parking speeds and calibrating these parking speeds and the corresponding braking deceleration, it can be concluded that when the parking speed is between 6km / h and 12km / h, the vehicle's braking deceleration will usually fall between 8m / s² and 12m / s².

[0128] S304: Determine a current braking deceleration according to a current parking speed of the vehicle and a preset corresponding relationship.

[0129] In this step, the current braking deceleration for the best parking effect can be achieved according to the current parking speed of the vehicle through a preset corresponding relationship between the parking speed and the braking deceleration.

[0130] Specifically, when the vehicle approaches an obstacle at a high speed, the controller can select a larger braking deceleration according to the preset correspondence to quickly reduce the speed and ensure that the vehicle stops safely within a limited distance. When the vehicle speed is low, the controller can select a smaller deceleration to achieve a smooth parking experience and avoid passengers feeling obvious braking shock.

[0131] For example, based on the current parking speed of the vehicle being 10 km / h, the current braking deceleration can be determined to be 10 m / s² through the preset corresponding relationship between the parking speed and the braking deceleration.

[0132] S305: Emergency braking is performed on the vehicle according to the current braking deceleration.

[0133] For example, the vehicle can be emergency braked according to the current braking deceleration of 10m / s².

[0134] In an optional implementation, the controller can also dynamically adjust the current braking deceleration according to at least one of environmental factors, road conditions, and vehicle load, so as to improve the safety and comfort of emergency parking. Through this intelligent braking control, the vehicle can achieve efficient and safe automatic parking in various complex parking scenarios.

[0135] For example, the determined current braking deceleration may be optimized according to the current road type on which the vehicle is located to obtain an optimized current braking deceleration, and emergency braking of the vehicle may be performed according to the optimized current braking deceleration.

[0136] In a specific implementation, the target road surface friction coefficient can be determined based on the current road surface type and a preset mapping relationship; wherein the preset mapping relationship is used to indicate the correspondence between the road surface type and the road surface friction coefficient; the current braking deceleration is optimized according to the target road surface friction coefficient to obtain the optimized current braking deceleration, and then the vehicle is emergency braked according to the optimized current braking deceleration.

[0137] In an embodiment of the present application, the controller can calculate the collision time by the distance between the vehicle and the obstacle and the current parking speed. If the collision time is less than a preset collision time threshold, it is determined that the vehicle meets the conditions for emergency braking. When the vehicle meets the emergency braking conditions and the parking assist function is turned on, the controller can obtain a preset correspondence between the parking speed and the braking deceleration. Then, based on the current parking speed of the vehicle and the preset correspondence, the required current braking deceleration is determined, and emergency braking is applied to the vehicle accordingly. In the above process, the controller can automatically adjust the braking force according to different parking speeds by utilizing the preset correspondence between the parking speed and the braking deceleration, thereby achieving more accurate and effective emergency braking. This not only stops the vehicle in time, but also provides the driver with the best braking experience and improves the overall driving experience.

[0138] Figure 6 This is a schematic diagram of the structure of the parking emergency brake control device provided in the embodiment of the present application. Figure 6 The control device 10 for parking emergency braking comprises:

[0139] The processing module 11 is used to determine whether the vehicle meets the parking emergency braking condition according to the distance between the vehicle and the obstacle and the current parking speed;

[0140] an acquisition module 12, configured to acquire a preset corresponding relationship between a parking speed and a braking deceleration when the vehicle meets a parking emergency braking condition and a parking assist function is turned on, wherein the preset corresponding relationship is determined after performing an emergency braking test at different parking speeds on the vehicle under different parking emergency braking conditions;

[0141] The control module 13 is used to perform emergency braking on the vehicle according to the current parking speed of the vehicle and the preset corresponding relationship.

[0142] The parking emergency brake control device provided in the embodiment of the present application can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0143] In a possible implementation manner, the processing module 11 is specifically configured to:

[0144] determining a collision time based on a distance between the vehicle and the obstacle and a current parking speed;

[0145] If the collision time is less than a preset collision time threshold, it is determined that the vehicle meets the parking emergency braking condition.

[0146] In a possible implementation manner, the control module 13 is specifically configured to:

[0147] determining a current braking deceleration according to a current parking speed of the vehicle and the preset corresponding relationship;

[0148] Emergency braking is performed on the vehicle according to the current braking deceleration.

[0149] In a possible implementation manner, the preset corresponding relationship includes:

[0150] If the parking speed is less than a preset first speed threshold and greater than zero, determining the braking deceleration to be the first braking deceleration;

[0151] If the parking speed is greater than or equal to the first speed threshold and less than or equal to a preset second speed threshold, determining the braking deceleration to be the second braking deceleration;

[0152] The first speed threshold is smaller than the second speed threshold, and the first braking deceleration is smaller than the second braking deceleration.

