Vehicle braking control method, device and equipment and storage medium

Abstract

The invention provides a vehicle braking control method, device and equipment and a storage medium, and relates to the technical field of intelligent vehicles. In some embodiments of the invention, under the condition that the hydraulic braking system of the target vehicle is detected to be abnormal, the target vehicle is automatically controlled to be switched from the hydraulic braking system to the parking braking system so as to perform vehicle braking operation; whether other vehicles exist behind the side where the target vehicle is parked is detected, and the other vehicles refer to any vehicle except the target vehicle; controlling wheels on two sides of the target vehicle to generate asymmetric torques under the condition that other vehicles are detected to exist behind one side of the target vehicle, and automatically carrying out side parking operation; under the condition that the hydraulic braking system of the vehicle is detected to be abnormal, connection and side parking operation of the hydraulic braking system are automatically carried out, human intervention is not needed, the intelligent degree of vehicle braking control is improved, the vehicle driving safety is improved, and the user experience is improved.

Description

Technical Field

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

[0002] In recent years, with the rapid development of Internet technology, smart cars have come into being.

[0003] During the driving process of the vehicle, if the hydraulic brake system of the vehicle fails, there is a problem of insufficient emergency response ability of the driver, which may bring greater driving safety risks.

[0004] At present, the intelligence level of vehicle braking control is low, vehicle safety is low, and user experience is poor. Summary of the invention

[0005] The present disclosure provides a vehicle braking control method, device, equipment and storage medium to at least solve the problems of low intelligence level of existing vehicle braking control, low vehicle safety and poor user experience.

[0006] The technical solution of the present disclosure is as follows:

[0007] The present disclosure provides a vehicle braking control method, comprising:

[0008] When an abnormality is detected in the hydraulic brake system of the target vehicle, control the target vehicle to switch from the hydraulic brake system to the parking brake system to perform a vehicle braking operation;

[0009] Detecting whether there is another vehicle behind the side of the target vehicle where the target vehicle is parked, wherein the other vehicle refers to any vehicle other than the target vehicle;

[0010] When it is detected that the other vehicle exists behind the side of the target vehicle that is parked by the curb, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque to perform a pull-over parking operation.

[0011] Optionally, the detecting whether there is another vehicle behind the side of the target vehicle parked by the curb includes:

[0012] Collecting a road condition image behind the side of the target vehicle parked by the side of the road;

[0013] The road condition image is input into a target detection model to perform vehicle detection, and a detection result of whether the other vehicle exists in the road condition image is obtained.

[0014] Optionally, controlling wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation includes:

[0015] The calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and asymmetric torques are generated on the wheels on both sides of the target vehicle to perform a pull-over parking operation.

[0016] Optionally, the pull-over parking operation is a right parking operation, and the calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and asymmetric torques are generated on the wheels on both sides of the target vehicle to perform the pull-over parking operation, including:

[0017] The calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and the braking torque generated on the left wheel of the target vehicle is smaller than the braking torque generated on the right wheel of the target vehicle, so as to perform the right parking operation.

[0018] Optionally, after controlling the target vehicle to switch from the hydraulic brake system to the parking brake system, the method further includes:

[0019] Controlling the target vehicle to turn on the turn signal and the hazard lights; and

[0020] Perform hydraulic brake system abnormal warning operations.

[0021] Optionally, the method further comprises:

[0022] Monitoring the pressure of the hydraulic brake system by using a pressure sensor, and generating a detection result indicating that an abnormality exists in the hydraulic brake system when the pressure is greater than a first pressure threshold or when the pressure is less than a second pressure threshold;

[0023] Using a temperature sensor to monitor the temperature of the hydraulic oil of the hydraulic brake system, and generating a detection result indicating that an abnormality exists in the hydraulic brake system when the temperature is greater than a set temperature threshold;

[0024] Monitoring the oil level of the hydraulic oil of the hydraulic brake system by using a liquid level sensor, and generating a detection result indicating that an abnormality exists in the hydraulic brake system when the oil level is lower than a minimum oil level threshold;

[0025] A flow sensor is used to monitor the flow of hydraulic oil in the hydraulic brake system, and when the flow does not belong to a set flow interval, a detection result indicating that an abnormality exists in the hydraulic brake system is generated.

