Braking risk early warning method and device, vehicle and medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a braking risk early warning method and device, a vehicle and a medium. The braking risk early warning method comprises the following steps: acquiring vehicle driving scene information, and comparing the vehicle driving scene information with a historical driving scene information base in real time, the historical driving scene information base comprises historical driving scene information meeting set conditions between actual deceleration and target deceleration in the historical driving mileage of the vehicle; and according to a comparison result of the vehicle driving scene information and a historical driving scene information base, whether braking early warning is carried out or not and / or automatic emergency braking parameters are adjusted or not is selected. The problem that in the prior art, when it is found that a collision risk exists, an active early warning or active braking mode is adopted, the mode can be influenced by different grounds, the risk that the braking distance is longer than the calibration distance exists, and then the rear-end collision risk is caused can be solved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a braking risk warning method, device, vehicle, and medium. Background Art

[0002] A large part of vehicle road accidents are rear-end collisions, that is, due to the small ground friction coefficient, the vehicle cannot stop, or when going downhill, the braking distance reserved is not longer than that on flat roads. Generally speaking, the braking performance of the vehicle deviates from the result expected by the driver.

[0003] To solve the problem of unmet braking expectations, the solution of many manufacturers is to issue a braking warning when a collision risk occurs, or actively intervene in braking, which can reduce collision injuries or avoid collisions when a collision danger occurs.

[0004] However, the above methods are based on the situation where a collision risk has been detected, and the methods of active warning or active braking are adopted. They will also be affected by different ground conditions, resulting in a braking distance longer than the calibrated distance, thus triggering a rear-end collision risk. Summary of the Invention

[0005] This application provides a braking risk warning method, device, vehicle, and medium, which can solve the problem that in the prior art, when a collision risk has been detected, the methods of active warning or active braking are adopted, which will be affected by different ground conditions, and there is a risk that the braking distance is longer than the calibrated distance, thus leading to a rear-end collision risk.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is:

[0007] In a first aspect, the present invention provides a braking risk warning method, including the following steps:

[0008] Obtain vehicle driving scenario information, and compare the vehicle driving scenario information with the historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in which the actual deceleration and the target deceleration during the vehicle's historical driving mileage meet the set conditions; according to the comparison result between the vehicle driving scenario information and the historical driving scenario information database, select whether to issue a braking warning and / or adjust the automatic emergency braking parameters.

[0009] The braking risk warning method provided by the present invention compares the vehicle driving scenario information obtained in real time with the historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in which the actual deceleration and the target deceleration during the vehicle's historical driving mileage meet the set conditions; according to the comparison result between the vehicle driving scenario information and the historical driving scenario information database, it is selected whether to perform braking warning and / or adjust the automatic emergency braking parameters. The historical driving scenario information in the historical driving scenario information database is real road scenario information and braking data. If the set condition is designed as the braking not meeting the expectation, when the vehicle passes through the same section where the braking does not meet the expectation again, accurate braking warning prompts and / or adjustment of the automatic emergency braking parameters can be carried out, which can remind the driver to pay attention or improve the safety factor of the automatic emergency braking, so as to reduce the risk of the braking not meeting the expectation and rear-end collision. As the vehicle's historical driving mileage increases, the historical driving scenario information database will also store more historical driving scenario information, and the experience will also grow continuously, making the vehicle safer to drive.

[0010] In some alternative solutions, the historical driving scenario information database includes the first type of historical driving scenario in which the actual deceleration during the vehicle's historical driving mileage does not meet the target deceleration expectation; when the matching degree between the vehicle driving scenario information and the first type of historical driving scenario information is greater than or equal to the threshold value, braking warning and / or adjustment of the automatic emergency braking parameters are carried out.

[0011] In this solution, the set condition is designed as the actual deceleration not meeting the target deceleration expectation. Then, the driving scenarios where the actual deceleration does not meet the target deceleration expectation will be stored in the historical driving scenario information database. When the vehicle is driving, when the matching degree between the vehicle driving scenario information and the first type of historical driving scenario information is greater than or equal to the threshold value, it is considered that the vehicle is passing through the driving scenario where the actual deceleration does not meet the target deceleration expectation again. At this time, braking warning and / or adjustment of the automatic emergency braking parameters are carried out, which can improve the driving safety factor.

[0012] In some alternative solutions, the historical driving scenario information database further includes the second type of historical driving scenario in which the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold value, and the road surface is dry; when the matching degree between the vehicle driving scenario information and the second type of historical driving scenario information is greater than or equal to the threshold value, the wet or dry condition of the road surface where the vehicle is driving is obtained. If the current road surface where the vehicle is driving is wet, braking warning and / or adjustment of the automatic emergency braking parameters are carried out.

