Brake reminding method and device, vehicle, storage medium and product

Abstract

The invention discloses a brake reminding method and device, a vehicle, a storage medium and a product. The brake reminding method comprises the steps that front vehicle information of a front vehicle and local vehicle information of a local vehicle are obtained, the front vehicle information comprises the front vehicle distance and the front vehicle speed, the front vehicle distance comprises the distance between the front vehicle and the local vehicle, and the local vehicle information comprises the local vehicle speed; determining an ideal pedal travel corresponding to the speed of the vehicle, wherein the ideal pedal travel comprises an ideal travel of a brake pedal; determining a safe distance corresponding to the speed of the preceding vehicle; determining a theoretical pedal travel under the conditions that the vehicle speed is reduced to the vehicle speed of the front vehicle and the vehicle distance of the front vehicle is kept at a safe distance; and determining a brake reminding strategy by comparing the theoretical pedal travel with the ideal pedal travel. Through the theoretical pedal stroke and the ideal pedal stroke, comprehensive judgment of the brake reminding strategy is achieved, and the accuracy of the brake reminding strategy is improved. In the process of determining the brake reminding strategy, the ideal pedal travel is considered, so that the driving experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a brake reminder method, device, vehicle, storage medium and product. Background Art

[0002] With the continuous increase in the number of cars, traffic safety issues have received increasing attention. Among them, keeping a safe distance between the vehicle and the vehicle in front is an important measure to prevent rear-end collisions.

[0003] However, existing safe distance warning technologies have obvious defects in the timing of reminding drivers, mainly manifested in reminding too early or too late. Reminding too early will cause the driver to frequently receive unnecessary warning information, thereby interfering with normal driving operations and reducing the driving experience. Reminding too late will test the driver's reaction speed and increase driving risks.

[0004] Therefore, how to improve the accuracy of early warning timing is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a brake reminder method, device, vehicle, storage medium and product to improve the accuracy of early warning timing.

[0006] According to one aspect of the present invention, a brake reminder method is provided, comprising:

[0007] Acquire the preceding vehicle information of the preceding vehicle and the own vehicle information of the own vehicle, wherein the preceding vehicle information includes the preceding vehicle distance and the preceding vehicle speed, the preceding vehicle distance includes the distance between the preceding vehicle and the own vehicle, and the own vehicle information includes the own vehicle speed;

[0008] Determining an ideal pedal stroke corresponding to the vehicle speed, wherein the ideal pedal stroke includes an ideal brake pedal stroke;

[0009] Determining a safe distance corresponding to the speed of the preceding vehicle;

[0010] Determine a theoretical pedal travel when the speed of the host vehicle is decelerated to the speed of the preceding vehicle and the distance between the preceding vehicle and the preceding vehicle is maintained at the safety distance;

[0011] By comparing the theoretical pedal travel with the ideal pedal travel, a brake reminder strategy is determined.

[0012] According to another aspect of the present invention, there is provided a brake reminder device, comprising:

[0013] An acquisition module, used to acquire the preceding vehicle information of the preceding vehicle and the own vehicle information of the own vehicle, wherein the preceding vehicle information includes the preceding vehicle distance and the preceding vehicle speed, the preceding vehicle distance includes the distance between the preceding vehicle and the own vehicle, and the own vehicle information includes the own vehicle speed;

[0014] A first determination module is used to determine an ideal pedal stroke corresponding to the vehicle speed, wherein the ideal pedal stroke includes an ideal brake pedal stroke;

[0015] A second determination module is used to determine the safety distance corresponding to the speed of the preceding vehicle;

[0016] A third determination module is used to determine a theoretical pedal travel when the speed of the vehicle is decelerated to the speed of the preceding vehicle and the distance between the preceding vehicle and the preceding vehicle is maintained at the safety distance;

[0017] The fourth determination module is used to determine a brake reminder strategy by comparing the theoretical pedal stroke with the ideal pedal stroke.

[0018] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the method described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method described in any embodiment of the present invention when executed.

[0023] According to another aspect of the present invention, a computer program product is provided, characterized in that the computer program product comprises a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present invention is implemented.

[0024] The technical solution of the embodiment of the present invention determines the corresponding ideal pedal stroke according to the speed of the vehicle, and determines the safety distance based on the speed of the vehicle in front. Since it is determined based on the actual speed of the vehicle and the speed of the vehicle in front, the accuracy of the determination of the ideal pedal stroke and the safety distance is guaranteed. Then, combining the information of the vehicle, the information of the vehicle in front and the safety distance, the theoretical pedal stroke is determined to ensure that the speed of the vehicle in front is decelerated to the speed of the vehicle in front and the distance is maintained at a safe distance. Then, the theoretical pedal stroke is compared with the ideal pedal stroke to determine the brake reminder strategy. Through the theoretical pedal stroke and the ideal pedal stroke, a comprehensive judgment of the brake reminder strategy is achieved, and the accuracy of the brake reminder strategy is improved. In the process of determining the brake reminder strategy, the ideal pedal stroke is taken into consideration, which improves the driving experience.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of a brake reminder method provided according to Embodiment 1 of the present invention;

[0028] Figure 2 is a structural schematic diagram of a brake reminder device provided according to Embodiment 2 of the present invention;

