Vehicle braking control method, computer program product and electronic equipment

Abstract

The invention provides a vehicle braking control method, a computer program product and electronic equipment, according to the vehicle braking control method provided by the invention, a collision target which is determined from vehicles in front of a vehicle and is referenced for comfortable braking of the vehicle can be obtained; according to the relative operation condition between the collision target and the vehicle, the vehicle deceleration range allowed to be used when the vehicle is subjected to comfortable braking is determined; and then comfortable braking control is conducted on the vehicle based on the vehicle deceleration range.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a vehicle braking control method, a computer program product, and an electronic device. Background Art

[0002] With the continuous development of technology, automobiles are gradually equipped with intelligent assisted driving functions. By combining the surrounding environment information of the vehicle and the operating condition information of the vehicle itself, the vehicle automatically performs driving control to improve the operation convenience and safety of the driver during driving. However, the intelligent assisted driving function of the vehicle usually pays more attention to the driving condition of the front vehicle closest in distance in the same lane and automatically adjusts the driving speed of the vehicle according to its driving speed. When a vehicle in a lane other than the own vehicle suddenly changes lanes to the own vehicle lane, or when the front vehicle in the same lane suddenly brakes emergently, the own vehicle is prone to sudden braking, which not only easily affects the safety of the vehicle during driving, but also easily makes the passengers feel a large impact force and a forward tilting feeling, and thus feel uncomfortable. Summary of the Invention

[0003] Based on this, the present invention provides a vehicle braking control method, a computer program product, and an electronic device. By adopting the vehicle braking control method, comfortable braking control can be performed on the own vehicle to reduce the collision risk between the own vehicle and a collision target in the front vehicle, and to reduce the impact force and the forward tilting feeling felt by the passengers during the braking process of the own vehicle, which is beneficial to improving the user experience and safety.

[0004] On the one hand, the present invention provides a vehicle braking control method, and the method includes:

[0005] Obtain a collision target for comfortable braking of the own vehicle determined from the front vehicles of the own vehicle;

[0006] Determine a range of vehicle deceleration allowable for comfortable braking of the own vehicle according to the relative running condition between the collision target and the own vehicle;

[0007] Based on the range of vehicle deceleration, perform comfortable braking control on the own vehicle.

[0008] Further, in some embodiments, the obtaining a collision target for comfortable braking of the own vehicle determined from the front vehicles of the own vehicle includes:

[0009] Based on the vehicle running data of the own vehicle and each front vehicle, calculate the lateral collision time and the longitudinal collision time between the own vehicle and each front vehicle;

[0010] Determine the leading vehicle corresponding to the minimum value among the lateral collision time and the longitudinal collision time, and obtain the collision target for comfortable braking of the host vehicle; or,

[0011] Receive the collision target information of the host vehicle; wherein, the collision target information is used to reflect the collision target for comfortable braking of the host vehicle, and the collision target is the leading vehicle corresponding to the minimum value among the lateral collision time and the longitudinal collision time between the host vehicle and the leading vehicle.

[0012] Further, in some embodiments, the determining the leading vehicle corresponding to the minimum value among the lateral collision time and the longitudinal collision time, and obtaining the collision target for comfortable braking of the host vehicle includes:

[0013] Judge whether the specific leading vehicle corresponding to the minimum value among the lateral collision time and the longitudinal collision time is located in the lane where the host vehicle is located, and obtain a first judgment result;

[0014] If the first judgment result indicates that the specific leading vehicle is located in the lane where the host vehicle is located, then determine the specific leading vehicle as the collision target;

[0015] If the first judgment result indicates that the specific leading vehicle is not located in the lane where the host vehicle is located, then judge whether the distance between the specific leading vehicle and the target lane line is less than a first threshold value, and obtain a second judgment result; wherein, the target lane line is the lane line on the side of the lane where the host vehicle is located close to the specific leading vehicle;

[0016] If the second judgment result indicates that the distance between the specific leading vehicle and the target lane line is less than the first threshold value, then determine the specific leading vehicle as the collision target.

[0017] Further, in some embodiments, the calculating the lateral collision time and the longitudinal collision time between the host vehicle and each leading vehicle based on the vehicle operation data of the host vehicle and each leading vehicle includes:

[0018] Based on the vehicle position data in the vehicle operation data, calculate the lateral distance and the longitudinal distance between the host vehicle and the leading vehicle;

[0019] Based on the lateral speed data, the lateral acceleration data in the vehicle operation data, and the lateral distance, calculate the lateral collision time between the host vehicle and the leading vehicle;

[0020] Based on the longitudinal speed data, the longitudinal acceleration data in the vehicle operation data, and the longitudinal distance, calculate the longitudinal collision time between the host vehicle and the leading vehicle.

[0021] Further, in some embodiments, before calculating the lateral collision time and the longitudinal collision time between the host vehicle and each of the preceding vehicles based on the vehicle operation data of the host vehicle and each of the preceding vehicles, the method further includes:

[0022] Obtaining target data of candidate objects within a preset front area of the host vehicle;

[0023] Based on the target data of the candidate objects, determining whether the candidate objects belong to vehicle objects that are in the same driving direction as the host vehicle, have a driving speed less than that of the host vehicle, and have a distance from the host vehicle less than a second threshold, to obtain a third determination result;

[0024] If the third determination result indicates that the candidate objects belong to vehicle objects that are in the same driving direction as the host vehicle, have a driving speed less than that of the host vehicle, and have a distance from the host vehicle less than a second threshold, then obtaining the vehicle operation data of the candidate objects from the target data of the candidate objects to obtain the vehicle operation data of the preceding vehicles of the host vehicle.

[0025] Further, in some embodiments, the obtaining target data of candidate objects within a preset front area of the host vehicle includes:

[0026] Obtaining target data of candidate objects within a preset front area of the host vehicle obtained by the host vehicle through radar target detection or image target detection; or,

[0027] Obtaining target data of candidate objects within a preset front area of the host vehicle from road infrastructure or a cloud server.