[0013] In this solution, by adding historical driving scenario information where the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold, and the road surface is dry, for the second type of historical driving scenario where the road surface is slippery, early warnings can also be given or the automatic emergency braking parameters can be adjusted, further improving the driving safety of the whole vehicle.

[0014] In some alternative solutions, the historical driving scenario information database is continuously updated during vehicle driving: when the set conditions are met between the actual deceleration and the target deceleration, and the matching degree between the vehicle driving scenario information and the historical driving scenarios is less than the threshold, the vehicle driving scenario information is added to the historical driving scenario information database.

[0015] In this solution, by adding new vehicle driving scenario information that meets the set conditions to the historical driving scenario information database in real time, as the vehicle's historical driving mileage increases, the historical driving scenario information database will become richer and the experience will continue to grow, making the vehicle safer to drive.

[0016] In some alternative solutions, when obtaining vehicle driving scenario information, vehicle position information is obtained at the same time. Before comparing the vehicle driving scenario information with each historical driving scenario information in the historical driving scenario information database, the vehicle position information of the two is compared first. When the distance between the two is greater than the set threshold, the comparison between the vehicle driving scenario information and the corresponding historical driving scenario information is skipped.

[0017] In this solution, before comparing the vehicle driving scenario information with each historical driving scenario information in the historical driving scenario information database, the vehicle position information of the two is compared first. When the position distance between the vehicle driving scenario information and the historical driving scenario information is greater than the set threshold, the two do not match and there is no need to perform the next comparison and judgment, which can improve the accuracy and efficiency of the comparison result; when the position distance between the vehicle driving scenario information and any historical driving scenario information in the historical driving scenario information database is greater than the set threshold, it is considered that the current vehicle driving scenario information is not in the historical driving scenario information database.

[0018] In some alternative solutions, when obtaining vehicle driving scenario information, moving objects and natural growing objects in the vehicle driving scenario are removed.

[0019] In this solution, moving objects and natural growing objects in the vehicle driving scenario in the vehicle surrounding image information are removed as the vehicle driving scenario information. When establishing the historical driving scenario information database later, moving objects and natural growing objects will also be removed. During comparison, it will not be affected by moving objects and natural growing objects, so the comparison result will be more accurate.

[0020] In some alternative solutions, the braking warning includes at least one of dashboard display, central control large screen display, and sound prompt.

[0021] In a second aspect, the present invention further provides a braking risk warning device, which includes: a scenario comparison module for obtaining vehicle driving scenario information and comparing the vehicle driving scenario information with a historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in which the actual deceleration and the target deceleration during the vehicle's historical driving mileage meet the set conditions; a warning module for selecting whether to perform braking warning and / or adjust the automatic emergency braking parameters according to the comparison result between the vehicle driving scenario information and the historical driving scenario information database.

[0022] In a third aspect, the present invention further provides a vehicle, which includes a controller. The controller includes a memory and a processor, and the memory and the processor are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the braking risk warning method according to any one of the above.

[0023] In a fourth aspect, the present invention further provides a computer-readable storage medium, which is characterized in that a braking risk warning program is stored on the computer-readable storage medium. When the braking risk warning program is executed by a processor, the steps of the braking risk warning method according to any one of the above are realized.

[0024] [[ID=]11]Compared with the prior art, the advantages of the present invention are as follows: By comparing the real-time obtained vehicle driving scenario information with the historical driving scenario information database in real time, and according to the comparison result between the vehicle driving scenario information and the historical driving scenario information database, it is selected whether to perform braking warning and / or adjust the automatic emergency braking parameters. The historical driving scenario information in the historical driving scenario information database is real road scenario information and braking data. If the set condition is designed as the braking not meeting the expectation, when the vehicle passes through the same section where the braking does not meet the expectation again, accurate braking warning prompts and / or adjustment of the automatic emergency braking parameters are carried out, which can remind the driver to pay attention or improve the safety factor of the automatic emergency braking, so as to reduce the risk of the braking not meeting the expectation and rear-end collision. As the vehicle's historical driving mileage increases, the historical driving scenario information database will also store more historical driving scenario information, and the experience will also grow continuously, making the vehicle safer to drive. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained without creative efforts based on these drawings.

[0026] Figure 1 It is a flowchart of the braking risk warning method in the embodiment of the present invention;

[0027] Figure 2 It is a flowchart of another braking risk warning method in the embodiments of the present invention;

[0028] Figure 3 It is a schematic diagram of a braking risk warning device in the embodiments of the present invention;

[0029] Figure 4 It is a schematic diagram of signal processing of a vehicle controller in the embodiments of the present invention;

[0030] Figure 5 It is a schematic diagram of the structure of a vehicle controller in the embodiments of the present invention. Specific embodiments

[0031] In order to enable those skilled in the art of the present technology to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0032] First, some technical terms in the present application are explained to facilitate the understanding of the present application by those skilled in the art.

