Vehicle emergency braking method, electronic equipment and vehicle

Abstract

The invention provides a vehicle emergency braking method, electronic equipment and a vehicle. The method comprises the steps that a vehicle speed misjudgment index of a first vehicle is obtained; when the vehicle speed misjudgment index exceeds a preset threshold value, detecting the validity of historical data of the first vehicle; the historical data is driving data of a second vehicle having the same vehicle parameters and environmental parameters as the first vehicle; when the historical data of the first vehicle is valid, generating a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle; when the historical data of the first vehicle is invalid, generating a second braking distance based on the driving data of the first vehicle; and sending a braking instruction to the first vehicle based on the first braking distance or the second braking distance. According to the vehicle emergency braking method provided by the invention, the vehicle can be braked when the vehicle speed is increased and the vehicle speed is misjudged, so that the safety of the vehicle is ensured.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and particularly to a vehicle emergency braking method, device, electronic device and vehicle. Background Art

[0002] In the field of intelligent driving safety technology, there are still significant deficiencies in the protection of driver misoperations in specific scenarios by existing vehicle active safety systems. When the user is driving on an empty road, in such scenarios, due to the lack of environmental stimuli, the driver is prone to the "highway hypnosis effect", resulting in dulled speed perception and speeding on open sections without obvious speed limit signs. More seriously, when a sudden obstacle appears, the relaxed driver is prone to pedal misoperations during the stress response.

[0003] Therefore, there is an urgent need for a vehicle emergency braking method to avoid accidents caused by high vehicle speeds. Summary of the Invention

[0004] To solve the above technical problems, this application provides a vehicle emergency braking method, electronic device and vehicle. Through emergency braking, the safety of the vehicle can be ensured.

[0005] According to the first aspect of this application, a vehicle emergency braking method is provided. The method includes:

[0006] Obtain the speed misjudgment index of the first vehicle;

[0007] When the speed misjudgment index exceeds a preset threshold, determine whether there is historical data of the first vehicle; the historical data is the driving data of a second vehicle having the same vehicle parameters and environmental parameters as the first vehicle;

[0008] When there is historical data of the first vehicle, generate a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle;

[0009] When there is no historical data of the first vehicle, generate a second braking distance based on the driving data of the first vehicle;

[0010] Send a braking instruction to the first vehicle based on the first braking distance or the second braking distance.

[0011] In an alternative embodiment, obtaining the speed misjudgment index of the first vehicle includes:

[0012] Obtain the road characteristic parameters of the first vehicle, where the road characteristic parameters include: fixed reference object density and adjacent vehicle spacing;

[0013] When the fixed reference object density is less than the preset density and / or the adjacent vehicle spacing is greater than the preset spacing, obtain the real-time vehicle speed and road speed limit parameters of the vehicle;

[0014] When the real-time vehicle speed is higher than the road speed limit parameter, a vehicle speed misjudgment index is generated.

[0015] In an alternative embodiment, after sending a braking instruction to the first vehicle, it includes:

[0016] Generate a pedal target resistance for the first vehicle, so that after the first vehicle is applied with the pedal target resistance, the real-time vehicle speed within the first braking distance or the second braking distance is lower than the road speed limit parameter.

[0017] In an alternative embodiment, after sending a braking instruction to the first vehicle, the method includes:

[0018] Generate a pedal travel and power output target proportionality coefficient, and the target proportionality coefficient is less than the initial proportionality coefficient, so that the speed change when the driver steps on the pedal with the target proportionality coefficient is less than the speed change when stepping on the pedal with the initial proportionality coefficient.

[0019] In an alternative embodiment, obtaining the vehicle speed misjudgment index of the first vehicle includes:

[0020] When a third vehicle or an obstacle appears within a preset distance from the first vehicle, obtain the biometric parameters of the driver of the first vehicle and the throttle pedal opening of the first vehicle;

[0021] Generate a vehicle speed misjudgment index according to the biometric parameters and the throttle pedal opening.

