Vehicle braking method, system and equipment and computer readable storage medium

Abstract

The invention discloses a vehicle braking method, system and device and a computer readable storage medium, and relates to the technical field of vehicle control. The maximum deceleration value is generated according to the current speed of a target vehicle; according to the current speed and the maximum deceleration value, the braking time consumption of the target vehicle is generated; determining first time consumption, second time consumption and third time consumption of the target vehicle based on the braking time consumption; the first consumed time, the second consumed time, the third consumed time and the maximum deceleration value are processed through a model, and target deceleration control information of the target vehicle is generated; performing speed control on the target vehicle according to the target deceleration control information; wherein the first consumed time is consumed time for the target vehicle to gradually decrease from the initial deceleration value to the maximum deceleration value; the second consumed time is consumed time for the target vehicle to maintain the maximum deceleration value; the third consumed time is consumed time for the target vehicle to progressively increase from the maximum deceleration value to zero; the sum of the first time consumption, the second time consumption and the third time consumption is equal to stop time consumption. And the user experience is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and more specifically, to a vehicle braking method, system, device, and computer-readable storage medium. Background Art

[0002] When a vehicle is driving and encounters a situation where the vehicle in front is stationary or about to stop, it can brake through ACC (Adaptive Cruise Control), for example, control the target vehicle to follow the vehicle in front to stop according to the relative distance and relative speed between the target vehicle and the vehicle in front. However, no precise acceleration planning is done in this process, resulting in a poor comfort experience during the following-stop process.

[0003] In summary, how to improve the user experience during the vehicle braking process is an urgent problem for those skilled in the art currently. Summary of the Invention

[0004] The purpose of the present application is to provide a vehicle braking method, which can, to a certain extent, solve the technical problem of how to improve the user experience during the vehicle braking process. The present application also provides a vehicle following-stop system, an electronic device, and a computer-readable storage medium.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] A vehicle braking method includes:

[0007] Generate a maximum deceleration value according to the current speed of the target vehicle;

[0008] Generate the braking time of the target vehicle according to the current speed and the maximum deceleration value;

[0009] Based on the braking time, determine the first time, the second time, and the third time of the target vehicle;

[0010] Process the first time, the second time, the third time, and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle;

[0011] Control the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero;

[0012] Wherein, the first time consumption includes the time consumption for the target vehicle to decrease from the initial deceleration value to the maximum deceleration value; the second time consumption includes the time consumption for the target vehicle to maintain the maximum deceleration value; the third time consumption includes the time consumption for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first time consumption, the second time consumption, and the third time consumption is equal to the following-stop time consumption.

[0013] In an exemplary embodiment, before generating the maximum deceleration value according to the current speed of the target vehicle, it further includes:

[0014] Determine the actual distance between the target vehicle and a first vehicle, where the first vehicle is in front of the target vehicle;

[0015] According to the actual distance, determine the target displacement that the target vehicle needs to travel to follow and stop the first vehicle;

[0016] After controlling the speed of the target vehicle according to the target deceleration control information, it further includes:

[0017] Generate the absolute distance traveled by the target vehicle, and predict the remaining distance that the target vehicle needs to travel based on the target displacement and the absolute distance;

[0018] Obtain the current distance between the target vehicle and the first vehicle, and obtain the real-time speed of the first vehicle;

[0019] In response to the remaining distance being greater than the current distance and the real-time speed being greater than the set speed value, return to execute the steps of determining the actual distance between the target vehicle and the first vehicle and subsequent steps.

[0020] In an exemplary embodiment, generating the braking time consumption of the target vehicle according to the current speed and the maximum deceleration value includes:

[0021] Generate the initial time consumption for the target vehicle to decelerate from the current speed to zero according to the maximum deceleration value;

[0022] Obtain the set amplification factor;

[0023] Amplify the initial time consumption based on the amplification factor to obtain the braking time consumption of the target vehicle.

[0024] In an exemplary embodiment, determining the first time consumption, the second time consumption, and the third time consumption of the target vehicle based on the braking time consumption includes:

[0025] According to the deceleration performance of the target vehicle, determine the calibration coefficients of the first time consumption and the second time consumption respectively;

[0026] Operate on the braking time based on the calibration coefficient to obtain the first time and the second time;

[0027] Determine the third time according to the braking time, the first time and the second time.