[0029] Figure 3 is a structural schematic diagram of another brake reminder device provided according to an embodiment of the present invention;

[0030] Figure 4 It is a structural schematic diagram of a vehicle for implementing the brake reminder method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Traditionally, there are few dimensions for judging whether the distance to the vehicle ahead is too close, and most of them are based on reaching a certain dangerous distance, or the timing of reminding the driver is too early or too late. Reminding too early will bring a bad driving experience to the driver, and the function of the distance to the vehicle ahead seems a bit useless; and reminding too late will test the driver's reaction speed and have certain driving risks. Based on this, the present invention provides a brake reminder method to improve the accuracy of the brake timing reminder.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a brake reminder method according to the first embodiment of the present invention. This embodiment can be applied to the situation where the distance between the vehicle and the vehicle in front is too close during the driving process of the vehicle. The method can be executed by a brake reminder device, which can be implemented in the form of hardware and / or software, and the brake reminder device can be configured in the vehicle. Figure 1 As shown, the method includes:

[0036] S110, obtaining the preceding vehicle information of the preceding vehicle and the own vehicle information of the own vehicle.

[0037] The preceding vehicle may be a preceding vehicle traveling in the same lane or road as the present vehicle, and the present vehicle may be a vehicle executing the braking reminder method.

[0038] The preceding vehicle information may be dynamic information and static information of the preceding vehicle. Dynamic information may refer to real-time changing information related to the preceding vehicle, which usually changes rapidly over time and reflects the immediate status of the preceding vehicle. Static information may refer to relatively stable information related to the preceding vehicle, which usually does not change rapidly over time.

[0039] The preceding vehicle information includes the preceding vehicle distance and the preceding vehicle speed. The preceding vehicle distance includes the distance between the preceding vehicle and the vehicle, and the vehicle information includes the vehicle speed of the vehicle. The preceding vehicle speed can be considered as the driving speed of the preceding vehicle. The vehicle speed of the vehicle can be the driving speed of the vehicle.

[0040] This operation does not limit the method of obtaining the preceding vehicle information, such as obtaining it from the camera on the vehicle for collecting preceding vehicle information. For example, the image or video stream of the preceding vehicle is obtained through the camera for collecting preceding vehicle information, and then the obtained image or video stream is analyzed to determine the preceding vehicle information. The brake reminder method can be executed by the processor on the vehicle, and the processor can obtain the preceding vehicle information from the camera for collecting preceding vehicle information. The processor can obtain the vehicle information through the CAN bus of the vehicle.

[0041] S120: Determine an ideal pedal stroke corresponding to the vehicle speed.

[0042] The pedal stroke may refer to the distance that the brake pedal moves from the initial position (not depressed position) to a certain position after being depressed. The pedal stroke reflects the magnitude of the driver's operation of the pedal. The ideal pedal stroke includes the ideal stroke of the brake pedal. The ideal stroke of the brake pedal may be a stroke associated with the driving experience. For example, the ideal pedal stroke may be a pedal stroke that ensures comfort during vehicle driving. The ideal pedal stroke may be associated with a comfortable speed deduction per second.

[0043] The comfortable speed deduction per second may refer to a reasonable deceleration rate set to ensure passenger comfort when the vehicle is decelerating. Deceleration under the constraint of the comfortable speed deduction per second can ensure driving comfort.

[0044] In one example, there may be a corresponding relationship between the vehicle speed and the ideal pedal stroke. After the vehicle speed is obtained, the ideal pedal stroke corresponding to the vehicle speed may be found.

[0045] In one example, the vehicle speed may correspond to the comfortable speed deduction per second. After obtaining the vehicle speed, the comfortable speed deduction per second corresponding to the vehicle speed may be searched. After determining the comfortable speed deduction per second, the corresponding ideal pedal stroke may be determined based on the corresponding relationship between the comfortable speed deduction per second and the ideal pedal stroke.

[0046] S130: Determine a safety distance corresponding to the speed of the leading vehicle.

[0047] The safety distance can be considered as the minimum distance that the vehicle maintains with the vehicle ahead in order to avoid collision during driving. In the present invention, the safety distance is not a fixed value, but is associated with the speed of the vehicle ahead. It is not limited to being associated with the speed of the vehicle ahead.

[0048] In this operation, after obtaining the speed of the preceding vehicle, the corresponding safety distance of the preceding vehicle can be found based on the corresponding relationship between the preceding vehicle speed and the safety distance. The preceding vehicle speed can be updated in real time, and accordingly, the safety distance is also updated to improve the accuracy of the warning.

[0049] S140: Determine a theoretical pedal travel when the speed of the host vehicle is decelerated to the speed of the preceding vehicle and the preceding vehicle is kept at the safe distance.

[0050] The theoretical pedal travel can be considered as the distance the brake pedal should be depressed, calculated theoretically based on the information of the preceding vehicle, the vehicle itself, and the safe distance. The theoretical pedal travel can achieve the deceleration of the vehicle itself to the speed of the preceding vehicle while maintaining a safe distance between the vehicle itself and the preceding vehicle.

[0051] After determining the preceding vehicle information, own vehicle information and safety distance, this operation can perform equation calculation on the preceding vehicle information, own vehicle information and safety distance to determine the unknown theoretical pedal travel in the equation.