[0028] Further, in some embodiments, the determining the allowable vehicle deceleration range for comfort braking of the host vehicle according to the relative operation situation between the collision target and the host vehicle includes:

[0029] Determining a target longitudinal distance between the host vehicle and the collision target, and a target longitudinal speed difference between the host vehicle and the collision target;

[0030] According to preset vehicle comfort braking information, the target longitudinal distance, and the target longitudinal speed difference, determining the allowable vehicle deceleration range for comfort braking of the host vehicle from a preset comfort braking deceleration range;

[0031] Wherein, the preset vehicle comfort braking information is used to reflect the minimum distance value that needs to be maintained between the vehicle and the target ahead when the vehicle brakes at each preset deceleration within the preset comfort braking deceleration range without colliding with the target ahead, given a preset longitudinal speed difference between the vehicle and the target ahead; and, the minimum distance value is positively correlated with the preset longitudinal speed difference, and negatively correlated with the preset deceleration.

[0032] Further, in some embodiments, the comfort braking control for the vehicle based on the vehicle deceleration range includes:

[0033] Determine a target deceleration from the vehicle deceleration range according to at least one of the driving habit information of the driver of the vehicle, the driving setting information, the driving speed data of the vehicle, and the target longitudinal distance between the vehicle and the collision target.

[0034] Generate a first control command for instructing the vehicle to brake at the target deceleration.

[0035] Further, in some embodiments, after generating the first control command for instructing the vehicle to brake at the target deceleration, it further includes:

[0036] Judge whether the driving speed of the vehicle is less than or equal to the driving speed of the collision target, and / or whether the distance between the vehicle and the collision target increases to a third threshold, to obtain a fourth judgment result.

[0037] If the fourth judgment result indicates that the driving speed of the vehicle is less than or equal to the driving speed of the collision target, and / or the distance between the vehicle and the collision target increases to a third threshold, then generate a second control command for instructing the vehicle to stop comfort braking.

[0038] Further, in some embodiments, the above method further includes:

[0039] If the adaptive cruise function or the automatic emergency braking function of the vehicle is in an activated state, then judge whether the target deceleration is greater than the specified deceleration required by the adaptive cruise function or the automatic emergency braking function to instruct the vehicle, to obtain a fifth judgment result.

[0040] The generation of the first control command for instructing the vehicle to brake at the target deceleration includes:

[0041] If the fifth judgment result indicates that the target deceleration is greater than the specified deceleration, then generate a first control command for instructing the vehicle to brake at the target deceleration.

[0042] Further, in some embodiments, after obtaining the fifth judgment result by determining whether the target deceleration is greater than the specified deceleration required by the adaptive cruise function or the automatic emergency braking function for the vehicle, the method further includes:

[0043] If the fifth judgment result indicates that the target deceleration is less than the specified deceleration, a third control instruction for instructing the vehicle to brake at the specified deceleration is generated.

[0044] On the other hand, the present invention also provides a computer program product, which includes a computer program that, when executed, implements the steps of the above method.

[0045] On the other hand, the present invention also provides an electronic device, including: a processor and a memory; wherein, the memory stores computer-readable instructions, and the computer-readable instructions are adapted to be loaded and executed by the processor to implement the steps of the above method.

[0046] Further, in some embodiments, the electronic device includes at least one of a radar device, an image acquisition device, and a domain controller.

[0047] According to the vehicle braking control method provided by the present invention, a collision target for comfort braking of the vehicle can be obtained from the vehicles in front of the vehicle, so as to determine the allowable vehicle deceleration range for comfort braking of the vehicle according to the relative running conditions between the collision target and the vehicle; by performing comfort braking control on the vehicle based on the vehicle deceleration range, not only can the collision risk between the vehicle and the collision target in the front vehicle be reduced, but also the impact force and forward tilting feeling felt by the passengers during the braking process of the vehicle can be reduced, which is beneficial to improving the user experience and safety.

[0048] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present invention, nor is it used 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

[0049] Figure 1 is a schematic flowchart of a vehicle braking control method provided by an embodiment of the present invention;

[0050] Figure 2 is a schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention;

[0051] Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0053] In the description of one or more embodiments of the present invention, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0054] With the continuous development of technology, automobiles have gradually begun to be equipped with intelligent assisted driving functions. By combining the surrounding environment information of the vehicle and the operating condition information of the vehicle itself, the vehicle automatically performs driving control to improve the operation convenience and safety of the driver during driving. For example, the adaptive cruise control function can automatically adjust the driving speed of the host vehicle according to the driving speed of the nearest vehicle in front in the same lane to avoid the collision risk between the two. The automatic emergency braking function can automatically control the vehicle to stop within the shortest distance when detecting an obstacle that poses a collision threat in front of the host vehicle to reduce the collision risk of the vehicle.

[0055] However, since the intelligent assisted driving function of the vehicle usually only combines the driving conditions of the target objects in the host vehicle's own lane to adjust the driving speed of the host vehicle, when a vehicle in a neighboring lane in front suddenly changes lanes into the host vehicle's lane, or when the vehicle in front in the same lane suddenly brakes emergently, the intelligent assisted driving function carried by the host vehicle is likely to control the host vehicle to perform an emergency brake, which not only easily affects the safety of the vehicle during driving, but also easily makes the passengers and the driver feel a large impact force and a forward tilting feeling due to factors such as the change in the center of gravity and the braking smoothness, and thus feel uncomfortable.

[0056] Based on this, the present invention proposes a vehicle braking control method, which can obtain a collision target determined from the vehicle in front of the host vehicle for reference in comfortable braking of the host vehicle, so as to determine the range of vehicle deceleration that can be used when performing comfortable braking on the host vehicle according to the relative running situation between the collision target and the host vehicle; by performing comfortable braking control on the host vehicle based on the vehicle deceleration range, not only can the collision risk between the host vehicle and the collision target in the vehicle in front be reduced, but also the impact force and forward tilting feeling felt by the passengers in the host vehicle during the braking process can be reduced, which is beneficial to improving the user experience and safety.