[0028] In an exemplary embodiment, the processing of the first time, the second time, the third time and the maximum deceleration value by the model to generate the target deceleration control information of the target vehicle includes:

[0029] Determine a first moment corresponding to the end moment of the first time in the braking time according to the braking time and the first time;

[0030] Determine a second moment corresponding to the end moment of the second time in the braking time according to the braking time and the second time;

[0031] Process the first moment, the second moment, the braking time and the maximum deceleration value through a quartic polynomial to generate the target deceleration control information of the target vehicle.

[0032] In an exemplary embodiment, in the process of processing the first moment, the second moment, the braking time and the maximum deceleration value through a quartic polynomial to generate the target deceleration control information of the target vehicle, it includes:

[0033] Obtain the initial deceleration change rate of the target vehicle at the start of braking;

[0034] Determine a third moment when the deceleration value of the target vehicle decreases from the initial deceleration value to the first deceleration value according to the calibration value and the first moment;

[0035] Process the initial deceleration value, the initial deceleration change rate, the first moment, the third moment, the first deceleration value and the maximum deceleration value through a quartic polynomial to generate the first deceleration control information of the target vehicle within the first time;

[0036] Use the first deceleration control information as the target deceleration control information;

[0037] Wherein, the first deceleration value is the average value of the initial deceleration value and the maximum deceleration value.

[0038] In an exemplary embodiment, in the process of processing the first moment, the second moment, the braking time and the maximum deceleration value through a quartic polynomial to generate the target deceleration control information of the target vehicle, it includes:

[0039] Determine a fourth moment corresponding to the midpoint of the third elapsed time according to the second moment and the end moment of the braking elapsed time;

[0040] Take half of the maximum deceleration value as the second deceleration value corresponding to the fourth moment;

[0041] Process the second moment, the fourth moment, the maximum deceleration value, the second deceleration value, and the braking elapsed time through a quartic polynomial to generate third deceleration control information of the target vehicle within the third elapsed time;

[0042] Take the third deceleration control information as the target deceleration control information.

[0043] A vehicle braking system, comprising:

[0044] A first generation module, configured to generate a maximum deceleration value according to the current speed of a target vehicle;

[0045] A second generation module, configured to generate the braking elapsed time of the target vehicle according to the current speed and the maximum deceleration value;

[0046] A first determination module, configured to determine a first elapsed time, a second elapsed time, and a third elapsed time of the target vehicle based on the braking elapsed time;

[0047] A first processing module, configured to process the first elapsed time, the second elapsed time, the third elapsed time, and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle;

[0048] A first control module, configured to control the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero;

[0049] Wherein, the first elapsed time includes the elapsed time for the target vehicle to decrease from an initial deceleration value to the maximum deceleration value; the second elapsed time includes the elapsed time for the target vehicle to maintain the maximum deceleration value; the third elapsed time includes the elapsed time for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first elapsed time, the second elapsed time, and the third elapsed time is equal to the following-stop elapsed time.

[0050] An electronic device, comprising:

[0051] A memory, configured to store a computer program;

[0052] A processor, configured to implement the steps of any one of the above vehicle braking methods when executing the computer program.

[0053] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned vehicle braking methods are implemented.

[0054] A vehicle braking method provided by this application generates a maximum deceleration value according to the current speed of a target vehicle; generates a braking time of the target vehicle according to the current speed and the maximum deceleration value; determines a first time, a second time, and a third time of the target vehicle based on the braking time; processes the first time, the second time, the third time, and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle; controls the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero; wherein, the first time includes the time for the target vehicle to decelerate from an initial deceleration value to the maximum deceleration value; the second time includes the time for the target vehicle to maintain the maximum deceleration value; the third time includes the time for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first time, the second time, and the third time is equal to the following-stop time. In this application, the first time is the time for the target vehicle to decelerate from the initial deceleration value to the maximum deceleration value, so the speed of the target vehicle will rapidly decrease during the first time. The second time is the time for the target vehicle to maintain the maximum deceleration value, so the target vehicle will decrease steadily during the second time. The third time is the time for the target vehicle to increase from the maximum deceleration value to zero, so the target vehicle will decrease slowly during the third time. In this way, the target vehicle will first rapidly reduce the vehicle speed, then steadily reduce the vehicle speed, and finally slowly reduce the vehicle speed during the entire braking time, which is in line with the user's deceleration experience and can improve the user's vehicle braking experience; and a deceleration curve is designed through a model to control the deceleration process of the vehicle, and the curve in each stage is solved separately through the time information parameter, so that the target deceleration control information is adapted to the deceleration control requirement, thereby accurately controlling the speed of the target vehicle and avoiding the bad vehicle use experience brought by the sudden change of the target vehicle speed, and can further improve the user's vehicle braking experience. A vehicle braking system, an electronic device, and a computer-readable storage medium provided by this application also solve the corresponding technical problems. Description of the Drawings