[0052] The equation can be an equation of the preceding vehicle information, the vehicle information, the safety distance and the theoretical pedal stroke; or it can be an equation of the preceding vehicle information, the vehicle information, the safety distance and the theoretical acceleration. After the theoretical acceleration is determined based on the equation, the theoretical pedal stroke is further determined based on the theoretical acceleration. The theoretical acceleration can be considered as the acceleration calculated when the speed of the vehicle is decelerated to the speed of the preceding vehicle and the distance from the preceding vehicle is maintained at a safe distance. In the present invention, the vehicle may be in the process of braking and the vehicle may be decelerating. Therefore, the acceleration is a negative value, and the acceleration may also be described as a deceleration. When described as a deceleration, the corresponding value may be a positive value.

[0053] S150: Determine a brake reminder strategy by comparing the theoretical pedal stroke and the ideal pedal stroke.

[0054] The brake reminder strategy can be considered as a strategy for brake reminder during the driving process of the vehicle. The brake reminder strategy can be a warning strategy for whether the vehicle maintains a safe distance with the vehicle in front. The brake reminder strategy can include whether to remind, and the reminder method in the case of reminder.

[0055] After obtaining the theoretical pedal stroke and the ideal pedal stroke, this operation can compare the theoretical pedal stroke and the ideal pedal stroke. The ideal pedal stroke can be the pedal stroke expected to achieve driving comfort. The theoretical pedal stroke is the pedal stroke required to ensure a safe distance and reduce the speed of the vehicle to the speed of the vehicle ahead, calculated based on the real-time driving conditions of the vehicle.

[0056] The theoretical pedal travel is compared with the ideal pedal travel to determine whether a brake reminder is triggered and how to issue an early warning if the brake reminder is triggered, thus obtaining a brake reminder strategy.

[0057] During this operation comparison, the theoretical pedal stroke can be directly compared with the ideal pedal stroke to determine the size relationship between the two. It is also possible to determine the multiple by which the theoretical pedal stroke is greater than the ideal pedal stroke. Then, the corresponding reminder method is determined based on the multiple.

[0058] During the comparison process, the brake reminder strategy can also be determined by comparing the distance between the front vehicle and the safety distance. If the distance between the front vehicle and the safety distance is less than the safety distance, the highest level of brake reminder can be triggered immediately.

[0059] The brake reminder method provided in this embodiment determines the corresponding ideal pedal stroke according to the speed of the vehicle, and determines the safety distance based on the speed of the vehicle in front. Since it is determined based on the actual speed of the vehicle and the speed of the vehicle in front, the accuracy of the ideal pedal stroke and the safety distance is guaranteed. Then, combined with the information of the vehicle, the information of the vehicle in front and the safety distance, the theoretical pedal stroke is determined to ensure that the speed of the vehicle in front is decelerated to the speed of the vehicle in front and the distance is maintained at a safe distance. Then, the theoretical pedal stroke is compared with the ideal pedal stroke to determine the brake reminder strategy. Through the theoretical pedal stroke and the ideal pedal stroke, a comprehensive judgment of the brake reminder strategy is achieved, and the accuracy of the brake reminder strategy is improved. In the process of determining the brake reminder strategy, the ideal pedal stroke is taken into consideration, which improves the driving experience.

[0060] Based on the above embodiment, a variant embodiment of the above embodiment is proposed. It should be noted that in order to make the description concise, only the differences from the above embodiment are described in the variant embodiment.

[0061] In one embodiment, determining the theoretical pedal travel when the speed of the vehicle is decelerated to the speed of the preceding vehicle and the distance between the preceding vehicle and the preceding vehicle is maintained at the safe distance includes:

[0062] Determine the deceleration time required for the vehicle speed to decelerate to the speed of the preceding vehicle;

[0063] Determine the theoretical acceleration of the vehicle according to the equation of the distance change between the front vehicle and the vehicle during the process of the vehicle speed being decelerated to the speed of the front vehicle, wherein the theoretical acceleration is the acceleration corresponding to the deceleration time, the vehicle information, the safety distance and the front vehicle information;

[0064] The corresponding theoretical pedal travel is determined according to the vehicle speed and the theoretical acceleration.

[0065] The deceleration time can be considered as the time required to decelerate the vehicle to the speed of the vehicle in front. The distance change equation can be considered as the equation for the distance change between the vehicle and the vehicle in front during the process of decelerating the vehicle to the speed of the vehicle in front. The distance change equation ensures that the vehicle and the vehicle in front maintain a safe distance. The theoretical acceleration can be the unknown variable in the distance variable equation. The theoretical acceleration can be determined by substituting the vehicle information, the vehicle in front and the safe distance into the distance change equation.

[0066] In this embodiment, the deceleration time required for the vehicle to decelerate to the speed of the vehicle in front can be determined based on the vehicle speed, the vehicle speed in front and the theoretical acceleration. Then, the deceleration time, the vehicle information, the vehicle information in front and the safety distance are substituted into the distance change equation to determine the theoretical acceleration of the vehicle.

[0067] After the theoretical acceleration is determined, the theoretical pedal travel corresponding to the theoretical acceleration and the vehicle speed may be determined in combination with the vehicle speed, such as the current vehicle speed.