[0022] In an alternative embodiment, generating the first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle includes:

[0023] Obtain the empirical braking distance of the second vehicle based on the historical data of the first vehicle;

[0024] Generate the instant braking distance of the first vehicle based on the driving data of the first vehicle;

[0025] Determine the first weight of the empirical braking distance and the second weight of the instant braking distance based on the vehicle speed misjudgment index;

[0026] Generate the first braking distance according to the empirical braking distance and the first weight, the instant braking distance and the second weight.

[0027] In an alternative embodiment, the method further includes:

[0028] When the vehicle speed misjudgment index exceeds the preset threshold, trigger at least one prompt message, and the prompt message includes sound information, picture information, and vibration information.

[0029] In an alternative embodiment, the vehicle parameters include at least vehicle model, vehicle load, and tire friction coefficient; the environmental parameters include at least wind resistance coefficient.

[0030] According to a second aspect of the present application, there is provided an electronic device, including a memory and a processor;

[0031] The memory is connected to the processor and is used for storing programs;

[0032] The processor is configured to implement the vehicle emergency braking method as described in the first aspect or any one of the embodiments of the first aspect by running the program in the memory.

[0033] According to a third aspect of the present application, there is provided a vehicle, including the electronic device of the second aspect.

[0034] The vehicle emergency braking method, electronic device, and vehicle provided by the present application obtain the vehicle speed misjudgment index of the first vehicle. When the vehicle speed misjudgment index exceeds a preset threshold, it is determined whether there is historical data of the first vehicle. When there is historical data, based on the historical data and driving data of the first vehicle, a first braking distance is generated; when there is no historical data, based on the driving data of the first vehicle, a second braking distance is generated; and a braking instruction is sent to the first vehicle based on the first braking distance or the second braking distance. In the present application, based on the vehicle speed misjudgment index, the user's optimistic judgment of the environment can be avoided, and the potential safety hazards brought by increasing the speed to the vehicle can be eliminated. In addition, in the vehicle emergency braking method provided by the present application, since the historical data is the historical data of a vehicle having the same vehicle parameters and environmental parameters as the first vehicle, and the historical data is accurate data, the first braking distance determined based on the historical data further improves the safety of the vehicle. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0036] Figure 1 It is a schematic diagram of the implementation environment related to the present invention;

[0037] Figure 2 It is a flowchart of the vehicle emergency braking method provided by the embodiment of the application;

[0038] Figure 3 It is a structural block diagram of the vehicle emergency braking device provided by the embodiment of the present application;

[0039] Figure 4 The structural diagram of the electronic device provided by the embodiment of the present invention. Specific implementation manners

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0041] In the field of intelligent driving safety technology, there are still significant deficiencies in the protection of driver's misoperations in specific scenarios by existing vehicle active safety systems. When the user is driving on an empty road, in such scenarios, due to the lack of environmental stimulus sources, the driver is prone to the "highway hypnosis effect", resulting in dull speed perception and speeding on open sections without obvious speed limit signs. More seriously, when a sudden obstacle appears, the driver in a relaxed state is prone to pedal misoperations during the stress response. Therefore, there is an urgent need for a vehicle emergency braking method to avoid accidents caused by high vehicle speeds.

[0042] The vehicle emergency braking method, electronic device and vehicle provided by the present application obtain the vehicle speed misjudgment index of the first vehicle. When the vehicle speed misjudgment index exceeds a preset threshold, it is judged whether there is historical data of the first vehicle. When there is historical data, based on the historical data of the first vehicle and the driving data of the first vehicle, a first braking distance is generated; when there is no historical data, based on the driving data of the first vehicle, a second braking distance is generated; and a braking instruction is sent to the first vehicle based on the first braking distance or the second braking distance. In the present application, based on the vehicle speed misjudgment index, the user's optimistic judgment of the environment can be avoided, and the safety hazard brought by increasing the speed to the vehicle can be eliminated. In addition, in the vehicle emergency braking method for autonomous driving provided by the present application, since the historical data is the historical data of a vehicle having the same vehicle parameters and environmental parameters as the first vehicle, and the historical data is accurate data, the first braking distance determined based on the historical data further improves the safety of the vehicle.