[0057] Please refer to Figure 1 , which is a schematic flowchart of a vehicle braking control method provided by an embodiment of the present invention. From a program perspective, the execution subject of this process can be a program for managing vehicle braking installed on a vehicle control device or a vehicle. Or, the execution subject of this process can also be a vehicle control device or a vehicle, or other electronic devices capable of communicating with the vehicle control device or the vehicle, and no specific limitation is made thereto.

[0058] Next, for Figure 1 the process shown below, the vehicle braking control method can specifically include the following steps:

[0059] Step S102, obtain a collision target determined from the vehicle in front of the host vehicle for reference in comfortable braking of the host vehicle.

[0060] In an embodiment of the present invention, comfortable braking for the host vehicle can refer to a braking function with better safety performance that can both reduce the forward tilting feeling of the passengers in the host vehicle during braking and avoid a collision between the host vehicle and the collision target.

[0061] In practical applications, due to the differences in the distances and relative driving speeds between the host vehicle and different vehicles in front, the degrees of collision risk between the host vehicle and different vehicles in front often also vary. For example, the collision risk brought by a vehicle in front that is closer to the host vehicle is often higher, and the collision risk brought by a vehicle in front that is traveling much slower than the host vehicle is often also higher. Based on this, vehicles in front that bring a relatively high collision risk to the host vehicle can be selected from multiple vehicles in front of the host vehicle as collision targets. Subsequently, by combining the relative running situation between the collision target and the host vehicle, comfortable braking is performed on the host vehicle, which is beneficial to effectively reducing the collision risk faced by the host vehicle.

[0062] Step S104, determine the range of vehicle deceleration that can be used when performing comfortable braking on the host vehicle according to the relative running situation between the collision target and the host vehicle.

[0063] In an embodiment of the present invention, when the vehicle brakes at a relatively large deceleration value, the vehicle occupants will feel a relatively large impact force and their bodies will lean forward under the action of inertia, which affects the experience of the vehicle occupants. When the vehicle brakes at a relatively small deceleration value, the discomfort of the vehicle occupants during the braking process will be greatly alleviated. Based on this, a preset comfortable braking deceleration range that can be used when the vehicle achieves comfortable braking can be preset. The specific numerical range of the preset comfortable braking deceleration range can be set according to actual needs and will not be specifically limited herein.

[0064] In an embodiment of the present invention, when the distance between the collision target and the vehicle is small, or the driving speed of the collision target is much lower than that of the vehicle, if the vehicle brakes at a relatively small deceleration, the vehicle may catch up with the collision target and cause a collision between the two. Therefore, it is necessary to calculate, according to the current relative running situation between the collision target and the vehicle, the deceleration range that can avoid a collision between the two in the preset comfortable braking deceleration range as the vehicle deceleration range allowed for comfortable braking of the vehicle.

[0065] Step S106, perform comfortable braking control on the vehicle based on the vehicle deceleration range.

[0066] In an embodiment of the present invention, by controlling the vehicle to brake at a specific deceleration within the vehicle deceleration range, the collision risk faced by the vehicle can be effectively reduced on the basis of ensuring the riding experience of the vehicle occupants.

[0067] Figure 1 In the method, by combining the relative running situation between the collision target in the vehicle in front of the vehicle and the vehicle, comfortable braking control is performed on the vehicle, so as to increase the distance between the vehicle and the collision target in the vehicle in front. On the one hand, the collision risk between the two can be reduced on the basis of ensuring the riding comfort of the vehicle occupants at the vehicle; on the other hand, the response time of the vehicle to the collision risk brought by the sudden lane change or emergency braking of the collision target can be increased, so that the vehicle can have sufficient time to decelerate, which is also conducive to ensuring the experience and safety of the vehicle occupants at the vehicle subsequently.

[0068] In a feasible implementation manner, the obtaining of the collision target for comfortable braking reference determined from the vehicle in front of the vehicle may include:

[0069] Based on the vehicle running data of the vehicle and each vehicle in front, calculate the lateral collision time and longitudinal collision time between the vehicle and each vehicle in front.

[0070] Determine the leading vehicle corresponding to the minimum value of the lateral collision time and the longitudinal collision time, and obtain the collision target for comfortable braking of the host vehicle. Or,

[0071] Receive the collision target information of the host vehicle; wherein, the collision target information is used to reflect the collision target for comfortable braking of the host vehicle, and the collision target is the leading vehicle corresponding to the minimum value of the lateral collision time and the longitudinal collision time between the host vehicle and the leading vehicle.

[0072] In an embodiment of the present invention, Figure 1 The execution subject of the method in can analyze and calculate according to the vehicle operation data of the host vehicle and the leading vehicle by itself to screen out the collision target for comfortable braking of the host vehicle from the leading vehicles in front of the host vehicle; or, Figure 1 The execution subject of the method in can also receive the collision target for comfortable braking of the host vehicle screened out by other on-vehicle devices, vehicle controllers or cloud servers through analysis, calculation and processing; the flexibility is good, and no specific limitation is made in this regard,

[0073] In an embodiment of the present invention, the leading vehicles in front of the host vehicle may include the vehicles located in the same lane as the host vehicle and in front of the host vehicle. In addition, they may also include the vehicles located in the adjacent lane of the lane where the host vehicle is located and in front of the host vehicle. This enables Figure 1 The solution in can not only control the host vehicle to perform comfortable braking by combining the running conditions of the leading vehicles in the same lane of the host vehicle, but also control the host vehicle to perform comfortable braking by combining the leading vehicles in the adjacent lane of the host vehicle that may bring collision risks to the driving process of the host vehicle, which is beneficial to comprehensively reducing the collision risk of the host vehicle and has good practicability.

[0074] In practical applications, since the distance, relative driving speed, relative driving acceleration, etc. between the host vehicle and the leading vehicle will affect the possible collision time between the two, and further affect the level of the collision risk brought by the leading vehicle to the host vehicle, it is possible to evaluate the collision time between the host vehicle and each leading vehicle based on the vehicle operation data of the host vehicle and each leading vehicle, so as to accurately screen out the collision target with a higher collision risk required for comfortable braking control of the host vehicle in combination with the collision time of the two.