[0055] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0056] Figure 1 It is a flowchart of a vehicle braking method provided by an embodiment of this application;

[0057] Figure 2 Schematic diagram of the change of driving data of the target vehicle;

[0058] Figure 3 Schematic diagram of the change of the deceleration of the target vehicle;

[0059] Figure 4 Schematic diagram of the structure of a vehicle braking system provided by an embodiment of the present application;

[0060] Figure 5 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application;

[0061] Figure 6 Another schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0062] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with 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. 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.

[0063] Please refer to Figure 1 , Figure 1 which is a flowchart of a vehicle braking method provided by an embodiment of the present application.

[0064] A vehicle braking method provided by an embodiment of the present application may include the following steps:

[0065] Step S101: Generate a maximum deceleration value according to the current speed of the target vehicle.

[0066] In practical applications, if the target vehicle brakes, it is necessary to reduce the current speed to zero, and the speed is controlled by the deceleration to decrease. Therefore, a maximum deceleration value can be generated according to the current speed of the target vehicle. For example, it can be based on the formula to generate the maximum deceleration value according to the current speed of the target vehicle. Among them, s can be the distance that the target vehicle needs to travel to stop braking, and its value can be determined according to the actual braking scenario.

[0067] Step S102: Generate the braking time of the target vehicle according to the current speed and the maximum deceleration value.

[0068] In practical applications, after determining the current speed and the maximum deceleration value of the target vehicle, the braking time required for the speed and deceleration of the target vehicle to both drop to zero can be generated, so as to control the driving of the target vehicle according to this braking time subsequently.

[0069] In a specific application scenario, in the process of generating the braking time of a target vehicle based on the current speed and the maximum deceleration value, first, based on the maximum deceleration value, the initial time for the target vehicle to decelerate from the current speed to zero can be generated. For example, based on the kinematic formula v / a=t, the initial time can be obtained as ; Since the deceleration value of the target vehicle gradually decreases during the braking process, the initial time is the shortest time for the target vehicle's speed to drop to zero, and the actual braking time will be greater than this initial time. To obtain a braking time that conforms to the actual situation, a set magnification factor can be obtained. This magnification factor can be determined according to empirical values or the performance of the target vehicle. For example, the magnification factor can be 1.5, 1.51, 1.6, etc.; Based on the magnification factor, the initial time is magnified. For example, the magnification factor is multiplied by the initial time to obtain the braking time of the target vehicle.

[0070] Step S103: Based on the braking time, determine the first time, the second time, and the third time of the target vehicle.

[0071] In practical applications, considering that the braking control of the target vehicle affects the user's riding experience, the braking control of the target vehicle can be determined conversely according to the user's riding experience. For example, the user hopes that within the braking time, the initial speed of the vehicle can be quickly reduced, then smoothly reduced, and finally slowly reduced. To meet the user's such experience, based on the braking time, the first time, the second time, and the third time of the target vehicle can be determined, and the sum of the first time, the second time, and the third time is equal to the following-stop time. Among them, the first time includes the time for the target vehicle to decelerate from the initial deceleration value to the maximum deceleration value. Since the absolute value of the deceleration is getting larger and larger, the speed of the target vehicle will be quickly reduced; the second time includes the time for the target vehicle to maintain the maximum deceleration value. Since the deceleration remains unchanged, the speed of the target vehicle will be smoothly reduced; the third time includes the time for the target vehicle to increase from the maximum deceleration value to zero. Since the absolute value of the deceleration is getting smaller and smaller, the speed of the target vehicle will be slowly reduced; The transformation relationship between the displacement s, speed v, and acceleration a of the vehicle within the braking time can be as Figure 2 shown, and represents the maximum deceleration value.