[0026] The present disclosure also provides a vehicle braking control device, including:

[0027] a first control module, for controlling the target vehicle to switch from the hydraulic brake system to the parking brake system to perform a vehicle braking operation when an abnormality is detected in the hydraulic brake system of the target vehicle;

[0028] A detection module, used to detect whether there is another vehicle behind the side of the target vehicle where the target vehicle is parked, wherein the other vehicle refers to any vehicle other than the target vehicle;

[0029] The second control module is used to control the wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation when it is detected that the other vehicle exists behind the pull-over parking side of the target vehicle.

[0030] The present disclosure also provides an electronic device, including:

[0031] processor;

[0032] a memory for storing instructions executable by the processor;

[0033] The processor is configured to execute the instructions to implement each step in the above method.

[0034] The embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, each step in the above method is implemented.

[0035] The embodiment of the present disclosure further provides a computer program product, including a computer program / instruction, which implements each step of the above method when executed by a processor.

[0036] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects:

[0037] In some embodiments of the present disclosure, when an abnormality is detected in the hydraulic braking system of the target vehicle, the target vehicle is automatically controlled to switch from the hydraulic braking system to the parking brake system to perform vehicle braking operations; it is detected whether there are other vehicles behind the side of the target vehicle where the vehicle is parked, wherein other vehicles refer to any vehicles other than the target vehicle; when it is detected that there are other vehicles behind the side of the target vehicle where the vehicle is parked, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque and automatically perform a pull-over parking operation; when an abnormality is detected in the hydraulic braking system of the vehicle, the present disclosure automatically takes over the hydraulic braking system and performs a pull-over parking operation without human intervention, thereby improving the intelligence level of vehicle braking control, improving vehicle driving safety, and improving user experience.

[0038] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0040] Figure 1 A schematic flow chart of a vehicle braking control method provided for an exemplary embodiment of the present disclosure;

[0041] Figure 2 A schematic structural diagram of a vehicle brake control device provided for an exemplary embodiment of the present disclosure;

[0042] Figure 3 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0044] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure.

[0045] It should be noted that the user information involved in this disclosure includes but is not limited to: user device information and user personal information; the collection, storage, use, processing, transmission, provision and disclosure of user information in this disclosure comply with the relevant laws and regulations and do not violate public order and good morals.

[0046] L3 and above autonomous driving functions require that the vehicle can complete reliable autonomous control under various conditions without considering the driver's operation as a link in the control system. As an important part of the autonomous driving function, the braking system plays an irreplaceable role in realizing the driving process and safety protection. Therefore, it is very important that the braking system has reliable deceleration capabilities under various conditions.

[0047] During the driving process of the vehicle, if the hydraulic brake system of the vehicle fails, there is a problem of insufficient emergency response ability of the driver, which may bring greater driving safety risks.

[0048] At present, the intelligence level of vehicle braking control is low, vehicle safety is low, and user experience is poor.

[0049] In response to the above technical problems, in some embodiments of the present disclosure, when an abnormality is detected in the hydraulic braking system of the target vehicle, the target vehicle is automatically controlled to switch from the hydraulic braking system to the parking brake system to perform vehicle braking operations; it is detected whether there are other vehicles behind the side of the target vehicle where the vehicle is parked, wherein other vehicles refer to any vehicles other than the target vehicle; when it is detected that there are other vehicles behind the side of the target vehicle where the vehicle is parked, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque, and the pull-over operation is automatically performed; when an abnormality is detected in the hydraulic braking system of the vehicle, the present disclosure automatically takes over the hydraulic braking system and performs the pull-over operation without human intervention, thereby improving the intelligence level of vehicle braking control, improving vehicle driving safety, and improving user experience.

[0050] The technical solutions provided by various embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0051] Figure 1 The flowchart of a vehicle braking control method provided by the exemplary embodiment of the present disclosure is as follows. Figure 1 As shown, the method includes:

[0052] S101: When an abnormality is detected in the hydraulic brake system of the target vehicle, control the target vehicle to switch from the hydraulic brake system to the parking brake system to perform a vehicle braking operation;

[0053] S102: Detecting whether there is another vehicle behind the side of the target vehicle where the target vehicle is parked, wherein the other vehicle refers to any vehicle other than the target vehicle;

[0054] S103: When it is detected that there is another vehicle behind the side of the target vehicle where the vehicle is parked, the wheels on both sides of the target vehicle are controlled to generate an asymmetric torque to perform a pull-over parking operation.