[0075] Wherein, the vehicle operation data may include data that can be used to determine the distance, relative driving speed, relative driving acceleration, etc. between the host vehicle and the leading vehicle; for example, it may include the absolute position data or relative position data of the host vehicle and the leading vehicle, the driving speed data and driving acceleration data of the host vehicle and the leading vehicle, etc.; no specific limitation is made in this regard.

[0076] The collision time (Time to Collision, TTC) can refer to the time required for two vehicles to collide while maintaining their current speeds starting from the current moment, and it is usually used to evaluate the potential collision risk between vehicles. Specifically, the collision time can be subdivided into: lateral collision time and longitudinal collision time; among them, the lateral collision time can be determined by dividing the lateral distance between the host vehicle and the vehicle ahead by their relative lateral speed, and the longitudinal collision time can be determined by dividing the longitudinal distance between the host vehicle and the vehicle ahead by their relative longitudinal speed.

[0077] In the embodiment of the present invention, since the smaller the collision time between the host vehicle and the vehicle ahead, the higher the collision risk between them is usually indicated. Therefore, after calculating the lateral collision time and the longitudinal collision time between the host vehicle and each vehicle ahead respectively, the magnitudes of the lateral collision times of each vehicle ahead can be compared to screen out the first candidate vehicle ahead with the smallest lateral collision time, and, the magnitudes of the longitudinal collision times of each vehicle ahead can be compared to screen out the second candidate vehicle ahead with the smallest longitudinal collision time; if the lateral collision time corresponding to the first candidate vehicle ahead is less than the longitudinal collision time corresponding to the second candidate vehicle ahead, the first candidate vehicle ahead can be used as the collision target of the host vehicle, and if the lateral collision time corresponding to the first candidate vehicle ahead is greater than the longitudinal collision time corresponding to the second candidate vehicle ahead, the second candidate vehicle ahead can be used as the collision target of the host vehicle, which is beneficial to screening out the collision target that brings a greater collision risk to the host vehicle. Subsequently, by combining the collision target to perform comfort braking control on the host vehicle, the collision risk faced by the host vehicle can be effectively reduced.

[0078] Figure 2 It is a schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention. For ease of understanding, here in combination with Figure 2 An example is given to illustrate the screening principle of the collision target of the host vehicle. As Figure 2 shown, there is a vehicle ahead 203 in the lane where the host vehicle 201 is located, and there are a vehicle ahead 202 and a vehicle ahead 204 in the adjacent lanes of the lane where the host vehicle 201 is located. Assume that among the vehicles ahead 202-204, the vehicle ahead 202 has the smallest lateral collision time with the host vehicle, and the vehicle ahead 204 has the smallest longitudinal collision time with the host vehicle. Then, when the lateral collision time corresponding to the vehicle ahead 202 is less than the longitudinal collision time corresponding to the vehicle ahead 204, the vehicle ahead 202 can be used as the collision target for comfort braking of the host vehicle.

[0079] It can be understood that since the vehicle ahead 202 is not in the lane where the host vehicle 201 is located and the lateral collision time corresponding to the vehicle ahead 202 is relatively small, the vehicle ahead 202 may change lanes into the lane where the host vehicle 201 is located in a relatively short time.Figure 1 The method and its embodiments in [reference], by using the vehicle 202 ahead as the collision target for comfort braking of the vehicle itself, and combining the comfort braking control of the vehicle 201 based on the vehicle 202 ahead, can increase the distance between the vehicle 201 and the vehicle 202 ahead, and thus can reduce the collision risk brought to the vehicle itself when the vehicle 202 ahead suddenly changes lanes into the lane where the vehicle 201 is located, which is beneficial to ensuring the safety of the vehicle during driving.

[0080] In the embodiment of the present invention, determining the vehicle ahead corresponding to the minimum value of the lateral collision time and the longitudinal collision time to obtain the collision target for comfort braking of the vehicle itself may include:

[0081] Judging whether the specific vehicle ahead corresponding to the minimum value of the lateral collision time and the longitudinal collision time is located in the lane where the vehicle itself is located to obtain a first judgment result.

[0082] If the first judgment result indicates that the specific vehicle ahead is located in the lane where the vehicle itself is located, then determine the specific vehicle ahead as the collision target.

[0083] If the first judgment result indicates that the specific vehicle ahead is not located in the lane where the vehicle itself is located, then judge whether the distance between the specific vehicle ahead and the target lane line is less than a first threshold value to obtain a second judgment result; wherein, the target lane line is the lane line on the side close to the specific vehicle ahead at the lane where the vehicle itself is located.

[0084] If the second judgment result indicates that the distance between the specific vehicle ahead and the target lane line is less than the first threshold value, then determine the specific vehicle ahead as the collision target.

[0085] In the embodiment of the present invention, when the specific vehicle ahead corresponding to the minimum value of the lateral collision time and the longitudinal collision time is located in the lane where the vehicle itself is located, usually the collision risk brought by the specific vehicle ahead to the vehicle itself is relatively high. Therefore, the specific vehicle ahead can be directly used as the collision target of the vehicle itself, which is convenient and fast.

[0086] When the specific leading vehicle corresponding to the minimum value of the lateral collision time and the longitudinal collision time is not in the lane where the host vehicle is located, if the specific leading vehicle is far from the lane where the host vehicle is located, the specific leading vehicle usually still needs a relatively long time to complete the lane-changing operation into the lane where the host vehicle is located. Therefore, the specific leading vehicle does not necessarily pose a high collision risk to the host vehicle at present. Based on this, when it is further determined that the distance between the specific leading vehicle and the lane line on the relatively close side of the lane where the host vehicle is located is less than the first threshold, the specific leading vehicle can be determined as the collision target, which is beneficial to ensuring the accuracy of the selected collision target and further beneficial to ensuring the safety of the driving process of the host vehicle.