[0072] In a specific application scenario, in the process of determining the first elapsed time, the second elapsed time, and the third elapsed time of the target vehicle based on the braking elapsed time, the calibration coefficients of the first elapsed time and the second elapsed time can be determined according to the deceleration performance of the target vehicle; the braking elapsed time is calculated based on the calibration coefficients to obtain the first elapsed time and the second elapsed time; and then the third elapsed time can be determined based on the braking elapsed time, the first elapsed time, and the second elapsed time. For example, the difference between the braking elapsed time and the first elapsed time and the second elapsed time can be used as the third elapsed time. In this way, the first elapsed time, the second elapsed time, and the third elapsed time can be quickly determined. It should be noted that the calibration coefficients of the first elapsed time and the second elapsed time can be determined according to empirical values or the performance of the target vehicle. For example, when the target vehicle needs to decelerate and brake at a traffic light intersection, if the calibration coefficient of the first elapsed time is small, the first elapsed time is short, and the speed of the target vehicle will decrease rapidly within the first elapsed time. On the contrary, if the calibration coefficient of the first elapsed time is large, the first elapsed time is long, and the speed of the target vehicle will decrease slowly within the first elapsed time; and the calibration coefficients of the first elapsed time and the second elapsed time are both greater than zero and less than 1, and the sum of the calibration coefficient of the first elapsed time and the calibration coefficient of the second elapsed time needs to be less than 1 to ensure that the third elapsed time is not zero.

[0073] Step S104: Process the first elapsed time, the second elapsed time, the third elapsed time, and the maximum deceleration value through the model to generate the target deceleration control information of the target vehicle.

[0074] Step S105: Control the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero.

[0075] In practical applications, after determining information such as the braking elapsed time, the first elapsed time, the second elapsed time, the third elapsed time, and the corresponding deceleration, control information for the target vehicle to travel according to this information needs to be generated. In this process, the first elapsed time, the second elapsed time, the third elapsed time, and the maximum deceleration value can be processed through the model to generate the target deceleration control information for controlling the speed of the target vehicle in the order of the first elapsed time, the second elapsed time, and the third elapsed time, and then the speed of the target vehicle is controlled according to the target deceleration control information so that the speed of the target vehicle drops to zero. The structure of the model can be flexibly determined according to the application scenario.

[0076] In a specific application scenario, considering that the quartic polynomial has smooth and stable characteristics and can generate a smooth and stable control curve, a model can be generated based on the quartic polynomial. That is, in the process of processing the first elapsed time, the second elapsed time, the third elapsed time, and the maximum deceleration value through the model to generate the target deceleration control information of the target vehicle, the first moment corresponding to the end moment of the first elapsed time in the braking elapsed time can be determined according to the braking elapsed time and the first elapsed time, such as Figure 2 in as shown at the moment; determine the second moment corresponding to the end moment of the second time-consuming in the braking time-consuming according to the braking time-consuming and the second time-consuming, as Figure 2 shown in at the moment; process the first moment, the second moment, the braking time-consuming, and the maximum deceleration value through a quartic polynomial to generate the target deceleration control information of the target vehicle. In other words, it is necessary to design the deceleration curve through a quartic polynomial curve to control the deceleration process of the vehicle, and the curve in each stage is separately solved for the polynomial coefficients through multiple equations.

[0077] In a specific application scenario, in the process of generating the target deceleration control information of the target vehicle by processing the first moment, the second moment, the braking time-consuming, and the maximum deceleration value through a quartic polynomial, the initial deceleration change rate of the target vehicle at the start of braking can be obtained. This initial deceleration change rate can be determined according to the ratio of the difference between the initial deceleration value and the deceleration value at the previous moment to the sampling time; determine the third moment when the deceleration value of the target vehicle decreases from the initial deceleration value to the first deceleration value according to the calibration value and the first moment; process the initial deceleration value, the initial deceleration change rate, the first moment, the third moment, the first deceleration value, and the maximum deceleration value through a quartic polynomial to generate the first deceleration control information of the target vehicle within the first time-consuming; use the first deceleration control information as the target deceleration control information; where the first deceleration value is the average of the initial deceleration value and the maximum deceleration value.

[0078] It should be noted that the first driving information of the target vehicle at the start of braking includes that the deceleration value is the initial deceleration value and the change rate of the deceleration is the initial deceleration change rate ; the second driving information of the target vehicle at the first moment includes that the deceleration value is the maximum deceleration value and the change rate of the deceleration is zero; the third driving information of the target vehicle at the third moment includes that the deceleration value is the first deceleration value, as Figure 3 shown; therefore, in the process of generating the first deceleration control information of the target vehicle within the first time-consuming by processing the initial deceleration value, the initial deceleration change rate, the first moment, the third moment, the first deceleration value, and the maximum deceleration value through a quartic polynomial, the deceleration curves of the first driving information, the second driving information, and the third driving information can be fitted through a quartic polynomial to obtain the first deceleration control information. Assuming that the style of the deceleration control curve is , then the polynomial coefficients can be solved by combining , , , , ​ , , , , , the first deceleration control information is obtained therefrom.