[0033] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0034] A large part of vehicle road accidents are rear-end collisions, that is, due to the small ground friction coefficient, the vehicle cannot stop, or when going downhill, the braking distance reserved is not longer than that on flat roads. Generally speaking, it is the deviation between the braking performance of the vehicle and the expected result of the driver.

[0035] To solve the problem of unmet braking expectations, the solution of many manufacturers is to issue a braking warning when a collision risk occurs, or actively intervene in braking to reduce the collision damage or avoid the collision when a collision danger occurs.

[0036] However, the method of actively warning or actively braking when a collision danger occurs will also be affected by the ground, resulting in a braking distance longer than the calibrated distance, thus triggering the risk of rear-end collision.

[0037] As Figure 1 shown, to solve the above problems, the present application provides a braking risk warning method, including the following steps:

[0038] S101: Obtain vehicle driving scenario information and compare it in real time with the historical driving scenario information database, where the historical driving scenario information database includes historical driving scenario information in the vehicle's historical driving mileage where the actual deceleration meets the set conditions with the target deceleration.

[0039] Specifically, obtain the image information around the vehicle during the vehicle's driving process through a camera.

[0040] When obtaining the vehicle driving scenario information, remove the moving objects and naturally growing objects in the vehicle driving scenario from the image information around the vehicle obtained by the camera as the vehicle driving scenario information. In this way, when establishing the historical driving scenario information database later, the moving objects and naturally growing objects will also be removed, and static objects such as houses and road facilities will be retained. During the comparison, it will not be affected by the moving objects and naturally growing objects. The moving objects mentioned in this example include pedestrians, vehicles, electric bicycles, etc., and the naturally growing objects include flowers, plants and trees.

[0041] In this example, the historical driving scenario information database includes the first type of historical driving scenarios in the vehicle's historical driving mileage where the actual deceleration does not meet the target deceleration expectation.

[0042] Specifically, the actual deceleration not meeting the target deceleration expectation means that: the actual deceleration detected by the inertial measurement unit when the driver steps on the brake is compared with the target deceleration corresponding to the calibrated brake opening. When the actual deceleration is less than the target deceleration, that is, the actual deceleration is less than expected.

[0043] The actual deceleration is the deceleration detected by the measurement unit corresponding to the actual pedal opening, and the target deceleration is the deceleration calibrated by the vehicle factory corresponding to the actual pedal opening. The actual deceleration is detected and obtained by the inertial measurement unit, and the target deceleration is obtained through calibration.

[0044] Specifically, the inertial measurement unit inputs the vehicle acceleration signal to the vehicle-mounted controller through the CAN bus; the actual deceleration takes into account the road surface gradient. The output signal of the inertial measurement unit (IMU) contains two parts of information, that is, the sum of the gravitational acceleration component and the deceleration generated by braking. For example, when the vehicle is stationary on a sloped road surface, the IMU output is the component of the gravitational acceleration g parallel to the road surface, which is the "gradient part" of the IMU output signal. When the vehicle is going uphill, the "gradient part" is negative and can be interpreted as deceleration; when the vehicle is going downhill, the "gradient part" is positive and can be interpreted as acceleration. When the vehicle is moving forward on a sloped road surface, the braking deceleration generated by stepping on the brake pedal is the "braking part" of the IMU output signal. The actual deceleration is the "braking part" + "gradient part", that is, the actual output signal of the IMU. Therefore, on a road surface with a gradient, the IMU output signal is used as the actual deceleration.

[0045] The target deceleration is associated with the depression depth of the brake pedal. Different depression depths of the brake pedal correspond to different target decelerations, which are calibrated by the manufacturer before the vehicle leaves the factory. For example, the actual decelerations at different depression depths of the brake pedal on a dry asphalt road with good adhesion can be recorded as the target decelerations. Of course, the actual deceleration multiplied by an adjustment factor can also be used as the target deceleration.

[0046] The historical driving scenario information library is continuously updated during the vehicle driving process. Specifically, when the matching degree between the obtained vehicle driving scenario information and all the historical driving scenario information in the historical driving scenario information library is less than the matching degree threshold, and the actual deceleration does not meet the target deceleration expectation, it is considered that the vehicle driving scenario information is not included in the historical driving scenario information library, and this vehicle driving scenario information is added to the historical driving scenario information library.

[0047] More specifically, when adding this vehicle driving scenario information to the historical driving scenario information library, the wet or dry condition of the road surface of this vehicle driving scenario information is recorded simultaneously.