[0087] In practical applications, if the second judgment result indicates that the distance between the specific leading vehicle and the target lane line is greater than the first threshold, generally, the specific leading vehicle can be prohibited from being used as the collision target of the host vehicle. Subsequently, the designated leading vehicle corresponding to the second smallest value of the lateral collision time and the longitudinal collision time can be screened out, and based on the same principle as the above embodiments, when the designated leading vehicle is in the lane where the host vehicle is located, or when the designated leading vehicle is in other lanes but the distance between it and the lane line on the relatively close side of the lane where the host vehicle is located is less than the first threshold, the designated leading vehicle can be determined as the collision target of the host vehicle, and no further elaboration will be made here.

[0088] In the embodiment of the present invention, calculating the lateral collision time and the longitudinal collision time between the host vehicle and each leading vehicle based on the vehicle operation data of the host vehicle and each leading vehicle may include:

[0089] Based on the vehicle position data in the vehicle operation data, calculate the lateral distance and the longitudinal distance between the host vehicle and the leading vehicle.

[0090] Based on the lateral speed data, lateral acceleration data in the vehicle operation data, and the lateral distance, calculate the lateral collision time between the host vehicle and the leading vehicle.

[0091] Based on the longitudinal speed data, longitudinal acceleration data in the vehicle operation data, and the longitudinal distance, calculate the longitudinal collision time between the host vehicle and the leading vehicle.

[0092] In an embodiment of the present invention, it is assumed that the horizontal axis direction of the preset coordinate system is parallel to the lateral center line direction of the vehicle itself, and the vertical axis direction of the preset coordinate system is parallel to the longitudinal center line direction of the vehicle itself. Then, the lateral distance between the vehicle itself and the vehicle ahead can be the difference between the abscissa of the first preset position at the vehicle itself and the abscissa of the second preset position at the vehicle ahead, and the longitudinal distance between the vehicle itself and the vehicle ahead can be the difference between the ordinate of the first preset position at the vehicle itself and the ordinate of the second preset position at the vehicle ahead. Among them, the first preset position and the second preset position can be set according to actual needs. For example, the first preset position can be the center point of the front bumper, and the second preset position can be the center point of the rear bumper. Or, both the first preset position and the second preset position can be the vehicle center of mass or the center point of the vehicle's rear axle, etc., and no specific limitation is made in this regard.

[0093] For the sake of easy understanding, here in combination with Figure 2 an example is given for the lateral distance and the longitudinal distance between the vehicle itself and the vehicle ahead. As Figure 2 shown, when the first preset position is the center point of the front bumper of the vehicle 201 itself, and the second preset position is the center point of the rear bumper of the vehicle ahead 202, the lateral distance between the vehicle 201 itself and the vehicle ahead 202 can be the distance marked by the arrowed line segment 205, and the longitudinal distance between the vehicle 201 itself and the vehicle ahead 202 can be the distance marked by the arrowed line segment 206, and no further elaboration is made here.

[0094] In an embodiment of the present invention, the lateral speed and lateral acceleration of the vehicle itself and the vehicle ahead can be parallel to the lateral center line direction of the vehicle itself, and the longitudinal speed and longitudinal acceleration of the vehicle itself and the vehicle ahead can be parallel to the longitudinal center line direction of the vehicle itself. Based on this, the lateral collision time and longitudinal collision time between the vehicle itself and the vehicle ahead can be calculated according to the following formula, that is, S = 0.5at 2 + vt; where, if S is the lateral distance between the vehicle itself and the vehicle ahead, then a can be the lateral relative acceleration between the vehicle itself and the vehicle ahead, v can be the lateral relative speed between the vehicle itself and the vehicle ahead, and t can be the lateral collision time between the vehicle itself and the vehicle ahead; or, if S is the longitudinal distance between the vehicle itself and the vehicle ahead, then a can be the longitudinal relative acceleration between the vehicle itself and the vehicle ahead, v can be the longitudinal relative speed between the vehicle itself and the vehicle ahead, and t can be the longitudinal collision time between the vehicle itself and the vehicle ahead, and no further elaboration is made here.

[0095] In an embodiment of the present invention, before calculating the lateral collision time and longitudinal collision time between the vehicle itself and each vehicle ahead based on the vehicle operation data of the vehicle itself and each vehicle ahead, it further includes:

[0096] Obtaining the target data of candidate objects within the preset area ahead of the vehicle itself.

[0097] Based on the target data of the candidate object, determine whether the candidate object belongs to a vehicle object that is traveling in the same direction as the vehicle, has a traveling speed less than that of the vehicle, and has a distance from the vehicle less than a second threshold, to obtain a third judgment result.

[0098] If the third judgment result indicates that the candidate object belongs to a vehicle object that is traveling in the same direction as the vehicle, has a traveling speed less than that of the vehicle, and has a distance from the vehicle less than a second threshold, then it is allowed to use the candidate object as the vehicle in front involved in screening the collision target of the vehicle. Therefore, the vehicle operation data of the candidate object can be obtained from the target data of the candidate object, and the vehicle operation data of the vehicle in front of the vehicle can be obtained.

[0099] If the third judgment result indicates that the candidate object does not belong to a vehicle object, and / or its traveling direction is inconsistent with that of the vehicle, and / or its traveling speed is greater than that of the vehicle, and / or its distance from the vehicle is greater than the second threshold, then it is prohibited to use the candidate object as the vehicle in front involved in screening the collision target of the vehicle.

[0100] In an embodiment of the present invention, there may be various target objects in front of the vehicle. For example, motor vehicles traveling in the same or opposite direction, buildings, guardrails deployed on the road, traffic sign poles, etc. Since the collision risks brought by vehicles traveling in the opposite direction to the vehicle, or vehicles traveling in the same direction as the vehicle but having a traveling speed greater than that of the vehicle, and other target objects that do not belong to vehicles to the vehicle are limited, therefore, it is possible to not need to combine such target objects to perform comfort braking control on the vehicle. Also, when the distance between the vehicle in front and the vehicle is relatively large, not only is the collision risk between the two usually low, but also the relative traveling situation between the two vehicles has a large variability, so it is also not necessary to combine these vehicles in front to perform comfort braking control on the vehicle.