[0068] This embodiment does not limit the correspondence between the vehicle speed, theoretical acceleration and theoretical pedal stroke. For example, there may be a correspondence between the vehicle speed, theoretical acceleration and theoretical pedal stroke. After determining the vehicle speed and theoretical acceleration, the theoretical pedal stroke corresponding to the vehicle speed and theoretical acceleration may be determined in combination with the correspondence. The representation form of the correspondence is not limited and may be in the form of an array, a set or a curve. For example, the correspondence between the vehicle speed, theoretical acceleration and theoretical pedal stroke is stored and represented by an array. For another example, the correspondence between the vehicle speed, theoretical acceleration and theoretical pedal stroke is represented by a set of ordered pairs.

[0069] In one example, the relationship between the vehicle speed, theoretical acceleration, and theoretical pedal travel may be characterized by a first deceleration curve.

[0070] The first deceleration curve may be a curve between different theoretical accelerations and corresponding theoretical pedal strokes at different speeds. After determining the theoretical acceleration, the curve between the theoretical acceleration and the theoretical pedal stroke corresponding to the vehicle speed may be determined based on the vehicle speed, and then the theoretical pedal stroke corresponding to the theoretical acceleration may be found from the curve.

[0071] For example, different vehicle speeds correspond to different curves, and different curves represent theoretical pedal travels corresponding to different theoretical accelerations.

[0072] In one embodiment, determining the theoretical acceleration of the vehicle according to an equation for a change in the distance between the preceding vehicle and the vehicle during the process of decelerating the vehicle speed to the preceding vehicle speed includes:

[0073] Substitute the deceleration time, the speed of the vehicle, the speed of the preceding vehicle, the preceding vehicle distance and the safety distance into the following distance change equation to determine the theoretical acceleration of the vehicle:

[0074]

[0075] Among them, V2 is the speed of the preceding vehicle, V1 is the speed of the own vehicle, a is the theoretical acceleration, T is the deceleration time, S2 is the distance to the preceding vehicle, and S is the safety distance.

[0076] It can represent the distance that the vehicle needs to travel to decelerate from its own speed to the speed of the preceding vehicle. V2*T can represent the distance that the preceding vehicle needs to travel to decelerate from the speed of the preceding vehicle. It can represent the change in the distance between the vehicle and the vehicle in front during the deceleration of the vehicle.

[0077] In one embodiment, determining the deceleration time required for the vehicle speed to decelerate to the speed of the preceding vehicle includes:

[0078] Determine the difference between the speed of the host vehicle and the speed of the preceding vehicle;

[0079] The ratio of the difference to the theoretical acceleration is determined as the deceleration time required for the speed of the own vehicle to decelerate to the speed of the preceding vehicle.

[0080] In this embodiment, the acceleration of the vehicle during deceleration is negative. When determining the deceleration time, it can be determined based on the absolute value of the theoretical acceleration or directly based on the theoretical acceleration. The deceleration time determined in this embodiment contains the unknown theoretical acceleration. Substitute the deceleration time into the distance change and other values ​​to solve for the theoretical acceleration.

[0081] In one embodiment, determining a brake reminder strategy by comparing the theoretical pedal travel with the ideal pedal travel comprises:

[0082] When the theoretical pedal stroke is greater than the ideal pedal stroke times the i-th level coefficient, and the distance to the preceding vehicle is greater than or equal to the safety distance, determining that the brake reminder strategy is such that the reminder frequency corresponding to the brake reminder is the j-th frequency, and the text reminder corresponding to the brake reminder is the k-th text presentation element;

[0083] The larger the value of i, the larger the value of j.

[0084] The text presentation elements may be elements involved in the display of the text. For example, they may include the information expressed by the text, the style (such as size, color, font size, font, etc.). The brake reminder may be a reminder to remind the driver of the vehicle to brake. The reminder frequency may be the frequency of brake reminders, such as the frequency of reminders such as sound, light, text, etc.

[0085] In the process of determining the brake reminder strategy in this embodiment, different level coefficients can be combined. Different level coefficients correspond to different values ​​of i. The larger the value of i, the larger the value of the i-th level coefficient, the larger the corresponding value of j, the larger the value of the j-th frequency corresponding to j, and accordingly, the larger the value of k, and the more urgent the corresponding k-th text presentation element. For example, the degree of urgency can be reflected by changing the font size or content of the text.

[0086] Based on the i-th level coefficient, it can be determined how many times the theoretical pedal stroke is greater than the theoretical pedal stroke.

[0087] In this embodiment, the value of i can be 1, 2, or 3. For example, when the theoretical pedal stroke is greater than the first level coefficient times the ideal pedal stroke, and the distance to the vehicle in front is greater than or equal to the safety distance, the braking reminder strategy is that the reminder frequency corresponding to the braking reminder is the first frequency, and the corresponding text reminder is the first text presentation element. When the theoretical pedal stroke is greater than the second level coefficient times the ideal pedal stroke, and the distance to the vehicle in front is greater than or equal to the safety distance, the braking frequency is the second frequency, and the text reminder corresponds to the second text presentation element. When the theoretical pedal stroke is greater than the third level coefficient times the ideal pedal stroke, and the distance to the vehicle in front is greater than or equal to the safety distance, the braking frequency is the third frequency, and the text reminder corresponds to the third text presentation element.