[0055] In this embodiment, the type of the target vehicle is not limited. The present disclosure does not limit the type of the target vehicle, including but not limited to any one of the following: electric vehicles, oil-powered vehicles, oil-electric hybrid vehicles, hydrogen energy vehicles, new energy and oil-powered hybrid vehicles, etc.

[0056] It should be noted that the hydraulic brake system is a device that transmits braking force through liquid pressure, and is mainly used to slow down or stop the vehicle while it is moving. When the driver steps on the brake pedal, the system converts mechanical force into hydraulic pressure and transmits it to the brakes of each wheel, generating friction to slow down or stop the vehicle. The parking brake system is a device used to keep the vehicle stationary to prevent it from sliding when parking. It locks the wheels mechanically or electronically to ensure that the vehicle remains stable on a slope or flat road.

[0057] Hydraulic brake system, used to monitor system status in real time. Common sensors include:

[0058] Pressure sensor: monitors the pressure of the hydraulic system to ensure it is within the normal range. If the pressure is too low or too high, the system will trigger a warning.

[0059] Temperature sensor: monitors the temperature of hydraulic oil to prevent system failure caused by excessive oil temperature.

[0060] Level sensor: monitors the hydraulic oil level and the system issues a warning if the oil level is too low.

[0061] Flow sensor: monitors the flow of hydraulic oil to ensure the normal operation of the system.

[0062] The hydraulic brake system detects the working state of the hydraulic brake system through various types of sensors, wherein the working state of the hydraulic brake system includes a normal working state and an abnormal working state.

[0063] In some embodiments of the present disclosure, a pressure sensor is used to monitor the pressure of a hydraulic brake system, and when the pressure is greater than a first pressure threshold, or when the pressure is less than a second pressure threshold, a detection result indicating an abnormality in the hydraulic brake system is generated; a temperature sensor is used to monitor the temperature of the hydraulic oil of the hydraulic brake system, and when the temperature is greater than a set temperature threshold, a detection result indicating an abnormality in the hydraulic brake system is generated; a level sensor is used to monitor the oil level of the hydraulic oil of the hydraulic brake system, and when the oil level is lower than a minimum oil level threshold, a detection result indicating an abnormality in the hydraulic brake system is generated; a flow sensor is used to monitor the flow of the hydraulic oil of the hydraulic brake system, and when the flow does not fall within a set flow range, a detection result indicating an abnormality in the hydraulic brake system is generated. It should be noted that the present disclosure does not limit the set temperature threshold and the minimum oil level threshold, and the set temperature threshold and the minimum oil level threshold can be adjusted according to actual conditions.

[0064] In some embodiments of the present disclosure, when an abnormality is detected in the hydraulic brake system of the target vehicle, the target vehicle is controlled to switch from the hydraulic brake system to the parking brake system to perform vehicle braking operations. When the high-level ADAS function is activated and controls the vehicle's driving, when the hydraulic brake system is normal, the vehicle's deceleration control is performed by the hydraulic brake system. When the hydraulic brake system is abnormal, it is impossible to perform correct and effective deceleration control through hydraulic braking, and the deceleration control is downgraded to the parking brake system taking over.

[0065] In some embodiments of the present disclosure, after the target vehicle is controlled to switch from the hydraulic brake system to the parking brake system, the target vehicle is controlled to turn on the turn signal and the double flash lights; and the hydraulic brake system abnormality warning operation is performed. Wherein, when there is an abnormality in the hydraulic brake system, the target vehicle is in a dangerous driving state, and the target vehicle is controlled to turn on the turn signal and the double flash lights to notify other vehicles on the road and notify the driver that the current system is in a fault state.

[0066] In the above embodiment, the abnormal warning operation of the hydraulic brake system is performed, including but not limited to the following abnormal warning operations:

[0067] Abnormal warning operation 1: Displaying abnormal information of the hydraulic brake system on the central control screen and / or the head-up display screen. The present disclosure does not limit the specific content of the abnormal information of the hydraulic brake system, and it can be adjusted according to actual conditions.