[0043] Exemplary implementation environment

[0044] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the implementation environment related to the present invention. As Figure 1As shown in the figure, this application scenario involves server 1 and vehicle 2. Vehicle 2 can be equipped with a VCU (Vehicle Control Unit, the vehicle control unit, hereinafter referred to as VCU). The VCU is responsible for integrating and processing information from various sensors of vehicle 2, such as the real-time speed of the vehicle, the real-time road surface information collected by the vehicle's camera or radar, etc. Vehicle 2 is equipped with a TBOX (Telematics Box, the vehicle networking system, hereinafter referred to as TBOX). Through the TBOX, the vehicle can access the Internet through wireless communication technologies such as 4G / 5G and Wi-Fi. During the driving process of the vehicle, the driving data and environmental data of the vehicle can be uploaded to the server for the vehicle itself or other vehicles to use. Server 1 stores the driving data and environmental data of multiple vehicles, which can provide data support when the vehicle makes a misjudgment on the vehicle speed and ensure the safe driving of the vehicle.

[0045] Server 1 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The server can also become a node of the blockchain.

[0046] Server 1 can be one or more. When there are multiple servers 1, at least two servers are used to provide different services, and / or at least two servers are used to provide the same service. For example, the same service is provided in a load balancing manner. The embodiments of the present invention do not limit this.

[0047] It should be understood that Figure 1 this is only an exemplary illustration and does not specifically limit the application scenario of the embodiments of the present application. For example, Figure 1 exemplarily shows one vehicle and one server. In fact, other numbers of vehicles and servers can be included, and the present application does not limit this.

[0048] Exemplary method

[0049] Figure 2 This is a flowchart of the vehicle emergency braking method provided by the embodiments of the application. Please refer to Figure 2 In an exemplary embodiment, a vehicle emergency braking method is provided. The method may include:

[0050] S202: Obtain the vehicle speed misjudgment index of the first vehicle.

[0051] The vehicle speed misjudgment index can be a parameter used by the user to characterize the driving safety of the vehicle when increasing the vehicle speed. The application scenarios of this embodiment can include the judgment of increasing the vehicle speed made by the user when driving on an empty road, and the wrong decision of the user to increase the vehicle speed due to nervousness. On highways or urban roads, during special time periods, such as early morning or holiday times, due to the fixed markers on both sides of the road, there are fewer changes in the reference objects during the vehicle driving process, and it is easy to have speed misjudgments. For another example, during the vehicle driving process, the vehicle in front suddenly brakes, or a vehicle suddenly intrudes into the vehicle driving lane on the right or left side of the vehicle, and the user steps on the original accelerator pedal deeply due to nervousness; or in the case where the vehicle in front shows a brake and lane change deceleration light and needs to decelerate, the user does not decelerate, maintains the speed or even accelerates, all of which are vehicle speed misjudgments.

[0052] In practical applications, the vehicle misjudgment index is related to the vehicle speed change rate, the speed limit parameter of the current driving road, and the speed change situation of the vehicle in front, etc. The vehicle speed misjudgment index can be represented by a number from 0 to 1. 1 indicates a high vehicle speed misjudgment index, and immediate measures need to be taken for braking; 0.1 indicates a relatively low vehicle speed misjudgment index, and no immediate measures are required.

[0053] S204: When the vehicle speed misjudgment index exceeds the preset threshold, determine whether there is historical data of the first vehicle; the historical data is the driving data of the second vehicle with the same vehicle parameters and environmental parameters as the first vehicle.

[0054] The preset threshold can be set according to the actual situation. For example, the preset threshold can be 0.7. It should be understood that the preset threshold can also be set to other values.

[0055] The historical data can be the data stored in the cloud server. The historical data can be the driving data of the vehicle with the same vehicle parameters and environmental parameters as the first vehicle. The historical data is the data that the second vehicle can drive safely under the same circumstances. The first vehicle can upload the vehicle parameters and environmental parameters to the cloud server, and the server searches based on the vehicle parameters and environmental parameters of the first vehicle to confirm the second vehicle. The vehicle parameters can include vehicle model, vehicle load, and tire friction coefficient; the environmental parameters at least include the wind resistance coefficient.