[0088] The 1st level coefficient, the 2nd level coefficient and the 3rd level coefficient increase in sequence, the 1st frequency, the 2nd frequency and the 3rd frequency increase in sequence, and the urgency of the 1st text presentation element, the 2nd text presentation element and the 3rd text presentation element increases in sequence.

[0089] This embodiment measures the difference between the theoretical pedal stroke and the ideal pedal stroke by setting different level systems, and then provides a corresponding brake reminder strategy, thereby improving the accuracy of the brake reminder strategy.

[0090] When the distance between the front vehicle and the front vehicle is less than the safe distance, the highest level of warning is directly triggered, such as i taking the maximum value.

[0091] In one embodiment, determining the safety distance corresponding to the speed of the preceding vehicle includes:

[0092] Determine driver fatigue level information;

[0093] Determining a mapping relationship corresponding to the fatigue level information;

[0094] Determine the safety distance corresponding to the speed of the front vehicle in the mapping relationship.

[0095] The fatigue level information can be considered as information to measure the fatigue level of the driver of the vehicle. This embodiment does not limit how to determine the fatigue level information, such as by identifying the driver's fatigue level through image processing. The acquisition, processing and storage of data in the present invention are in compliance with the relevant provisions of relevant laws and regulations.

[0096] The mapping relationship may be the corresponding relationship between the front vehicle speed and the safety distance under different fatigue level information. For example, the front vehicle speed and the safety distance are formed into a table with a mapping relationship, different fatigue level information corresponds to different tables, and the table is divided according to the fatigue level information.

[0097] For example, after determining the table of guaranteed mapping relationship corresponding to the fatigue level information, the safety distance corresponding to the speed of the preceding vehicle is searched from the table.

[0098] In one embodiment, determining the ideal pedal travel corresponding to the vehicle speed includes:

[0099] Determining an ideal speed deduction corresponding to the vehicle speed, wherein the ideal speed deduction indicates an ideal speed deduction per second;

[0100] Determining an ideal acceleration corresponding to the ideal speed deduction;

[0101] The corresponding ideal pedal stroke is determined according to the ideal acceleration and the vehicle speed.

[0102] The ideal speed impairment may be an ideal speed impairment during the deceleration of the vehicle. The ideal speed impairment may be a speed impairment associated with the driving comfort of the vehicle. For example, a comfortable speed impairment per second indicates the speed reduction per unit time during the deceleration of the vehicle, and the reduction ensures the driving comfort of the vehicle. The ideal speed impairment may be associated with the speed of the vehicle, and different speeds correspond to different ideal speed impairments. In this embodiment, after obtaining the speed of the vehicle, the ideal speed impairment corresponding to the speed of the vehicle is determined. The ideal speed impairment may also be associated with other parameters of the vehicle, such as the model of the vehicle, etc., which are not limited here.

[0103] After determining the ideal speed deduction, the embodiment may determine the ideal acceleration corresponding to the ideal speed deduction. For example, the ratio of the ideal speed deduction to the time experienced by the ideal speed deduction is determined as the ideal acceleration. In the case where the ideal speed deduction is the ideal speed deduction per second, the ideal speed deduction may be the ideal acceleration.

[0104] After the ideal acceleration is determined, the ideal pedal travel corresponding to the ideal acceleration and the vehicle speed may be determined in combination with the vehicle speed, such as the current vehicle speed.

[0105] This embodiment does not limit the correspondence between the vehicle speed, ideal acceleration and ideal pedal stroke. For example, there may be a correspondence between the vehicle speed, ideal acceleration and ideal pedal stroke. After determining the vehicle speed and ideal acceleration, the ideal pedal stroke corresponding to the vehicle speed and ideal acceleration may be determined in combination with the correspondence. The representation form of the correspondence is not limited and may be in the form of an array, a set or a curve. For example, the correspondence between the vehicle speed, ideal acceleration and ideal pedal stroke is stored and represented by an array. For another example, the correspondence between the vehicle speed, ideal acceleration and ideal pedal stroke is represented by a set of ordered pairs.

[0106] In one example, the relationship between the vehicle speed, the ideal acceleration, and the ideal pedal travel may be characterized by a second deceleration curve.

[0107] The second deceleration curve can be considered as a curve of the association between the ideal acceleration and the ideal pedal stroke at different speeds. After determining the ideal acceleration, this embodiment can first determine the vehicle speed, determine the curve between the ideal acceleration and the ideal pedal stroke corresponding to the vehicle speed, and then find the ideal pedal stroke corresponding to the ideal acceleration from the curve.

[0108] For example, different vehicle speeds correspond to different curves, and different curves represent ideal pedal strokes corresponding to different ideal accelerations.

[0109] The present invention is described as follows. The brake reminder method provided by the present invention can be considered as a solution for intelligent assisted driving rear-end collision detection. It can comprehensively calculate the distance between vehicles based on the distance between the front vehicle, the speed of the vehicle and the speed of the front vehicle, obtain the appropriate braking time and perform a deceleration reminder strategy.