[0068] Abnormal warning operation 2: Play the abnormal voice of the hydraulic brake system. The present disclosure does not limit the specific content of the abnormal voice of the hydraulic brake system, and it can be adjusted according to the actual situation.

[0069] Abnormal warning operation three: Display the hydraulic brake system abnormality icon on the car dashboard and give a warning sound.

[0070] In some embodiments of the present disclosure, it is detected whether there are other vehicles behind the side of the target vehicle that is parked by the curb, wherein the other vehicles refer to any vehicles except the target vehicle.

[0071] In some embodiments of the present disclosure, it is detected whether there are other vehicles behind the side of the target vehicle that is parked by the side of the road, where other vehicles refer to any vehicles other than the target vehicle. One achievable method is to collect a road condition image behind the side of the target vehicle that is parked by the side of the road; input the road condition image into a target detection model to perform vehicle detection, and obtain a detection result of whether there are other vehicles in the road condition image. The present disclosure uses a target detection model to improve the detection efficiency and accuracy of vehicle detection on the road.

[0072] It should be noted that the rear side of the target vehicle's side of parking can be the left rear side of the target vehicle or the right rear side of the target vehicle. The reason is that different driving rules are used for different regions or countries. For regions or countries with left-side driving habits, parking by the side is parking by the right, and accordingly, the rear side of the side of parking by the side is the right rear side of the vehicle. For regions or countries with right-side driving habits, parking by the side is parking by the left, and accordingly, the rear side of the side of parking by the side is the left rear side of the vehicle.

[0073] In some embodiments of the present disclosure, when it is detected that there are other vehicles behind the side of the target vehicle where it is parked, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque to perform the pull-over parking operation. One feasible method is to control the calipers corresponding to the wheels on both sides of the target vehicle to generate different clamping forces respectively, thereby generating asymmetric torque on the wheels on both sides of the target vehicle to perform the pull-over parking operation. Among them, the deceleration control of the parking brake system is achieved by adjusting the running direction and clamping force of the EPB caliper. The caliper motors on the left and right sides of the vehicle are controlled by different clamping forces, which can also achieve partial vehicle yaw angle control, further improving the reliability and safety of vehicle braking control.

[0074] In an exemplary embodiment, when the pull-over parking operation is a pull-right parking operation, the calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and asymmetric torques are generated on the wheels on both sides of the target vehicle to perform the pull-over parking operation. One achievable method is to control the calipers corresponding to the wheels on both sides of the target vehicle to generate different clamping forces respectively, and the braking torque generated by the left wheel of the target vehicle is less than the braking torque generated by the right wheel of the target vehicle to perform the pull-right parking operation. Among them, the braking torque generated by the left wheel of the target vehicle can be zero or non-zero. When the braking torque generated by the left wheel of the target vehicle is less than the braking torque generated by the right wheel of the target vehicle, the yaw angle of the vehicle is offset to the right, and the vehicle drives to the right to perform the pull-right parking operation.

[0075] In some embodiments of the present disclosure, when an abnormality is detected in the hydraulic braking system of the target vehicle, the target vehicle is automatically controlled to switch from the hydraulic braking system to the parking brake system to perform vehicle braking operations; it is detected whether there are other vehicles behind the side of the target vehicle where the vehicle is parked, wherein other vehicles refer to any vehicles other than the target vehicle; when it is detected that there are other vehicles behind the side of the target vehicle where the vehicle is parked, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque and automatically perform a pull-over parking operation; when an abnormality is detected in the hydraulic braking system of the vehicle, the present disclosure automatically takes over the hydraulic braking system and performs a pull-over parking operation without human intervention, thereby improving the intelligence level of vehicle braking control, improving vehicle driving safety, and improving user experience.

[0076] Figure 2 FIG. 2 is a schematic diagram of the structure of a vehicle brake control device 20 provided by an exemplary embodiment of the present disclosure. Figure 2 As shown, the vehicle brake control device includes: a first control module 21, a detection module 22 and a second control module 23.