[0056] In practical applications, the vehicle parameters can also include a modification coefficient, which can affect the vehicle load and further affect the wind resistance coefficient.

[0057] S206: When there is historical data of the first vehicle, generate a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle.

[0058] When the vehicle speed index exceeds the preset threshold, it is necessary to perform emergency braking on the vehicle, trigger a data request to the server. The server confirms the driving data of the second vehicle, which is the historical data of the first vehicle, according to the data request, and sends the historical data to the first vehicle. The VCU of the first vehicle generates the first braking distance based on the driving data of the first vehicle and the driving data of the second vehicle.

[0059] The braking distance is the distance required for the vehicle to come to a complete stop from the start of full braking. The calculation formula for the braking distance can be expressed as:

[0060]

[0061] where D is the braking distance, unit: meter; v is the vehicle speed, unit: m / s; μ is the friction coefficient between the tire and the road surface, and μ depends on the tire type and road surface condition; g is the acceleration due to gravity, approximately 9.8 m / s 2 。

[0062] In practical applications, parameters such as the slope of the road surface, braking efficiency, and vehicle load also need to be considered for the braking distance. In addition, factors such as weather conditions (such as rain and snow increasing the risk of skidding), tire condition, and driver reaction time will also significantly affect the actual braking distance.

[0063] S208: When there is no historical data of the first vehicle, generate the second braking distance based on the driving data of the first vehicle;

[0064] When there is no historical data in the server, the VCU of the first vehicle will generate the second braking distance based on its own driving data. The calculation of the second braking distance is similar to the calculation process of the first braking distance, and will not be elaborated here.

[0065] S210: Send a braking instruction to the first vehicle based on the first braking distance or the second braking distance.

[0066] Since the vehicle speed misjudgment index is higher than the preset threshold, it is necessary to perform emergency braking on the vehicle. After determining the first braking distance or the second braking distance, the VCU sends a braking instruction to the first vehicle, and the first vehicle brakes within the first braking distance or the second braking distance to ensure the safety of the vehicle itself.

[0067] The vehicle emergency braking method provided by the embodiments of the present application brakes the vehicle in a timely and effective manner based on the vehicle misjudgment index of the first vehicle. When the vehicle speed misjudgment index exceeds a preset threshold, it is determined whether there is the validity of the historical data of the first vehicle. When there is historical data, based on the historical data of the first vehicle and the driving data of the first vehicle, a first braking distance is generated; when there is no historical data, based on the driving data of the first vehicle, a second braking distance is generated; based on the first braking distance or the second braking distance, a braking instruction is sent to the first vehicle. In the present application, based on the vehicle speed misjudgment index, the user's optimistic judgment of the environment can be avoided, and the potential safety hazards brought by increasing the speed to the vehicle can be eliminated. In addition, in the vehicle emergency braking method provided by the present application, since the historical data is the vehicle historical data with the same vehicle parameters and environmental parameters as the first vehicle, and the historical data is accurate data, the first braking distance determined based on the historical data further improves the safety of the vehicle.

[0068] In an alternative embodiment, obtaining the vehicle speed misjudgment index of the first vehicle may include:

[0069] Obtain the road characteristic parameters of the first vehicle, where the road characteristic parameters include: the density of fixed reference objects and the distance between adjacent vehicles;

[0070] When the density of fixed reference objects is less than the preset density and / or the distance between adjacent vehicles is greater than the preset distance, obtain the real-time vehicle speed and the road speed limit parameters of the vehicle;

[0071] When the real-time vehicle speed is higher than the road speed limit parameter, generate a vehicle speed misjudgment index.