[0101] Based on this, a vehicle object that is traveling in the same direction as the vehicle, has a traveling speed less than that of the vehicle, and has a distance from the vehicle less than a second threshold can be further determined from the candidate objects existing in the preset area in front of the vehicle identified, as the vehicle in front of the vehicle, which is beneficial to ensuring the accuracy of the collision target of the vehicle screened from the vehicles in front of the vehicle subsequently.

[0102] In an embodiment of the present invention, the obtaining of the target data of the candidate objects in the preset area in front of the vehicle may include:

[0103] Obtain the target data of the candidate objects in the preset area in front of the vehicle obtained by the vehicle through radar target detection or image target detection. Or,

[0104] Obtain the target data of candidate objects within a preset area in front of the vehicle from the road infrastructure or the cloud server.

[0105] In an embodiment of the present invention, if the vehicle is equipped with a radar device or an image acquisition device (e.g., a camera), the radar device or the image acquisition device mounted on the vehicle itself can be used to collect data on the surrounding environment of the vehicle, so as to perform radar target detection on the collected radar sensing data, or perform image target detection on the collected image data, thereby obtaining the target data of candidate objects existing within a preset area in front of the vehicle.

[0106] In an embodiment of the present invention, the Vehicle-to-Infrastructure (V2I) technology can, based on wireless communication technology, achieve real-time information interaction between the vehicle and the road infrastructure. Also, the vehicle networking technology can enable the vehicle to connect to the cloud server through the Internet to obtain traffic operation data stored at the cloud server. Based on this, the vehicle can also obtain the target data of candidate objects within a preset area in front of the vehicle from the road infrastructure or the cloud server, with good flexibility.

[0107] In an embodiment of the present invention, determining the range of vehicle deceleration allowed for comfortable braking of the vehicle according to the relative running situation between the collision target and the vehicle may include:

[0108] Determine the target longitudinal distance between the vehicle and the collision target, and the target longitudinal speed difference between the vehicle and the collision target.

[0109] According to the preset vehicle comfortable braking information, the target longitudinal distance, and the target longitudinal speed difference, determine the range of vehicle deceleration allowed for comfortable braking of the vehicle from the preset comfortable braking deceleration range.

[0110] Wherein, the preset vehicle comfortable braking information is used to reflect the minimum distance value that needs to be maintained between the vehicle and the front target when the vehicle brakes at each preset deceleration within the preset comfortable braking deceleration range without colliding with the front target in the case where there is a preset longitudinal speed difference between the vehicle and the front target; and, the minimum distance value is positively correlated with the preset longitudinal speed difference, and the minimum distance value is negatively correlated with the preset deceleration.

[0111] In an embodiment of the present invention, preset vehicle comfortable braking information can be set in advance according to actual requirements. Among them, the preset vehicle comfortable braking information may include the correlation relationship among a preset longitudinal speed difference, a preset deceleration, and the minimum distance value between vehicles (i.e., the vehicle itself and the vehicle in front). It can be understood that the greater the difference between the longitudinal driving speed of the vehicle itself and the longitudinal driving speed of the vehicle in front, and the smaller the value of the vehicle deceleration adopted by the vehicle itself, the greater the distance that needs to be maintained between the two to ensure that there is no collision between the vehicle itself and the vehicle in front. Therefore, the minimum distance value can be positively correlated with the preset longitudinal speed difference, and the minimum distance value can be negatively correlated with the preset deceleration.

[0112] In practical applications, the values of the preset longitudinal speed difference, the preset deceleration, and the minimum distance value between vehicles (i.e., the vehicle itself and the vehicle in front) can all be set according to actual requirements. For the sake of easy understanding, an example is given here. For example, the preset longitudinal speed difference can be several meters to dozens of meters per second, the preset deceleration can be several centimeters to dozens of meters per second squared, and the minimum distance value can be dozens of centimeters to hundreds of meters, and no specific limitation is made thereto.

[0113] In practical applications, when the target longitudinal distance between the vehicle itself and the collision target is large, and the absolute value of the target longitudinal speed difference between the vehicle itself and the collision target is small, the preset comfortable braking deceleration range often includes multiple preset decelerations that can achieve the comfortable braking function for the vehicle itself. Based on this, the vehicle deceleration range allowed for comfortable braking of the vehicle itself can be determined from the preset comfortable braking deceleration range in combination with the target longitudinal distance and the target longitudinal speed difference, so as to facilitate screening out the target deceleration finally adopted for comfortable braking of the vehicle itself from the vehicle deceleration range according to actual requirements.

[0114] Based on this, the comfortable braking control for the vehicle itself based on the vehicle deceleration range may include:

[0115] Determine a target deceleration from the vehicle deceleration range according to at least one of the driving habit information of the driver of the vehicle itself, the driving setting information, the driving speed data of the vehicle itself, and the target longitudinal distance between the vehicle itself and the collision target.

[0116] Generate a first control command for instructing the vehicle itself to brake according to the target deceleration.

[0117] In an embodiment of the present invention, when there are multiple preset decelerations in the range of vehicle decelerations allowed for comfort braking of the vehicle, it is often possible to combine data such as the driving habit information of the driver of the vehicle, the driving setting information, the driving speed data of the vehicle, and the target longitudinal distance between the vehicle and the collision target, to select the target deceleration that the vehicle finally needs to use from the range of vehicle decelerations, so as to control the vehicle to brake at the target deceleration by generating a first control command, thereby achieving the comfort braking effect for the vehicle.

[0118] Among them, the driving setting information of the driver of the vehicle can be information generated by the driver setting the configuration options of the vehicle to reflect the driving preferences of the driver. For example, when the driving setting information indicates that the driver has selected the comfort mode, the preset deceleration with a smaller value in the range of vehicle decelerations can be preferentially used as the target deceleration; when the driving setting information indicates that the driver has selected the safety mode, the preset deceleration with a larger value in the range of vehicle decelerations can be preferentially used as the target deceleration. There is no specific limitation on this.