[0048] In this example, the information of the dry road surface or the wet road surface is obtained through the analysis of the ground pictures in the vehicle driving scenario information.

[0049] In addition, the historical driving scenario information libraries established for all vehicles of the same type are shared through the cloud. As the vehicle driving mileage increases and the number of vehicles of the same type increases, the historical driving scenario information library is continuously enriched, making the vehicle become an "old driver" with the ability of self-learning and continuously growing experience, and having the unique ability of becoming safer with more driving.

[0050] When establishing the historical driving scenario information library, each historical driving scenario information is recorded starting from the braking moment or a set time length before the braking moment, and ending at the end of braking or a set time period after the end of braking, which is specifically set according to the computing power of the processor and actual requirements.

[0051] When comparing the vehicle driving scenario information with the historical driving scenario information library in real time, the picture information of a set time length is compared to reduce the possibility of misrecognition and matching.

[0052] S102: Select whether to perform braking warning and / or adjust the automatic emergency braking parameters according to the comparison result between the vehicle driving scenario information and the historical driving scenario information library.

[0053] Specifically, step S102 includes:

[0054] S1021: When the matching degree between the vehicle driving scenario information and the first type of historical driving scenario is greater than or equal to the threshold, perform braking warning and / or adjust the automatic emergency braking parameters.

[0055] In this example, the vehicle-mounted controller collects real-time information on the vehicle driving scenario through the camera group and compares it with the historical driving scenario information database in real time. If the real-time matching degree j ≥ the set threshold k, the matching is successful, and it is determined that there is a potential risk that the braking does not meet the expectation on this section of the road.

[0056] Specifically, when the obtained vehicle driving scenario information can match any first-class historical driving scenario information in the historical driving scenario information database, it indicates that the vehicle has driven into a driving scenario where the actual deceleration does not meet the expected target deceleration. At this time, a braking warning is issued to remind the driver to pay attention, and the driver can increase the safety distance. In addition, an instruction to adjust the automatic emergency braking parameters can be executed simultaneously or separately.

[0057] In addition, when recording each historical driving scenario information in the historical driving scenario information database, the wet and dry conditions of the road surface are also recorded at the same time. When the matching degree between the vehicle driving scenario information and the first-class historical driving scenario is greater than or equal to the threshold, a comparison and judgment of the wet or dry condition of the road surface of the current vehicle driving scenario is also carried out:

[0058] A0: If the wet or dry condition of the road surface corresponding to the current vehicle driving scenario information and the matched first-class historical driving scenario information is the same, a braking warning and / or adjustment of the automatic emergency braking parameters are carried out;

[0059] B0: If the road surface of the current vehicle driving scenario information is dry and the road surface corresponding to the first-class historical driving scenario information is wet, then whether to issue a braking warning and / or adjust the automatic emergency braking parameters is selected according to the magnitude of the deceleration difference in the first-class historical driving scenario information; when the deceleration difference is greater than the set threshold, a braking warning and / or adjustment of the automatic emergency braking parameters are carried out, and when the deceleration difference is less than the set threshold, no braking warning and / or adjustment of the automatic emergency braking parameters are carried out.

[0060] C0: If the road surface of the current vehicle driving scenario information is wet and the road surface corresponding to the historical driving scenario information is dry, a braking warning and / or adjustment of the automatic emergency braking parameters are carried out.

[0061] S1022: When the matching degree between the obtained vehicle driving scenario information and any first-class historical driving scenario information in the historical driving scenario information database is less than the matching degree threshold, that is, when the current vehicle driving scenario information does not match all historical driving scenario information:

[0062] (1) It is considered that the vehicle driving scenario information is not included in the historical driving scenario information database, and no braking warning and / or adjustment of the automatic emergency braking parameters are carried out.

[0063] (2) If the vehicle performs a braking operation, it is necessary to determine whether the actual deceleration meets the target deceleration expectation. When the actual deceleration does not meet the target deceleration expectation, the vehicle driving scenario information is added to the historical driving scenario information database to update the historical driving scenario information database.

[0064] Optionally, the braking warning method includes at least one of dashboard display, central control large screen display, and sound prompt.

[0065] Specifically, the vehicle-mounted controller outputs warning prompt text information to the dashboard or the central control large screen through the 100BaseT1 Ethernet bus, and the dashboard or the central control large screen displays the text information to prompt the driver of the potential risk of insufficient braking as expected; the vehicle-mounted controller drives the speaker through an analog current signal to prompt the driver of the potential risk of insufficient braking as expected in the form of voice information.