[0072] The preset density may be 2 per 100 meters, and the preset distance may be 300 meters. When the density of fixed reference objects is less than 2 per 100 meters and / or the distance between adjacent vehicles is greater than 300 meters, due to fewer reference objects and an empty road, when the vehicle speed is higher than the road speed limit parameter, a vehicle speed misjudgment parameter is generated. The speed misjudgment parameter is determined based on the ratio of the vehicle speed to the road speed limit parameter. For example: when the current vehicle speed is 120 km / h and the road speed limit parameter is also 120 km / h, the ratio of the vehicle speed to the road speed limit parameter is 1 at this time. At this time, the vehicle speed misjudgment parameter can be set to 0.8.

[0073] In an alternative embodiment, after sending the braking instruction to the first vehicle, it includes:

[0074] Generate the pedal target resistance of the first vehicle, so that the real-time vehicle speed of the first vehicle is lower than the road speed limit parameter within the first braking distance or the second braking distance after the pedal target resistance is applied.

[0075] The pedal target resistance is only applied when the first vehicle is performing emergency braking. When the vehicle speed misjudgment index is lower than a preset threshold, the pedal... In practical applications, the pedal force of the user can be determined according to the driving parameters of the first vehicle, and the initial pedal resistance can be determined according to the corresponding relationship between the pedal force and the resistance. The pedal target resistance needs to be greater than the initial resistance, so as to limit the power of the vehicle by increasing the pedal resistance, and make the real-time vehicle speed lower than the road speed limit parameter within the first braking distance or the second braking distance, ensuring the safe driving of the vehicle.

[0076] In an alternative embodiment, after sending a braking instruction to the first vehicle, the method includes:

[0077] Generate a pedal travel and power output target proportionality coefficient, where the target proportionality coefficient is less than the initial proportionality coefficient, so that the speed change when the driver steps on the pedal with the target proportionality coefficient is less than the speed change when stepping on the pedal with the initial proportionality coefficient.

[0078] During emergency braking, the power of the vehicle can also be limited by adjusting the pedal-by-wire travel. Each vehicle has a proportionality coefficient between the pedal travel and the power output. The initial proportionality coefficient of the vehicle can be determined according to the driving parameters of the vehicle. For example: the initial proportionality coefficient can be 1 cm corresponding to a speed increase of 50 km / h, and the target proportionality coefficient can be 1 cm corresponding to a speed increase of 10 km / h.

[0079] Adjustment of the pedal travel length: Each power pedal has its own relationship between the travel and the power increase. For example, when the pedal depth is 1 cm, it is equal to a speed increase of 50 kilometers. At this time, the change is a speed increase of 10 kilometers when it becomes 1 cm. When the user steps on the pedal, the speed change becomes smaller, timely limiting the speed of the vehicle and improving the driving safety of the vehicle.

[0080] In an alternative embodiment, obtaining the vehicle speed misjudgment index of the first vehicle includes:

[0081] When a third vehicle or an obstacle appears within a preset distance from the first vehicle, obtain the biometric parameters of the driver of the first vehicle and the throttle pedal opening of the first vehicle;

[0082] Generate a vehicle speed misjudgment index according to the biometric parameters and the throttle pedal opening.

[0083] The actual driving scenario also includes when the vehicle in front suddenly brakes, or when a vehicle in the left lane or the right lane invades the lane of the vehicle, generating a vehicle speed misjudgment index based on the biometric parameters and the throttle pedal opening of the driver.

[0084] Biometric parameters may include expression parameters and heart rate parameters. In practical applications, the expression parameters of the driver can be collected by a camera to obtain the user's expression information, and the physiological indicators of the driver can be collected by wearable devices. When the expression parameter of the user is tense and the heart rate parameter exceeds a preset threshold, a vehicle speed misjudgment index is generated, and the vehicle speed misjudgment index is determined according to the opening value of the accelerator pedal. When the opening of the accelerator pedal is large, the vehicle speed misjudgment index is high.

[0085] In an alternative embodiment, generating a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle includes:

[0086] Obtaining the empirical braking distance of the second vehicle based on the historical data of the first vehicle;

[0087] Generating the immediate braking distance of the first vehicle based on the driving data of the first vehicle;

[0088] Determining a first weight for the empirical braking distance and a second weight for the immediate braking distance based on the vehicle speed misjudgment index;

[0089] Generating a first braking distance according to the empirical braking distance and the first weight, the immediate braking distance and the second weight.