[0153] In a possible implementation manner, the preset corresponding relationship further includes:

[0154] If the parking speed is greater than the second speed threshold and less than or equal to a preset third speed threshold, determining the braking deceleration to be the third braking deceleration;

[0155] If the parking speed is greater than the third speed threshold, determining the braking deceleration to be a fourth braking deceleration;

[0156] The second speed threshold is smaller than the third speed threshold, the second braking deceleration is smaller than the third braking deceleration, and the third braking deceleration is smaller than the fourth braking deceleration.

[0157] In a possible implementation manner, the first speed threshold is 2 km / h, the second speed threshold is 6 km / h, and the third speed threshold is 12 km / h.

[0158] In a possible implementation manner, the first braking deceleration is less than 4 m / s 2 ;

[0159] The second braking deceleration is greater than or equal to 4m / s2 and less than or equal to 8m / s 2 ;

[0160] The third braking deceleration is greater than 8 m / s 2 , and less than or equal to 12m / s 2 ;

[0161] The fourth braking deceleration is greater than 12 m / s 2 .

[0162] The parking emergency brake control device provided in the embodiment of the present application can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0163] Figure 7 This is a schematic diagram of the structure of the controller provided in the embodiment of the present application. Figure 7 The controller 20 provided in this embodiment includes: at least one processor 21 and a memory 22. Optionally, the controller 20 also includes a communication component 23. The processor 21, the memory 22 and the communication component 23 are connected via a bus 24.

[0164] In a specific implementation process, at least one processor 21 executes the computer-executable instructions stored in the memory 22, so that at least one processor 21 executes the above method.

[0165] The specific implementation process of the processor 21 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0166] Optionally, the controller provided in the embodiment of the present application can be a parking controller integrated inside the vehicle; it can also be an externally attached intelligent parking assistance device, which can interact with the vehicle through wireless communication and obtain real-time data to execute the above method; in addition, the controller can also be part of a cloud computing platform, which can obtain the vehicle's sensor data through a network connection, perform remote calculations and issue commands, thereby achieving precise parking control.

[0167] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0168] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0169] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0170] The present application provides a vehicle, including a vehicle body and Figure 7 The controller shown is used to implement the parking emergency braking control method in the above embodiment.

[0171] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0172] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0173] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0174] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0175] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0176] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0178] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0179] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0180] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A parking emergency brake control method, characterized in that: A controller applied to a vehicle, the method comprising: determining whether the vehicle meets a parking emergency braking condition according to the distance between the vehicle and the obstacle and the current parking speed; When the vehicle meets the parking emergency braking condition and the parking assist function is turned on, obtaining a preset corresponding relationship between the parking speed and the braking deceleration, wherein the preset corresponding relationship is determined after performing emergency braking tests on the vehicle at different parking speeds under different parking emergency braking conditions; The vehicle is emergency braked according to the current parking speed of the vehicle and the preset corresponding relationship.

2. The method according to claim 1, characterized in that The determining, based on the distance between the vehicle and the obstacle and the current parking speed, whether the vehicle satisfies the parking emergency braking condition comprises: determining a collision time based on a distance between the vehicle and the obstacle and a current parking speed; If the collision time is less than a preset collision time threshold, it is determined that the vehicle meets the parking emergency braking condition.

3. The method according to claim 2, characterized in that The emergency braking of the vehicle according to the current parking speed of the vehicle and the preset corresponding relationship includes: determining a current braking deceleration according to a current parking speed of the vehicle and the preset corresponding relationship; Emergency braking is performed on the vehicle according to the current braking deceleration.

4. The method according to any one of claims 1 to 3, characterized in that: The preset corresponding relationship includes: If the parking speed is less than a preset first speed threshold and greater than zero, determining the braking deceleration to be the first braking deceleration; If the parking speed is greater than or equal to the first speed threshold and less than or equal to a preset second speed threshold, determining the braking deceleration to be the second braking deceleration; The first speed threshold is smaller than the second speed threshold, and the first braking deceleration is smaller than the second braking deceleration.

5. The method according to claim 4, characterized in that: The preset corresponding relationship also includes: If the parking speed is greater than the second speed threshold and less than or equal to a preset third speed threshold, determining the braking deceleration to be the third braking deceleration; If the parking speed is greater than the third speed threshold, determining the braking deceleration to be a fourth braking deceleration; The second speed threshold is smaller than the third speed threshold, the second braking deceleration is smaller than the third braking deceleration, and the third braking deceleration is smaller than the fourth braking deceleration.

6. The method according to claim 5, characterized in that The first speed threshold is 2 km / h, the second speed threshold is 6 km / h, and the third speed threshold is 12 km / h.

7. The method according to claim 5 or 6, characterized in that: The first braking deceleration is less than 4 m / s 2 ; The second braking deceleration is greater than or equal to 4m / s2 and less than or equal to 8m / s 2 ; The third braking deceleration is greater than 8 m / s 2 , and less than or equal to 12m / s 2 ; The fourth braking deceleration is greater than 12 m / s 2 .

8. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

9. A vehicle, characterized in that: include: A vehicle body, and the controller as claimed in claim 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 7 when executed by a processor.

Images