[0066] As Figure 2 shown, the present application provides another braking risk warning method, including the following steps:

[0067] S201: Obtain vehicle driving scenario information, and compare the vehicle driving scenario information with the historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in which the actual deceleration and the target deceleration meet the set conditions during the vehicle's historical driving mileage.

[0068] For the methods of obtaining vehicle driving scenario information, actual deceleration, and target deceleration, refer to the detailed embodiments of step S101, which will not be elaborated here one by one.

[0069] In order to reduce the possibility that the actual deceleration of the vehicle does not meet the target deceleration expectation due to road surface slipperiness, in this solution, the historical driving scenario information database is divided into two categories. One category is the first type of driving scenario where the actual deceleration of the vehicle already does not meet the target deceleration expectation, that is, the actual deceleration is less than the target deceleration expectation. The other category is the second type of driving scenario where the actual deceleration of the vehicle is about to not meet the target deceleration expectation. For the second type of historical driving scenario where the difference between the actual deceleration and the target deceleration is less than the set threshold and the road surface is dry, since the calibrated target deceleration is calibrated on a road surface with good adhesion, when the vehicle is driving in the second type of driving scenario and the road surface is slippery, it is very likely that the actual deceleration of the vehicle will not meet the target deceleration expectation.

[0070] By more precisely dividing the historical driving scenario information database, more accurate warning and braking parameter adjustment can be achieved.

[0071] In this example, the historical driving scenario information database includes:

[0072] A1: The first type of historical driving scenario in which the actual deceleration in the vehicle's historical driving mileage does not meet the target deceleration expectation.

[0073] For the way in which the first type of historical driving scenario in the historical driving scenario information library is continuously updated during vehicle driving, refer to the detailed embodiment of step S101, which will not be elaborated here one by one.

[0074] Similarly, when adding this vehicle driving scenario information to the historical driving scenario information library, record the wet or dry condition of the road surface of this vehicle driving scenario information at the same time.

[0075] The historical driving scenario information libraries established by all vehicles of the same type are shared through the cloud. As the vehicle driving mileage increases and the number of vehicles of the same type increases, the historical driving scenario information library is continuously enriched, making the vehicle become an "experienced driver" with the ability of self-learning and continuously growing experience, and having the unique ability of becoming safer as it is driven more.

[0076] B1: The second type of historical driving scenario in which the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold, and the road surface is dry.

[0077] Since the target deceleration obtained by calibration is calibrated on a road surface with good adhesion, when the vehicle is driving in the second type of driving scenario and the road surface is wet, it is very likely that the actual deceleration of the vehicle does not meet the target deceleration expectation. Therefore, for the vehicle driving scenario where the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold, and the road surface is dry, add it to the historical driving scenario information library as well. When the vehicle drives to this section again, if the road surface is wet, the risk that the vehicle brakes less than expected will increase significantly. Therefore, it is necessary to add this type of vehicle driving scenario to the historical driving scenario information library.

[0078] S202: Select whether to perform braking warning and / or adjust the automatic emergency braking parameters according to the comparison result between the vehicle driving scenario information and the historical driving scenario information library.

[0079] Specifically, when selecting whether to perform braking warning and / or adjust the automatic emergency braking parameters according to the comparison result between the vehicle driving scenario information and the historical driving scenario information library:

[0080] A2: When the matching degree between the vehicle driving scenario information and the first type of historical driving scenario information is greater than or equal to the threshold, perform braking warning and / or adjust the automatic emergency braking parameters.

[0081] Specifically, when the obtained vehicle driving scenario information can match any first - type historical driving scenario information in the historical driving scenario database, it indicates a driving scenario where the actual deceleration does not meet the target deceleration expectation. At this time, braking warning is carried out to remind the driver to pay attention. The driver can increase the safety distance or, when encountering a situation that requires braking, step on the brake deeply with a greater force than normal braking force in time to reduce the possibility of danger. In addition, an instruction to adjust the automatic emergency braking parameters can be executed simultaneously or separately.

[0082] If the historical driving scenario information in the historical driving scenario database matches the wet and dry conditions of the road surface.

[0083] When the matching degree between the vehicle driving scenario information and the first - type historical driving scenario is greater than or equal to the threshold value, a comparison and judgment of the wet or dry condition of the road surface is also carried out:

[0084] If the wet or dry condition of the road surface corresponding to the current vehicle driving scenario information is the same as that of the first - type historical driving scenario information that has been matched, braking warning and / or adjusting the automatic emergency braking parameters are carried out;

[0085] If the road surface of the current vehicle driving scenario information is dry and the road surface corresponding to the first - type historical driving scenario information is wet, then whether to carry out braking warning and / or adjust the automatic emergency braking parameters is selected according to the magnitude of the deceleration difference in the first - type historical driving scenario information; when the deceleration difference is greater than the set threshold value, braking warning and / or adjusting the automatic emergency braking parameters are carried out, and when the deceleration difference is less than the set threshold value, braking warning and / or adjusting the automatic emergency braking parameters are not carried out.