[0110] The system uses five core factors, namely, the distance to the vehicle in front, the speed of the vehicle in front, the speed of the vehicle itself, the safety distance, and the comfortable speed deduction per second, to comprehensively judge the appropriate braking time, and then outputs a braking reminder to the driver. This method is more comprehensive than the traditional judgment factors, improves the accuracy of the judgment, and reduces the risk of driving. The braking reminder method includes the following steps:

[0111] (1) A camera with an integrated intelligent algorithm is used to obtain the distance S2 and speed V2 of the preceding vehicle in real time;

[0112] (2) Obtain the vehicle speed V1 from the vehicle CAN data;

[0113] (3) The program presets a comfortable speed deduction value a1 (i.e., ideal speed deduction value) per second, in units of (km / h) / s, i.e., the maximum speed deduction value per second is a1 (km / h) / s. According to the comfortable speed deduction value per second and the current vehicle speed (also known as the vehicle speed) V1, the ideal pedal stroke d0 is obtained, i.e., the ideal pedal stroke d0 corresponding to the ideal acceleration and the vehicle speed is determined according to the second deceleration curve of the vehicle d0 = F(a1, V1);

[0114] (4) The program presets a correspondence table between the front vehicle speed V2 and the safety distance S, and obtains the safety distance S according to the front vehicle speed V2, that is, determines the safety distance S corresponding to the front vehicle speed;

[0115] (5) The program presets the variable of the theoretical acceleration a (negative value) of the vehicle. The time T for the vehicle speed V1 to decelerate to the speed V2 of the preceding vehicle, i.e., the deceleration time, is calculated according to the formula T = (V2-V1) / a, that is, the ratio of the difference to the theoretical acceleration is determined as the deceleration time T required for the vehicle speed of the vehicle to decelerate to the speed of the preceding vehicle. The formula shows the formula relationship between the deceleration time T and the theoretical acceleration a (negative value);

[0116] (6) Case 1: When the vehicle speed V1 of the host vehicle is greater than the vehicle speed V2 in front, and the distance S2 from the vehicle in front is greater than or equal to the safety distance S, the following calculation is performed: (V22-V12) / 2a-V2*T=S2-S. Substituting the deceleration time T in (5) and the theoretical acceleration a (negative value) into the formula T=(V2-V1) / a, the acceleration a (negative value) of the host vehicle can be calculated, that is, the theoretical acceleration. According to the first deceleration curve of the host vehicle d=F(a,V1), the pedal stroke required is d, that is, according to the theoretical acceleration and the vehicle speed, the corresponding theoretical pedal stroke is determined. If d is greater than d0, a brake reminder strategy is immediately issued, see (8);

[0117] (7) Case 2: If the distance S2 to the vehicle in front is less than the safety distance S, directly activate the L3 level reminder in step (8);

[0118] (8) There are three preset reminder levels, and the level coefficients are n1 (i.e., the first level coefficient), n2 (i.e., the second level coefficient), and n3 (i.e., the third level coefficient). When d is greater than or equal to d0*n1, it is L1 level, the vehicle distance is too close, the sound and light reminder frequency is H1, i.e., the first frequency, and the voice reminder text is string1, i.e., the first text presentation element; when d is greater than or equal to d0*n2, it is L2 level, the vehicle distance is too close, the sound and light reminder frequency is H2, i.e., the second frequency, and the voice reminder text is string2, i.e., the second text presentation element; when d is greater than or equal to d0*n3, it is L3 level, the vehicle distance is too close, the sound and light reminder frequency is H3, i.e., the third frequency, and the voice reminder text is string3, i.e., the third text presentation element; based on the obtained sound and light reminder frequency and voice reminder text, remind the driver to brake, slow down, and keep a safe distance;

[0119] (9) This solution can be expanded to add a fatigue level factor, that is, fatigue level information, and increase or decrease the safety distance S according to the fatigue level. For example, the fatigue level information corresponds to different tables, and different tables include different corresponding mapping relationships between the front vehicle speed and the safety distance.

[0120] According to the calculation results of the strategy, the driver is reminded to brake and slow down at the effective and comfortable deceleration starting point, which increases the driving comfort experience and improves the effectiveness and timeliness of reminders of close distances. Early deceleration also reduces the danger of driving too close.

[0121] Embodiment 2

[0122] Figure 2 is a schematic diagram of the structure of a brake reminder device according to a second embodiment of the present invention. The brake reminder device can be integrated in a vehicle, such as Figure 2 As shown, the device comprises:

[0123] An acquisition module 210 is used to acquire the preceding vehicle information of the preceding vehicle and the own vehicle information of the own vehicle, wherein the preceding vehicle information includes the preceding vehicle distance and the preceding vehicle speed, the preceding vehicle distance includes the distance between the preceding vehicle and the own vehicle, and the own vehicle information includes the own vehicle speed;

[0124] A first determination module 220, configured to determine an ideal pedal stroke corresponding to the vehicle speed, wherein the ideal pedal stroke includes an ideal brake pedal stroke;

[0125] The second determination module 230 is used to determine the safety distance corresponding to the speed of the preceding vehicle;

[0126] The third determination module 240 is used to determine the theoretical pedal travel when the speed of the vehicle is decelerated to the speed of the preceding vehicle and the preceding vehicle is kept at the safety distance;

[0127] The fourth determination module 250 is configured to determine a brake reminder strategy by comparing the theoretical pedal travel with the ideal pedal travel.