[0077] The first control module 21 is used to control the target vehicle to switch from the hydraulic brake system to the parking brake system to perform vehicle braking operation when an abnormality is detected in the hydraulic brake system of the target vehicle;

[0078] A detection module 22 is used to detect whether there is another vehicle behind the side of the target vehicle where the target vehicle is parked, wherein the other vehicle refers to any vehicle other than the target vehicle;

[0079] The second control module 23 is used to control the wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation when it is detected that there is another vehicle behind the pull-over parking side of the target vehicle.

[0080] Optionally, when detecting whether there is another vehicle behind the side of the target vehicle parked by the side of the road, the detection module 22 is used to:

[0081] Collecting the road condition image behind the side of the target vehicle parked by the side of the road;

[0082] The road condition image is input into the target detection model to perform vehicle detection and obtain the detection result of whether there are other vehicles in the road condition image.

[0083] Optionally, when the second control module 23 controls the wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation, it is used to:

[0084] The calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and asymmetric torques are generated on the wheels on both sides of the target vehicle to perform a pull-over parking operation.

[0085] Optionally, the pull-over parking operation is a pull-right parking operation, and the second control module 23 controls the calipers corresponding to the wheels on both sides of the target vehicle to generate different clamping forces respectively, and generates asymmetric torques on the wheels on both sides of the target vehicle to perform the pull-over parking operation, and is used to:

[0086] The calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and the braking torque generated by the left wheel of the target vehicle is smaller than the braking torque generated by the right wheel of the target vehicle, so as to perform a right parking operation.

[0087] Optionally, after controlling the target vehicle to switch from the hydraulic brake system to the parking brake system, the first control module 21 may also be used to:

[0088] Control the target vehicle to turn on the turn signal and hazard lights; and

[0089] Perform hydraulic brake system abnormal warning operations.

[0090] Optionally, the first control module 21 may also be used to:

[0091] Using a pressure sensor to monitor the pressure of the hydraulic brake system, when the pressure is greater than a first pressure threshold or the pressure is less than a second pressure threshold, generating a detection result indicating that the hydraulic brake system is abnormal;

[0092] The temperature of the hydraulic oil in the hydraulic brake system is monitored by a temperature sensor, and when the temperature is greater than a set temperature threshold, a detection result indicating that the hydraulic brake system is abnormal is generated;

[0093] The hydraulic oil level of the hydraulic brake system is monitored by using a liquid level sensor, and when the oil level is lower than a minimum oil level threshold, a detection result indicating that the hydraulic brake system is abnormal is generated;

[0094] The flow sensor is used to monitor the flow of hydraulic oil in the hydraulic brake system. When the flow does not fall within the set flow range, a detection result indicating that the hydraulic brake system is abnormal is generated.

[0095] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0096] Figure 3 FIG. 1 is a schematic diagram of a structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 3 As shown, the electronic device includes: a memory 31 and a processor 32. In addition, the electronic device also includes a power supply component 33 and a communication component 34.

[0097] The memory 31 is used to store computer programs and can be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application program or method operating on the electronic device.

[0098] The memory 31 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.

[0099] The communication component 34 is used for data transmission with other devices.

[0100] The processor 32 can execute computer instructions stored in the memory 31 to: when an abnormality is detected in the hydraulic braking system of the target vehicle, control the target vehicle to switch from the hydraulic braking system to the parking brake system to perform a vehicle braking operation; detect whether there are other vehicles behind the side of the target vehicle where the vehicle is parked, wherein the other vehicles refer to any vehicles other than the target vehicle; when other vehicles are detected behind the side of the target vehicle where the vehicle is parked, control the wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation.

[0101] Accordingly, the present disclosure also provides a computer-readable storage medium storing a computer program. When the computer-readable storage medium stores the computer program and the computer program is executed by one or more processors, the one or more processors execute Figure 1 Each step in the method embodiment.

[0102] Accordingly, the present disclosure also provides a computer program product, the computer program product includes a computer program / instruction, the computer program / instruction is executed by a processor Figure 1 Each step in the method embodiment.

[0103] Above Figure 3 The communication component in is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G / LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0104] Above Figure 3 The power supply component in the device provides power to various components of the device where the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device where the power supply component is located.

[0105] The electronic device also includes a display screen and an audio component.

[0106] The display screen includes a screen, and the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0107] The audio component may be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device where the audio component is located is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal may be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting an audio signal.