[0086] If the road surface of the current vehicle driving scenario information is wet and the road surface corresponding to the historical driving scenario information is dry, then braking warning and / or adjusting the automatic emergency braking parameters are carried out.

[0087] B2: When the matching degree between the vehicle driving scenario information and the second - type historical driving scenario information is greater than or equal to the threshold value, the wet or dry condition of the vehicle driving road surface is obtained. If the vehicle driving road surface is wet, then braking warning and / or adjusting the automatic emergency braking parameters are carried out.

[0088] When the matching degree between the vehicle driving scenario information and the second - type historical driving scenario is greater than or equal to the threshold value, the actual deceleration of the vehicle is about to not meet the target deceleration expectation, and there may be a risk of skidding. Since the second - type historical driving scenario stores the vehicle driving scenarios where the difference between the actual deceleration and the target deceleration is less than the set threshold value and the road surface is dry. Therefore, it is necessary to further judge the wet or dry condition of the vehicle driving road surface. If the vehicle driving road surface is wet, it is considered that the risk of the vehicle's braking not meeting the expectation is relatively high, and braking warning and / or adjusting the automatic emergency braking parameters are carried out.

[0089] In addition, for B3: when the matching degrees of the vehicle driving scenario information with the first type of historical driving scenario information and the second type of historical driving scenario information are both less than the threshold value, that is, when the current vehicle driving scenario information does not match all the historical driving scenario information:

[0090] (1) It is considered that the vehicle driving scenario information is not included in the historical driving scenario information library, and no braking warning and / or adjustment of the automatic emergency braking parameters is performed.

[0091] (2) If the vehicle performs a braking operation, it is necessary to determine whether the actual deceleration in the vehicle historical driving mileage meets the target deceleration expectation, or whether the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold value, and the road surface is dry; the vehicle driving scenario information with the actual deceleration in the vehicle historical driving mileage not meeting the target deceleration expectation is added to the historical driving scenario information library as the first type of historical driving scenario; the vehicle driving scenario information with the actual deceleration meeting the target deceleration expectation, the difference between the actual deceleration and the target deceleration being less than the set threshold value, and the road surface being dry is added to the historical driving scenario information library as the second type of historical driving scenario.

[0092] Preferably, when obtaining the vehicle driving scenario information, the vehicle position information is obtained simultaneously. Before comparing the vehicle driving scenario information with each historical driving scenario information in the historical driving scenario information library, the vehicle position information of the two is compared first. When the distance between the two is greater than the set threshold value, the comparison between the vehicle driving scenario information and the corresponding historical driving scenario information is skipped.

[0093] In this embodiment, in order to improve the accuracy and efficiency of the comparison result between the current vehicle driving scenario information and the historical driving scenario information in the historical driving scenario information library, before comparing the vehicle driving scenario information with each historical driving scenario information in the historical driving scenario information library, the vehicle position information of the two is compared first. When the position distances between the vehicle driving scenario information and the historical driving scenario information are both greater than the set threshold value, it is directly determined that the vehicle driving scenario information is different from the historical driving scenario information, and there is no need to perform the comparison and judgment between the vehicle driving scenario information and the historical driving scenario information. When the position distance between the vehicle driving scenario information and any historical driving scenario information in the historical driving scenario information library is greater than the set threshold value, it is considered that the current vehicle driving scenario information is not in the historical driving scenario information library.

[0094] In addition, if it is determined that the current vehicle driving scenario information is not in the historical driving scenario information database, when the vehicle performs a braking operation, the relationship between the actual deceleration and the target deceleration is also used to determine whether the vehicle driving scenario information needs to be added to the historical driving scenario information database. When the set condition is met between the actual deceleration and the target deceleration, the vehicle driving scenario information is added to the historical driving scenario information database, and the scenario location information is also added. For details, refer to step B3, which will not be elaborated here. In this example, the vehicle driving scenario location information is obtained through an in-vehicle positioning unit. Specifically, it is obtained through Beidou positioning or GPS positioning.

[0095] In summary, the historical driving scenario information in the historical driving scenario information database of this solution is real road scenario information and braking data. If the set condition is designed as the braking not meeting the expectation, when the vehicle passes through the same section where the braking does not meet the expectation again, the real-time obtained vehicle driving scenario information will be compared with the historical driving scenario information database in real time, and the risk that the braking does not meet the expectation in this section will be identified, so as to perform accurate braking warning prompts and / or adjust the automatic emergency braking parameters, which can remind the driver to pay attention or improve the safety factor of automatic emergency braking, so as to reduce the risk of the braking not meeting the expectation and rear-end collision. As the vehicle's historical driving mileage increases, the historical driving scenario information database will also store more historical driving scenario information, and the experience will also grow continuously, making the vehicle safer to drive.