[0119] The driving habit information of the driver of the vehicle can be information obtained by analyzing the historical driving data of the vehicle that can reflect the driving preferences of the driver; for example, if the driving habit information indicates that the driver prefers to drive in close following, the preset deceleration with a smaller value in the range of vehicle decelerations can be preferentially used as the target deceleration; if the driving habit information indicates that the driver prefers to maintain a large vehicle distance, the preset deceleration with a larger value in the range of vehicle decelerations can be preferentially used as the target deceleration. There is also no specific limitation on this.

[0120] In addition, when the driving speed of the vehicle is relatively high (for example, when the driving speed reaches the threshold), or when the target longitudinal distance between the vehicle and the collision target is relatively small (for example, when the target longitudinal distance is less than the threshold), the preset deceleration with a larger value in the range of vehicle decelerations can be preferentially used as the target deceleration, which is beneficial to improving the driving safety of the vehicle. There is also no specific limitation on this.

[0121] In an embodiment of the present invention, after generating the first control command for instructing the vehicle to brake at the target deceleration, it may further include:

[0122] Determine whether the driving speed of the vehicle is less than or equal to the driving speed of the collision target, and / or whether the distance between the vehicle and the collision target increases to a third threshold, to obtain a fourth judgment result.

[0123] If the fourth judgment result indicates that the driving speed of the vehicle is less than or equal to the driving speed of the collision target, and / or the distance between the vehicle and the collision target increases to a third threshold, a second control instruction for instructing the vehicle to stop performing comfort braking is generated.

[0124] In an embodiment of the present invention, after the vehicle performs comfort braking in response to the first control instruction, the driving speed of the vehicle will continuously decrease, while the longitudinal distance between the vehicle and the collision target may continuously increase. Since when the driving speed of the vehicle is less than or equal to the driving speed of the collision target, or when the longitudinal distance between the vehicle and the collision target is large, the collision risk brought by the collision target to the vehicle is often small. Therefore, by generating a second control instruction, the comfort braking of the vehicle can be stopped, so that the driving efficiency of the vehicle can be improved on the basis of ensuring the safety of the driving process of the vehicle, and the practicability is good.

[0125] In an embodiment of the present invention, Figure 1 The method described above may further include:

[0126] If the adaptive cruise function or the automatic emergency braking function of the vehicle is in an activated state, it is judged whether the target deceleration is greater than the specified deceleration required by the adaptive cruise function or the automatic emergency braking function to indicate the vehicle, and a fifth judgment result is obtained.

[0127] Correspondingly, the generating of the first control instruction for instructing the vehicle to brake according to the target deceleration may include:

[0128] If the fifth judgment result indicates that the target deceleration is greater than the specified deceleration, a first control instruction for instructing the vehicle to brake according to the target deceleration is generated.

[0129] If the fifth judgment result indicates that the target deceleration is less than the specified deceleration, a third control instruction for instructing the vehicle to brake according to the specified deceleration is generated.

[0130] In an embodiment of the present invention, in addition to being equipped with a comfort braking function, the vehicle may also be equipped with an adaptive cruise control function and an automatic emergency braking function, and the above functions may run in parallel. Since the adaptive cruise control function may also have a need to control the vehicle to brake to maintain a safe distance between the vehicle and the following target when it is in an active state; and the automatic emergency braking function may have a need to control the vehicle to brake to avoid a collision between the vehicle and an obstacle when it is in an active state. Based on this, when the adaptive cruise control function or the automatic emergency braking function of the vehicle indicates that the vehicle needs to generate a specified deceleration, and the comfort braking function of the vehicle indicates that the vehicle needs to generate a target deceleration, the vehicle can be controlled to brake according to the larger value of the target deceleration and the specified deceleration to effectively ensure the driving safety of the vehicle.

[0131] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed, it implements the steps of the vehicle braking control method in the above embodiments. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0132] In one embodiment, the present invention also provides Figure 3 The structural schematic diagram of the electronic device shown. As Figure 3 shown, at the hardware level, the electronic device may include a processor 31 and a memory 35. Of course, it may also include an internal bus 32, a network interface 33, a memory 34, and other hardware required for other services. The processor 31 in the electronic device can read the corresponding computer-readable instructions from the memory 35 into the memory and then run to implement the above vehicle braking control method. The specific execution process can refer to the specific descriptions in the above embodiments and will not be elaborated here.

[0133] In an embodiment of the present invention, the electronic device may include at least one of a radar device, an image acquisition device, and a domain controller, and no specific limitation is made thereto.

[0134] Finally, the various embodiments in the present invention are described in a progressive manner. The same or similar parts among the various embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments. In particular, for embodiments such as computer program products and electronic devices, since they are basically similar to the method embodiments, the descriptions are relatively simple, and the relevant parts can refer to the partial descriptions of the method embodiments.

[0135] The above description is only for the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A vehicle braking control method, comprising: Obtaining a collision target determined from the vehicles in front of the host vehicle and used as a reference for comfort braking of the host vehicle; Determining a range of vehicle deceleration that is allowed to be used when performing comfort braking on the host vehicle according to the relative running condition between the collision target and the host vehicle; Performing comfort braking control on the host vehicle based on the range of vehicle deceleration.

2. The method according to claim 1, wherein the obtaining a collision target determined from the vehicles in front of the host vehicle and used as a reference for comfort braking of the host vehicle comprises: Calculating a lateral collision time and a longitudinal collision time between the host vehicle and each of the vehicles in front based on the vehicle running data of the host vehicle and each of the vehicles in front; Determining the vehicle in front corresponding to the minimum value of the lateral collision time and the longitudinal collision time, and obtaining the collision target used as a reference for comfort braking of the host vehicle; Or, Receiving collision target information of the host vehicle; wherein the collision target information is used to reflect the collision target used as a reference for comfort braking of the host vehicle, and the collision target is the vehicle in front corresponding to the minimum value of the lateral collision time and the longitudinal collision time between the vehicle in front and the host vehicle.