[0108] In the above-mentioned method, device, equipment, storage medium and computer program product embodiments of the present disclosure, when an abnormality is detected in the hydraulic braking system of the target vehicle, the target vehicle is automatically controlled to switch from the hydraulic braking system to the parking brake system to perform vehicle braking operations; it is detected whether there are other vehicles behind the side of the target vehicle where the vehicle is parked, wherein the other vehicles refer to any vehicles other than the target vehicle; when it is detected that there are other vehicles behind the side of the target vehicle where the vehicle is parked, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque and automatically perform a pull-over parking operation; when an abnormality is detected in the hydraulic braking system of the vehicle, the present disclosure automatically takes over the hydraulic braking system and performs a pull-over parking operation without human intervention, thereby improving the intelligence level of vehicle braking control, improving vehicle driving safety, and improving user experience.

[0109] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0113] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0114] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0115] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0116] 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.

[0117] The above are only specific embodiments 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 can 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 these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle braking control method, characterized in that: include: When an abnormality is detected in the hydraulic brake system of the target vehicle, control the target vehicle to switch from the hydraulic brake system to the parking brake system to perform a vehicle braking operation; Detecting whether there is another vehicle behind the side of the target vehicle where the target vehicle is parked, wherein the other vehicle refers to any vehicle other than the target vehicle; When it is detected that the other vehicle exists behind the side of the target vehicle that is parked by the curb, the wheels on both sides of the target vehicle are controlled to generate asymmetric torque to perform a pull-over parking operation.

2. The method according to claim 1, characterized in that The detecting whether there is another vehicle behind the side of the target vehicle parked by the side of the road comprises: Collecting a road condition image behind the side of the target vehicle parked by the side of the road; The road condition image is input into a target detection model to perform vehicle detection, and a detection result of whether the other vehicle exists in the road condition image is obtained.

3. The method according to claim 1, characterized in that: The controlling the wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation includes: The calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and asymmetric torques are generated on the wheels on both sides of the target vehicle to perform a pull-over parking operation.

4. The method according to claim 3, characterized in that The pull-over parking operation is a right parking operation, and the calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and asymmetric torques are generated on the wheels on both sides of the target vehicle to perform the pull-over parking operation, including: The calipers corresponding to the wheels on both sides of the target vehicle are controlled to generate different clamping forces respectively, and the braking torque generated on the left wheel of the target vehicle is smaller than the braking torque generated on the right wheel of the target vehicle, so as to perform the right parking operation.

5. The method according to claim 1, characterized in that After controlling the target vehicle to switch from the hydraulic brake system to the parking brake system, the method further includes: Controlling the target vehicle to turn on the turn signal and the hazard lights; and Perform hydraulic brake system abnormal warning operations.

6. The method according to claim 1, characterized in that The method further comprises: monitoring the pressure of the hydraulic brake system by using a pressure sensor, and generating a detection result indicating that an abnormality exists in the hydraulic brake system when the pressure is greater than a first pressure threshold or when the pressure is less than a second pressure threshold; Using a temperature sensor to monitor the temperature of the hydraulic oil of the hydraulic brake system, and generating a detection result indicating that an abnormality exists in the hydraulic brake system when the temperature is greater than a set temperature threshold; Monitoring the oil level of the hydraulic oil of the hydraulic brake system by using a liquid level sensor, and generating a detection result indicating that an abnormality exists in the hydraulic brake system when the oil level is lower than a minimum oil level threshold; A flow sensor is used to monitor the flow of hydraulic oil in the hydraulic brake system, and when the flow does not belong to a set flow interval, a detection result indicating that an abnormality exists in the hydraulic brake system is generated.

7. A vehicle brake control device, characterized in that: include: a first control module, for controlling the target vehicle to switch from the hydraulic brake system to the parking brake system to perform a vehicle braking operation when an abnormality is detected in the hydraulic brake system of the target vehicle; A detection module, used to detect whether there is another vehicle behind the side of the target vehicle where the target vehicle is parked, wherein the other vehicle refers to any vehicle other than the target vehicle; The second control module is used to control the wheels on both sides of the target vehicle to generate asymmetric torque to perform a pull-over parking operation when it is detected that the other vehicle exists behind the pull-over parking side of the target vehicle.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement each step in the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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