[0096] By adding the second type of historical driving scenario where the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold, and the road surface is dry to the historical driving scenario information database, it is also possible to give a warning or adjust the automatic emergency braking parameters for the second type of historical driving scenario where the road surface is slippery, further improving the driving safety of the whole vehicle.

[0097] As Figure 3 shown, the embodiment of the present invention also provides a braking risk warning device, which is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be elaborated again. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0098] The embodiment of the present invention also provides a braking risk warning device, and the braking risk warning device includes: a scenario comparison module 301 and a warning module 302.

[0099] Among them, the scenario comparison module is used to obtain vehicle driving scenario information and compare the vehicle driving scenario information with the historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in which the actual deceleration and the target deceleration during the vehicle's historical driving mileage meet the set conditions; the warning module is used to select whether to perform braking warning and / or adjust the automatic emergency braking parameters according to the comparison result between the vehicle driving scenario information and the historical driving scenario information database.

[0100] In some optional implementations, the historical driving scenario information database includes the first type of historical driving scenarios in which the actual deceleration during the vehicle's historical driving mileage does not meet the target deceleration expectation;

[0101] The warning module is used to perform braking warning and / or adjust the automatic emergency braking parameters when the matching degree between the vehicle driving scenario information and the first type of historical driving scenario information is greater than or equal to the threshold.

[0102] In some optional implementations, the historical driving scenario information database further includes the second type of historical driving scenarios in which the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than the set threshold, and the road surface is dry;

[0103] The warning module is used to obtain the wet or dry condition of the vehicle driving road surface when the matching degree between the vehicle driving scenario information and the second type of historical driving scenario information is greater than or equal to the threshold. If the vehicle driving road surface is wet, perform braking warning and / or adjust the automatic emergency braking parameters.

[0104] In some optional implementations, the historical driving scenario information database is continuously updated during the vehicle's driving process. The braking risk warning device further includes an information database update module 303, which is used to add the vehicle driving scenario information to the historical driving scenario information database when the actual deceleration and the target deceleration meet the set conditions, and the matching degree between the vehicle driving scenario information and the historical driving scenario is less than the threshold.

[0105] In some optional implementations, the braking risk warning device further includes a position comparison module 304, which is used to obtain the vehicle position information while obtaining the vehicle driving scenario information. Before comparing the vehicle driving scenario information with each historical driving scenario information in the historical driving scenario information database, first compare the vehicle position information of the two. When the distance between the two is greater than the set threshold, skip the comparison between the vehicle driving scenario information and the corresponding historical driving scenario information.

[0106] In some optional implementations, the scenario comparison module is further used to remove moving objects and natural growing objects in the vehicle driving scenario when obtaining the vehicle driving scenario information.

[0107] In some alternative embodiments, the warning module is further configured to control at least one of several braking warning methods including dashboard display, central control large screen display, and sound prompt.

[0108] Among them, the function realization of each module in the above braking risk warning device corresponds to each step in the above embodiments of the braking risk warning method, and its function and implementation process will not be elaborated here one by one.

[0109] As Figure 5 shown, the embodiments of the present application further provide a vehicle, which includes a controller. The controller includes a memory and a processor, and the memory and the processor are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute any one of the above braking risk warning methods.

[0110] As Figure 4 shown, the inertial measurement unit inputs the actual deceleration signal to the controller through the CAN bus; the camera group inputs the real-time vehicle surrounding image information, that is, the vehicle driving scene information, to the controller through the LVDS protocol; the brake pedal inputs the travel information of the driver stepping on the brake pedal to the vehicle-mounted controller through the SENT protocol; the vehicle-mounted positioning unit transmits the collected vehicle driving scene position information to the vehicle-mounted controller. The controller outputs the warning prompt text information to the dashboard or the central control large screen through the 100BaseT1 Ethernet bus, and the dashboard or the central control large screen displays the text information to prompt the driver of the potential risk of unexpected braking; the controller drives the speaker through the current analog signal to prompt the driver of the potential risk of unexpected braking in the form of voice information.

[0111] The controller can be a device with data processing functions. Refer to Figure 5 , [[ID=1"]] Figure 5 which is the schematic hardware structure diagram of the controller involved in the solution of the embodiments of the present application. In the embodiments of the present application, the controller may include a processor, a memory, a communication interface, and a communication bus.

[0112] Among them, the communication bus can be of any type and is used to realize the interconnection of the processor, the memory, and the communication interface.