[0090] The driving data of the second vehicle, i.e., the historical data of the first vehicle, includes the empirical braking distance value, and this parameter can be directly obtained. The VCU of the first vehicle can generate the immediate braking distance based on the driving data of the vehicle, and determine the first weight and the second weight according to the level of the vehicle speed misjudgment index. In practical applications, a mapping relationship between the vehicle speed misjudgment index and the first weight and the second weight can be pre-stored so that the first vehicle can obtain the first weight and the second weight after determining the vehicle misjudgment index. In practical applications, when the vehicle speed misjudgment index is high, the proportion of the first weight can be increased. When the vehicle speed misjudgment index is relatively high, it indicates that the vehicle needs to immediately obtain the braking distance, and the braking distance in the historical data is a safe braking distance, and this braking distance can be directly used for braking.

[0091] In an alternative embodiment, the method further includes:

[0092] When the vehicle speed misjudgment index exceeds the preset threshold, triggering at least one piece of prompt information, and the prompt information includes sound information, picture information, and vibration information.

[0093] The prompt information may include at least one piece of prompt information, and using at least one piece of prompt information can remind the driver to correct the speed as soon as possible to ensure the driving safety of the vehicle.

[0094] In an alternative embodiment, the vehicle parameters at least include vehicle model, vehicle load, and tire friction coefficient; the environmental parameters at least include wind resistance coefficient.

[0095] The server can determine the driving data of a second vehicle with the same vehicle parameters and environmental parameters as those of the first vehicle based on the vehicle parameters and environmental parameters, and generate the braking distance of the vehicle based on the historical data.

[0096] Exemplary device

[0097] Correspondingly, an embodiment of the present application further provides a vehicle emergency braking device. Figure 3 It is a structural block diagram of the vehicle emergency braking device provided by the embodiment of the present application. Refer to Figure 3 The device may include:

[0098] An acquisition unit 310, configured to acquire the vehicle speed misjudgment index of the first vehicle.

[0099] A judgment unit 330, configured to judge whether there is historical data of the first vehicle when the vehicle speed misjudgment index exceeds a preset threshold; the historical data is the driving data of a second vehicle having the same vehicle parameters and environmental parameters as those of the first vehicle.

[0100] A first generation unit 350, configured to generate a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle when there is historical data of the first vehicle.

[0101] A second generation unit 370, configured to generate a second braking distance based on the driving data of the first vehicle when there is no historical data of the first vehicle.

[0102] An instruction sending unit 390, configured to send a braking instruction to the first vehicle based on the first braking distance or the second braking distance.

[0103] The vehicle emergency braking device provided in this embodiment belongs to the same inventive concept as the vehicle emergency braking method provided in the above embodiments of the present application, can execute the vehicle emergency braking method provided in any of the above embodiments of the present application, and has the corresponding functional modules and beneficial effects for executing the vehicle emergency braking method. For technical details not described in detail in this embodiment, reference may be made to the specific processing content of the vehicle emergency braking method provided in the above embodiments of the present application, which will not be elaborated here.

[0104] The functions implemented by the above acquisition unit 310, judgment unit 330, first generation unit 350, second generation unit 370, and instruction sending unit 390 may be implemented by the same or different processors respectively, which is not limited in the embodiments of the present application.

[0105] It should be understood that the acquisition unit 310, the determination unit 330, the first generation unit 350, the second generation unit 370, and the instruction sending unit 390 in the above device can be implemented in the form of a processor invoking software. For example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor invokes the instructions stored in the memory to implement any of the above methods or the functions of each unit of the device. The processor can be a general-purpose processor, such as a CPU or a microprocessor, etc., and the memory can be a memory inside the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of a hardware circuit, and the functions of some or all of the units can be implemented by designing the hardware circuit, and the hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by a PLD. Taking an FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file, so as to implement the functions of some or all of the above units. All units of the above device can be all implemented in the form of a processor invoking software, or all implemented in the form of a hardware circuit, or some implemented in the form of a processor invoking software, and the remaining part implemented in the form of a hardware circuit.