3. The method according to claim 2, wherein the determining the vehicle in front corresponding to the minimum value of the lateral collision time and the longitudinal collision time, and obtaining the collision target used as a reference for comfort braking of the host vehicle comprises: Judging whether a specific vehicle in front corresponding to the minimum value of the lateral collision time and the longitudinal collision time is located in the lane where the host vehicle is located, and obtaining a first judgment result; If the first judgment result indicates that the specific vehicle in front is located in the lane where the host vehicle is located, determining the specific vehicle in front as the collision target; If the first judgment result indicates that the specific vehicle in front is not located in the lane where the host vehicle is located, judging whether the distance between the specific vehicle in front and the target lane line is less than a first threshold value, and obtaining a second judgment result; wherein the target lane line is the lane line on the side of the lane where the host vehicle is located and close to the specific vehicle in front; If the second judgment result indicates that the distance between the specific vehicle in front and the target lane line is less than the first threshold value, determining the specific vehicle in front as the collision target.

4. The method according to claim 2, wherein the calculating a lateral collision time and a longitudinal collision time between the host vehicle and each of the vehicles in front based on the vehicle running data of the host vehicle and each of the vehicles in front comprises: Calculating a lateral distance and a longitudinal distance between the host vehicle and the vehicle in front based on the vehicle position data in the vehicle running data; Calculating a lateral collision time between the host vehicle and the vehicle in front based on the lateral speed data, the lateral acceleration data in the vehicle running data and the lateral distance; Calculating a longitudinal collision time between the host vehicle and the vehicle in front based on the longitudinal speed data, the longitudinal acceleration data in the vehicle running data and the longitudinal distance.

5. The method according to claim 2, before calculating the lateral collision time and the longitudinal collision time between the host vehicle and each of the preceding vehicles based on the vehicle operation data of the host vehicle and each of the preceding vehicles, further includes: Obtaining target data of candidate objects within a preset front area of the host vehicle; Based on the target data of the candidate objects, determining whether the candidate objects belong to vehicle objects that are in the same driving direction as the host vehicle, have a driving speed lower than that of the host vehicle, and have a distance from the host vehicle less than a second threshold, to obtain a third determination result; If the third determination result indicates that the candidate objects belong to vehicle objects that are in the same driving direction as the host vehicle, have a driving speed lower than that of the host vehicle, and have a distance from the host vehicle less than a second threshold, then obtaining the vehicle operation data of the candidate objects from the target data of the candidate objects, to obtain the vehicle operation data of the preceding vehicles of the host vehicle.

6. The method according to claim 5, wherein the obtaining target data of candidate objects within a preset front area of the host vehicle includes: Obtaining target data of candidate objects within a preset front area of the host vehicle obtained by the host vehicle through radar target detection or image target detection; Or, Obtaining target data of candidate objects within a preset front area of the host vehicle from road infrastructure or a cloud server.

7. The method according to claim 1, wherein the determining the range of vehicle deceleration allowed for comfort braking of the host vehicle according to the relative operation situation between the collision target and the host vehicle includes: Determining a target longitudinal distance between the host vehicle and the collision target, and a target longitudinal speed difference between the host vehicle and the collision target; According to preset vehicle comfort braking information, the target longitudinal distance, and the target longitudinal speed difference, determining from a preset comfort braking deceleration range the range of vehicle deceleration allowed for comfort braking of the host vehicle; Wherein, the preset vehicle comfort braking information is used to reflect the minimum distance value that needs to be maintained between the host vehicle and the front target when the host vehicle brakes at each preset deceleration within the preset comfort braking deceleration range and does not collide with the front target in the case where the host vehicle and the front target have a preset longitudinal speed difference; and, the minimum distance value is positively correlated with the preset longitudinal speed difference, and the minimum distance value is negatively correlated with the preset deceleration.

8. The method according to claim 1, wherein the performing comfort braking control on the host vehicle based on the range of vehicle deceleration includes: Determining a target deceleration from the range of vehicle deceleration according to at least one of the driving habit information of the driver of the host vehicle, the driving setting information, the driving speed data of the host vehicle, and the target longitudinal distance between the host vehicle and the collision target; Generating a first control instruction for instructing the host vehicle to brake at the target deceleration.

9. After the generating a first control instruction for instructing the host vehicle to brake at the target deceleration according to the method of claim 8, further includes: Determine whether the driving speed of the vehicle is less than or equal to the driving speed of the collision target, and / or whether the distance between the vehicle and the collision target increases to a third threshold value to obtain a fourth determination result; If the fourth determination result indicates that the driving speed of the vehicle is less than or equal to the driving speed of the collision target, and / or the distance between the vehicle and the collision target increases to a third threshold value, then generate a second control instruction for instructing the vehicle to stop performing comfort braking.

10. The method according to claim 8, further comprising: If the adaptive cruise control function or the automatic emergency braking function of the vehicle is in an activated state, then determine whether the target deceleration is greater than the specified deceleration required by the adaptive cruise control function or the automatic emergency braking function to instruct the vehicle to obtain a fifth determination result; The generating a first control instruction for instructing the vehicle to brake at the target deceleration includes: If the fifth determination result indicates that the target deceleration is greater than the specified deceleration, then generate a first control instruction for instructing the vehicle to brake at the target deceleration.

11. After the determining whether the target deceleration is greater than the specified deceleration required by the adaptive cruise control function or the automatic emergency braking function to instruct the vehicle to obtain a fifth determination result according to claim 10, the method further comprises: If the fifth determination result indicates that the target deceleration is less than the specified deceleration, then generate a third control instruction for instructing the vehicle to brake at the specified deceleration.

12. A computer program product, comprising a computer program, where when the computer program is executed, the steps of the method according to any one of claims 1 to 11 are implemented.

13. An electronic device, comprising: A processor and a memory; wherein, the memory stores computer-readable instructions, and the computer-readable instructions are adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 11.

14. The electronic device according to claim 13, wherein the electronic device comprises: At least one of a radar device, an image acquisition device, and a domain controller.

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