[0113] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to realize the interconnection of internal devices of the controller, and interfaces for realizing the interconnection of the controller with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display screen (Display), a keyboard (Keyboard), etc.

[0114] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0115] The processor can be a general-purpose processor, which can call the braking risk warning program stored in the memory and execute the braking risk warning method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the braking risk warning program is called can refer to the various embodiments of the braking risk warning method of the present application, which will not be elaborated here.

[0116] Those skilled in the art can understand that Figure 5 the hardware structure shown in

[0117] In a fourth aspect, the embodiments of the present application further provide a computer-readable storage medium.

[0118] The braking risk warning program is stored on the computer-readable storage medium of the present application. When the braking risk warning program is executed by a processor, the steps of the braking risk warning method as described above are implemented.

[0119] Among them, the method implemented when the braking risk warning program is executed can refer to the various embodiments of the braking risk warning method of the present application, which will not be elaborated here.

[0120] It should be noted that the serial numbers of the above embodiments of the present application are only for description and do not represent the superiority or inferiority of the embodiments.

[0121] In the description of the specification, claims and the above-mentioned drawings of this application, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. The descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0122] In the description of the embodiments of this application, terms such as "exemplary", "for example" or "for instance" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0123] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B; "and / or" in the text is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0124] In some processes described in the embodiments of this application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0125] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) as described above and includes several instructions for causing a terminal device to execute the methods described in the various embodiments of this application.

[0126] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present application.

Claims

1. A braking risk warning method, characterized in that, It includes the following steps: Obtain vehicle driving scenario information, and compare the vehicle driving scenario information with a historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in the vehicle's historical driving mileage where the actual deceleration and the target deceleration meet set conditions; Based on the comparison result between the vehicle driving scenario information and the historical driving scenario information database, select whether to issue a braking warning and / or adjust the automatic emergency braking parameters.

2. The braking risk warning method according to claim 1, characterized in that: The historical driving scenario information database includes a first type of historical driving scenario in the vehicle's historical driving mileage where the actual deceleration does not meet the target deceleration expectation; When the matching degree between the vehicle driving scenario information and the first type of historical driving scenario information is greater than or equal to a threshold value, issue a braking warning and / or adjust the automatic emergency braking parameters.

3. The braking risk warning method according to claim 2, characterized in that: The historical driving scenario information database further includes a second type of historical driving scenario where the actual deceleration meets the target deceleration expectation, the difference between the actual deceleration and the target deceleration is less than a set threshold value, and the road surface is dry; When the matching degree between the vehicle driving scenario information and the second type of historical driving scenario information is greater than or equal to a threshold value, obtain the wet or dry condition of the vehicle driving road surface. If the vehicle driving road surface is wet, issue a braking warning and / or adjust the automatic emergency braking parameters.

4. The braking risk warning method according to claim 1, wherein The historical driving scenario information database is continuously updated during vehicle driving: when the actual deceleration and the target deceleration meet set conditions, and the matching degree between the vehicle driving scenario information and the historical driving scenario is less than the threshold value, add the vehicle driving scenario information to the historical driving scenario information database.

5. The braking risk warning method according to any one of claims 1-4, characterized in that When obtaining the vehicle driving scenario information, obtain the vehicle position information at the same time. Before comparing the vehicle driving scenario information with each historical driving scenario information in the historical driving scenario information database, first compare the vehicle position information of the two. When the distance between the two is greater than the set threshold value, skip the comparison between the vehicle driving scenario information and the corresponding historical driving scenario information.

6. The braking risk warning method according to any one of claims 1-4, characterized in that, When obtaining the vehicle driving scenario information, remove moving objects and natural growth objects in the vehicle driving scenario.

7. The braking risk warning method according to any one of claims 1-4, characterized in that, The braking warning includes at least one of dashboard display, central control large screen display, and sound prompt.

8. A braking risk warning device, characterized in that, The braking risk warning device includes: A scenario comparison module, which is used to obtain vehicle driving scenario information and compare the vehicle driving scenario information with a historical driving scenario information database in real time. The historical driving scenario information database includes historical driving scenario information in the vehicle's historical driving mileage where the actual deceleration and the target deceleration meet set conditions; A warning module, which is used to select whether to issue a braking warning and / or adjust the automatic emergency braking parameters based on the comparison result between the vehicle driving scenario information and the historical driving scenario information database.

9. A vehicle, characterized in that, The vehicle includes a controller, the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the computer instructions to execute the braking risk warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A braking risk warning program is stored on the computer-readable storage medium, and when the braking risk warning program is executed by a processor, the steps of the braking risk warning method according to any one of claims 1 to 7 are implemented.

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