[0106] In the embodiments of the present application, the processor is a circuit with the ability to process signals. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a CPU, a microprocessor, a GPU, or a DSP, etc.; in another implementation, the processor can implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconstructed. For example, the processor is a hardware circuit implemented by an ASIC or a PLD, such as an FPGA, etc. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as an NPU, a TPU, a DPU, etc.

[0107] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0108] In addition, all or part of the units in the above device can be integrated together or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of an SOC. The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units of the device. The types of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0109] Exemplary electronic device

[0110] Another embodiment of the present application further provides an electronic device. Refer to Figure 4 As shown, the device includes:

[0111] A memory 400 and a processor 410;

[0112] Wherein, the memory 400 is connected to the processor 410 and is used for storing programs;

[0113] The processor 410 is used to implement the vehicle emergency braking method disclosed in any of the above embodiments by running the program stored in the memory 400.

[0114] Specifically, the above electronic device may further include: a bus, a communication interface 420, an input device 430, and an output device 440.

[0115] The processor 410, the memory 400, the communication interface 420, the input device 430, and the output device 440 are interconnected through the bus. Among them:

[0116] The bus may include a path for transmitting information between various components of the computer system.

[0117] The processor 410 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or may be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0118] The processor 410 may include a main processor and may also include a baseband chip, a modem, etc.

[0119] The program for implementing the technical solution of the present invention is stored in the memory 400, and the operating system and other key services may also be stored. Specifically, the program may include program code, and the program code includes computer operation instructions. More specifically, the memory 400 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash memory, and so on.

[0120] The input device 430 may include devices for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor, etc.

[0121] The output device 440 may include devices for allowing information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0122] The communication interface 420 may include devices of any transceiver type for communicating with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0123] The processor 410 executes the program stored in the memory 400 and calls other devices, and can be used to implement each step of any one of the vehicle emergency braking methods provided in the above embodiments of the present application.

[0124] An embodiment of the present application also proposes a chip, which includes a processor and a data interface. The processor reads and runs the program stored on the memory through the data interface to execute the vehicle emergency braking method introduced in any of the above embodiments. The specific processing process and its beneficial effects can be referred to the embodiment introduction of the vehicle emergency braking method above.

[0125] Exemplary computer program product and storage medium

[0126] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the vehicle emergency braking method according to various embodiments of the present application described in any of the above embodiments of this specification.

[0127] The computer program product may be written in any combination of one or more programming languages for executing the program code of the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as an independent software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0128] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored. The computer program is executed by a processor to perform the steps in the vehicle emergency braking method according to various embodiments of the present application described in any of the above embodiments of the present specification. Specifically, the following steps may be implemented:

[0129] S202: Obtain the vehicle speed misjudgment index of the first vehicle;

[0130] S204: When the vehicle speed misjudgment index exceeds a preset threshold, determine whether there is historical data of the first vehicle; the historical data is the driving data of a second vehicle having the same vehicle parameters and environmental parameters as the first vehicle;

[0131] S206: When there is historical data of the first vehicle, generate a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle;

[0132] S208: When there is no historical data of the first vehicle, generate a second braking distance based on the driving data of the first vehicle;

[0133] S210: Based on the first braking distance or the second braking distance, send a braking instruction to the first vehicle.

[0134] For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps may be in other sequences or performed simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0135] It should be noted that the embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0136] The steps in the methods of the embodiments of the present application can be adjusted, combined, and deleted according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0137] The modules and sub-modules in the devices and terminals in the embodiments of the present application can be combined, divided, and deleted according to actual needs.

[0138] In several embodiments provided by the present application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or sub-modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or modules can be in electrical, mechanical, or other forms.