[0079] In a specific application scenario, in the process of generating the target deceleration control information of the target vehicle by processing the first moment, the second moment, the braking time, and the maximum deceleration value through a quartic polynomial, since the first moment and the second moment have been calibrated, the second deceleration control information within the second time can be a constant within the interval and the second deceleration control information is also used as the target deceleration control information.

[0080] In a specific application scenario, in the process of generating the target deceleration control information of the target vehicle by processing the first moment, the second moment, the braking time, and the maximum deceleration value through a quartic polynomial, the fourth moment corresponding to the midpoint of the third time can be determined according to the second moment and the end moment of the braking time, as shown in Figure 3 ; take half of the maximum deceleration value as the second deceleration value corresponding to the fourth moment; process the second moment, the fourth moment, the maximum deceleration value, the second deceleration value, and the braking time through a quartic polynomial to generate the third deceleration control information of the target vehicle within the third time; use the third deceleration control information as the target deceleration control information.

[0081] It should be noted that the fourth driving information of the target vehicle at the second moment includes that the deceleration value is the maximum deceleration value and the change rate of the deceleration is zero; the fifth driving information of the target vehicle at the braking end moment includes that the deceleration value is zero and the change rate of the deceleration is zero; the sixth driving information of the target vehicle at the fourth moment includes that the deceleration value is the second deceleration value; so in the process of generating the third deceleration control information of the target vehicle within the third time by processing the second moment, the fourth moment, the maximum deceleration value, the second deceleration value, and the braking time through a quartic polynomial, the deceleration curve fitting can be performed on the fourth driving information, the fifth driving information, and the sixth driving information through the quartic polynomial to obtain the third deceleration control information, that is, the polynomial coefficients , , , , can be solved to obtain the polynomial coefficients , , , , , and the third deceleration control information is obtained therefrom.

[0082] In practical applications, the vehicle braking method of the present application can be applied to the scenario where the target vehicle brakes and stops following the vehicle in front. That is, before generating the maximum deceleration value based on the current speed of the target vehicle, the actual distance between the target vehicle and the first vehicle can also be determined. The first vehicle is located in front of the target vehicle. According to the actual distance, the target displacement that the target vehicle needs to travel to stop following the first vehicle is determined. For example, the first displacement passed by the first vehicle when it stops traveling is estimated based on the driving information of the first vehicle, and then the following distance that the target vehicle needs to maintain after stopping following the first vehicle is determined. The sum value of the actual distance and the following distance is generated, and the difference between the sum value and the first displacement is used as the target displacement. At this time, in the process of generating the maximum deceleration value based on the current speed of the target vehicle according to the formula of , the value of s can be this target displacement. Correspondingly, in the process of following braking, if the control of the target vehicle is inaccurate, it will affect the safety between the target vehicle and the first vehicle. To ensure the safety of the target vehicle during following braking, after controlling the speed of the target vehicle according to the target deceleration control information, the absolute distance traveled by the target vehicle can also be generated. For example, the integral is used to calculate the speed to generate the absolute distance traveled by the target vehicle. Based on the target displacement and the absolute distance, the remaining distance that the target vehicle needs to travel is predicted. For example, the difference between the target displacement and the absolute distance is used as the remaining distance. The current distance between the target vehicle and the first vehicle is obtained, and the real-time speed of the first vehicle is obtained. In response to the remaining distance being greater than the current distance and the real-time speed being greater than the set speed value, the set speed value can be determined according to the empirical value. For example, it can be 2 m / s, etc. Then, return to execute the steps of determining the actual distance between the target vehicle and the first vehicle and subsequent steps to re-plan the braking, otherwise, the speed of the target vehicle can be continuously controlled according to the planned target deceleration control information. And before performing braking and stopping according to the method of the present application, the conditions such as the vehicle speed of the target vehicle, the distance relative to the vehicle in front, the acceleration of the vehicle in front, and the speed of the vehicle in front can be judged for following control in the state where the vehicle in front is about to stop or has stopped, to judge whether to enable the method of the present application for following control. The present application does not make specific limitations here.

[0083] It should also be noted that the driving data, etc. of the target vehicle and the first vehicle in front in the present application can be determined by means of a single front-view camera or multiple cameras installed on the target vehicle, or can also be determined according to the data interaction between the target vehicle and the first vehicle, etc.