[0128] In one embodiment, the third determination module 240 includes:

[0129] A first determining unit is used to determine the deceleration time required for the vehicle speed to decelerate to the speed of the preceding vehicle;

[0130] a second determination unit, configured to determine a theoretical acceleration of the vehicle according to a distance change equation between the front vehicle and the vehicle during a process in which the vehicle speed of the vehicle decelerates to the speed of the front vehicle, wherein the theoretical acceleration is an acceleration corresponding to the deceleration time, the vehicle information, the safety distance and the front vehicle information;

[0131] The third determination unit is used to determine the corresponding theoretical pedal stroke according to the vehicle speed and the theoretical acceleration.

[0132] In one embodiment, the second determining unit is specifically configured to:

[0133] Substitute the deceleration time, the speed of the vehicle, the speed of the preceding vehicle, the preceding vehicle distance and the safety distance into the following distance change equation to determine the theoretical acceleration of the vehicle:

[0134]

[0135] Among them, V2 is the speed of the preceding vehicle, V1 is the speed of the own vehicle, a is the theoretical acceleration, T is the deceleration time, S2 is the distance to the preceding vehicle, and S is the safety distance.

[0136] In one embodiment, the first determining unit is specifically configured to:

[0137] Determine the difference between the speed of the host vehicle and the speed of the preceding vehicle;

[0138] The ratio of the difference to the theoretical acceleration is determined as the deceleration time required for the speed of the own vehicle to decelerate to the speed of the preceding vehicle.

[0139] In one embodiment, the fourth determining module 250 is specifically configured to:

[0140] When the theoretical pedal stroke is greater than the ideal pedal stroke times the i-th level coefficient, and the distance to the preceding vehicle is greater than or equal to the safety distance, determining that the brake reminder strategy is such that the reminder frequency corresponding to the brake reminder is the j-th frequency, and the text reminder corresponding to the brake reminder is the k-th text presentation element;

[0141] The larger the value of i, the larger the value of j.

[0142] In one embodiment, the second determining module 230 is specifically configured to:

[0143] Determine driver fatigue level information;

[0144] Determining a mapping relationship corresponding to the fatigue level information;

[0145] Determine the safety distance corresponding to the speed of the front vehicle in the mapping relationship.

[0146] In one embodiment, the first determining module 220 is specifically configured to:

[0147] Determining an ideal speed deduction corresponding to the vehicle speed, wherein the ideal speed deduction indicates an ideal speed deduction per second;

[0148] Determining an ideal acceleration corresponding to the ideal speed deduction;

[0149] The corresponding ideal pedal stroke is determined according to the ideal acceleration and the vehicle speed.

[0150] The brake reminder device provided in the embodiment of the present invention can execute the brake reminder method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0151] In this embodiment, the division method of the modules in the brake reminder device is not restricted. Figure 3 FIG. 1 is a schematic diagram of the structure of another brake reminder device provided according to Embodiment 3 of the present invention. Figure 3 , the brake reminder device may include:

[0152] The camera face acquisition module is used to use the camera to capture images of the driver and perform algorithm processing, and integrate yawning, blinking, and head-lowering data to output fatigue level information to the centralized processing module.

[0153] The camera collects the front vehicle data module, which is used to calculate the speed of the front vehicle, the distance to the front vehicle and other information using a camera with an integrated intelligent algorithm, and transmits it to the centralized processing module.

[0154] The CAN data acquisition module is used to collect the vehicle speed and transmit it to the centralized processing module.

[0155] The centralized processing module is used to perform comprehensive calculations based on the data output by the camera face acquisition module, the camera front vehicle data acquisition module, and the CAN data acquisition module to obtain an alarm result, that is, to determine a brake reminder strategy and perform a brake reminder. The centralized processing module can execute the brake reminder method provided by the present invention.

[0156] The sound and light reminder module is used for sound and light reminder according to the alarm result input by the centralized processing module.

[0157] Embodiment 3

[0158] Figure 4 1 is a schematic diagram of the structure of a vehicle implementing the brake reminder method of an embodiment of the present invention. The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0159] like Figure 4 As shown, the vehicle 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program executable by the at least one processor 11, and the computer program is executed by the at least one processor 11 so that the at least one processor 11 can execute the method provided by the present invention.

[0160] The processor 11 can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 12 or a computer program loaded from a storage unit 18 into a random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0161] A number of components in the vehicle 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0162] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a brake reminder method.

[0163] In some embodiments, the brake reminder method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the vehicle 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the brake reminder method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the brake reminder method in any other suitable manner (for example, by means of firmware).

[0164] Various embodiments of the systems and techniques described herein may be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard parts (ASSPs), system on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that are executable and / or interpreted on a programmable system including at least one programmable processor that may be a dedicated or general purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0165] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0166] In the context of the present invention, a computer readable storage medium stores computer instructions, which are used to implement the brake reminder method provided by the present invention when executed by a processor. The present invention also provides a computer program product, which includes a computer program, which implements the method provided according to an embodiment of the present invention when executed by a processor.