[0139] The modules or sub-modules described as separate components may or may not be physically separated. The components as modules or sub-modules may or may not be physical modules or sub-modules, that is, they can be located in one place, or can be distributed to multiple network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, the functional modules or sub-modules in each embodiment of the present application can be integrated in a processing module, or each module or sub-module can exist physically alone, or two or more modules or sub-modules can be integrated in one module. The above-mentioned integrated modules or sub-modules can be implemented in the form of hardware or in the form of software functional modules or sub-modules.

[0141] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0142] The steps of the methods or algorithms described in connection with the embodiments disclosed herein can be implemented directly in hardware, in a software unit executed by a processor, or in a combination thereof. The software unit can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium well-known in the art.

[0143] Finally, it should also be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0144] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle emergency braking method, characterized in that, Including: Obtain the speed misjudgment index of the first vehicle; When the speed misjudgment index exceeds a preset threshold, determine whether there is historical data of the first vehicle; the historical data is the driving data of a second vehicle having the same vehicle parameters and environmental parameters as the first vehicle; When there is historical data of the first vehicle, generate a first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle; When there is no historical data of the first vehicle, generate a second braking distance based on the driving data of the first vehicle; Send a braking instruction to the first vehicle based on the first braking distance or the second braking distance.

2. The vehicle emergency braking method according to claim 1, wherein The obtaining the speed misjudgment index of the first vehicle includes: Obtain the road characteristic parameters of the first vehicle, and the road characteristic parameters include: fixed reference object density and adjacent vehicle spacing; When the fixed reference object density is less than a preset density and / or the adjacent vehicle spacing is greater than a preset spacing, obtain the real-time vehicle speed and the road speed limit parameter of the vehicle; When the real-time vehicle speed is higher than the road speed limit parameter, generate the speed misjudgment index.

3. The vehicle emergency braking method according to claim 2, wherein, After sending the braking instruction to the first vehicle, the including: Generate the pedal target resistance of the first vehicle, so that the real-time vehicle speed of the first vehicle is lower than the road speed limit parameter within the first braking distance or the second braking distance after the first vehicle is applied with the pedal target resistance.

4. The vehicle emergency braking method according to claim 2, wherein After sending the braking instruction to the first vehicle, the method includes: Generate a pedal travel and power output target ratio coefficient, and the target ratio coefficient is less than the initial ratio coefficient, so that the speed change when the driver steps on the pedal with the target ratio coefficient is less than the speed change when stepping on the pedal with the initial ratio coefficient.

5. The vehicle emergency braking method according to claim 1, characterized in that, The obtaining the speed misjudgment index of the first vehicle includes: When a third vehicle or an obstacle appears within a preset distance from the first vehicle, obtain the biometric parameters of the driver of the first vehicle and the throttle pedal opening of the first vehicle; Generate the speed misjudgment index according to the biometric parameters and the throttle pedal opening.

6. The vehicle emergency braking method according to claim 1, wherein, The generating the first braking distance based on the historical data of the first vehicle and the driving data of the first vehicle includes: Obtain the empirical braking distance of the second vehicle based on the historical data of the first vehicle; Generate the instant braking distance of the first vehicle based on the driving data of the first vehicle; Determine a first weight of the empirical braking distance and a second weight of the instant braking distance based on the speed misjudgment index; Generate the first braking distance according to the empirical braking distance and the first weight, the instant braking distance and the second weight.

7. The vehicle emergency braking method according to claim 1, characterized in that, The method further includes: When the speed misjudgment index exceeds the preset threshold, trigger at least one piece of prompt information, and the prompt information includes sound information, picture information, and vibration information.

8. The vehicle emergency braking method according to claim 1, characterized in that, The vehicle parameters at least include vehicle model, vehicle load, and tire friction coefficient; the environmental parameters at least include wind resistance coefficient.

9. An electronic device, characterized in that, Including a memory and a processor; The memory is connected to the processor for storing programs; The processor is configured to implement the vehicle emergency braking method according to any one of claims 1 to 8 by running the program in the memory.

10. A vehicle, characterized in that, It includes the electronic device according to claim 9.

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