[0167] Computer readable storage medium can be a tangible medium, which can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer readable storage medium can include but is not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the above. Alternatively, computer readable storage medium can be a machine readable signal medium. More specific examples of machine readable storage medium can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (ErasableProgrammable Read-Only Memory, EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0168] To provide interaction with a user, the systems and techniques described herein may be implemented on a vehicle having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD monitor)) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user may provide input to the vehicle. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0169] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.

[0170] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private servers (VPS) services.

[0171] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0172] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A brake reminder method, characterized in that: include: Acquire the preceding vehicle information of the preceding vehicle and the own vehicle information of the own vehicle, wherein the preceding vehicle information includes the preceding vehicle distance and the preceding vehicle speed, the preceding vehicle distance includes the distance between the preceding vehicle and the own vehicle, and the own vehicle information includes the own vehicle speed; Determining an ideal pedal stroke corresponding to the vehicle speed, wherein the ideal pedal stroke includes an ideal brake pedal stroke; Determining a safe distance corresponding to the speed of the preceding vehicle; Determine a theoretical pedal travel when the speed of the host vehicle is decelerated to the speed of the preceding vehicle and the distance between the preceding vehicle and the preceding vehicle is maintained at the safety distance; By comparing the theoretical pedal travel with the ideal pedal travel, a brake reminder strategy is determined.

2. The method according to claim 1, characterized in that The determining of the theoretical pedal travel when the speed of the host vehicle is decelerated to the speed of the preceding vehicle and the distance between the preceding vehicle and the preceding vehicle is maintained at the safety distance includes: Determine the deceleration time required for the vehicle speed to decelerate to the speed of the preceding vehicle; Determine the theoretical acceleration of the vehicle according to the equation of the distance change between the front vehicle and the vehicle during the process of the vehicle speed being decelerated to the speed of the front vehicle, wherein the theoretical acceleration is the acceleration corresponding to the deceleration time, the vehicle information, the safety distance and the front vehicle information; The corresponding theoretical pedal travel is determined according to the vehicle speed and the theoretical acceleration.

3. The method according to claim 2, characterized in that The determining of the theoretical acceleration of the vehicle according to the equation of the distance change between the front vehicle and the vehicle during the process of the vehicle speed being decelerated to the speed of the front vehicle comprises: Substitute the deceleration time, the speed of the vehicle, the speed of the preceding vehicle, the preceding vehicle distance and the safety distance into the following distance change equation to determine the theoretical acceleration of the vehicle: Among them, V2 is the speed of the preceding vehicle, V1 is the speed of the own vehicle, a is the theoretical acceleration, T is the deceleration time, S2 is the distance to the preceding vehicle, and S is the safety distance.

4. The method according to claim 2, characterized in that: The step of determining the deceleration time required for the vehicle speed to decelerate to the speed of the preceding vehicle includes: Determine the difference between the speed of the host vehicle and the speed of the preceding vehicle; The ratio of the difference to the theoretical acceleration is determined as the deceleration time required for the speed of the own vehicle to decelerate to the speed of the preceding vehicle.

5. The method according to claim 1, characterized in that The step of determining a brake reminder strategy by comparing the theoretical pedal stroke with the ideal pedal stroke comprises: When the theoretical pedal stroke is greater than the ideal pedal stroke times the i-th level coefficient, and the distance to the preceding vehicle is greater than or equal to the safety distance, determining that the brake reminder strategy is such that the reminder frequency corresponding to the brake reminder is the j-th frequency, and the text reminder corresponding to the brake reminder is the k-th text presentation element; The larger the value of i, the larger the value of j.

6. The method according to claim 1, characterized in that The determining the safety distance corresponding to the speed of the preceding vehicle includes: Determine driver fatigue level information; Determining a mapping relationship corresponding to the fatigue level information; Determine the safety distance corresponding to the speed of the front vehicle in the mapping relationship.

7. The method according to claim 1, characterized in that The step of determining the ideal pedal stroke corresponding to the vehicle speed includes: Determining an ideal speed deduction corresponding to the vehicle speed, wherein the ideal speed deduction indicates an ideal speed deduction per second; Determining an ideal acceleration corresponding to the ideal speed deduction; The corresponding ideal pedal stroke is determined according to the ideal acceleration and the vehicle speed.

8. A brake reminder device, characterized in that: include: An acquisition module, used to acquire the preceding vehicle information of the preceding vehicle and the own vehicle information of the own vehicle, wherein the preceding vehicle information includes the preceding vehicle distance and the preceding vehicle speed, the preceding vehicle distance includes the distance between the preceding vehicle and the own vehicle, and the own vehicle information includes the own vehicle speed; A first determination module is used to determine an ideal pedal stroke corresponding to the vehicle speed, wherein the ideal pedal stroke includes an ideal brake pedal stroke; A second determination module is used to determine the safety distance corresponding to the speed of the preceding vehicle; A third determination module is used to determine a theoretical pedal travel when the speed of the vehicle is decelerated to the speed of the preceding vehicle and the distance between the preceding vehicle and the preceding vehicle is maintained at the safety distance; The fourth determination module is used to determine a brake reminder strategy by comparing the theoretical pedal stroke with the ideal pedal stroke.

9. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The computer program product comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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