[0084] A vehicle braking method provided by the present application generates a maximum deceleration value according to the current speed of the target vehicle; generates the braking time of the target vehicle according to the current speed and the maximum deceleration value; determines the first time, the second time and the third time of the target vehicle based on the braking time; processes the first time, the second time, the third time and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle; controls the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero; wherein, the first time includes the time taken for the target vehicle to decelerate from the initial deceleration value to the maximum deceleration value; the second time includes the time taken for the target vehicle to maintain the maximum deceleration value; the third time includes the time taken for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first time, the second time and the third time is equal to the following-stop time. In the present application, the first time is the time taken for the target vehicle to decelerate from the initial deceleration value to the maximum deceleration value, so the speed of the target vehicle will rapidly decrease during the first time. The second time is the time taken for the target vehicle to maintain the maximum deceleration value, so the target vehicle will decrease steadily during the second time. The third time is the time taken for the target vehicle to increase from the maximum deceleration value to zero, so the target vehicle will decrease slowly during the third time. In this way, the target vehicle will first rapidly decrease the vehicle speed, then steadily decrease the vehicle speed, and finally slowly decrease the vehicle speed during the entire braking time, which is in line with the user's deceleration experience and can improve the user's vehicle braking experience; and the deceleration curve is designed through a model to control the deceleration process of the vehicle, and the curve in each stage is separately solved through the time information parameter, so that the target deceleration control information is adapted to the deceleration control requirement, thereby accurately controlling the speed of the target vehicle and avoiding the bad vehicle use experience brought by the sudden change of the speed of the target vehicle, and further improving the user's vehicle braking experience.

[0085] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a vehicle braking system provided by an embodiment of the present application.

[0086] A vehicle braking system provided by an embodiment of the present application may include:

[0087] A first generation module 101, configured to generate a maximum deceleration value according to the current speed of the target vehicle;

[0088] A second generation module 102, configured to generate the braking time of the target vehicle according to the current speed and the maximum deceleration value;

[0089] A first determination module 103, configured to determine the first time, the second time and the third time of the target vehicle based on the braking time;

[0090] The first processing module 104 is configured to process the first time-consuming, the second time-consuming, the third time-consuming, and the maximum deceleration value through a model to generate target deceleration control information for the target vehicle;

[0091] The first control module 105 is configured to control the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle is reduced to zero;

[0092] Among them, the first time-consuming includes the time-consuming for the target vehicle to decelerate from the initial deceleration value to the maximum deceleration value; the second time-consuming includes the time-consuming for the target vehicle to maintain the maximum deceleration value; the third time-consuming includes the time-consuming for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first time-consuming, the second time-consuming, and the third time-consuming is equal to the following distance time-consuming.

[0093] A vehicle braking system provided by an embodiment of the present application may further include:

[0094] The second determination module is configured to determine the actual distance between the target vehicle and the first vehicle before the first generation module generates the maximum deceleration value according to the current speed of the target vehicle, and the first vehicle is located in front of the target vehicle;

[0095] The third determination module is configured to determine the target displacement that the target vehicle needs to travel to follow the first vehicle according to the actual distance;

[0096] The third generation module is configured to generate the absolute distance traveled by the target vehicle after the first control module controls the speed of the target vehicle according to the target deceleration control information, and predict the remaining distance that the target vehicle needs to travel based on the target displacement and the absolute distance;

[0097] The first acquisition module is configured to acquire the current distance between the target vehicle and the first vehicle, and acquire the real-time speed of the first vehicle;

[0098] The second processing module is configured to, in response to the remaining distance being greater than the current distance and the real-time speed being greater than the set speed value, return to execute the steps of determining the actual distance between the target vehicle and the first vehicle and subsequent steps.

[0099] In a vehicle braking system provided by an embodiment of the present application, the second generation module may include:

[0100] The first generation unit is configured to generate the initial time-consuming for the target vehicle to decelerate from the current speed to zero according to the maximum deceleration value;

[0101] The first acquisition unit is configured to acquire the set amplification factor;

[0102] The first amplification unit is configured to amplify the initial time-consuming based on the amplification factor to obtain the braking time-consuming of the target vehicle.

[0103] A vehicle braking system provided by an embodiment of the present application, the first determination module may include:

[0104] A first determination unit, configured to determine the calibration coefficients of the first time-consuming and the second time-consuming respectively according to the deceleration performance of the target vehicle;

[0105] A first operation unit, configured to perform an operation on the braking time-consuming based on the calibration coefficients to obtain the first time-consuming and the second time-consuming;

[0106] A second determination unit, configured to determine the third time-consuming according to the braking time-consuming, the first time-consuming and the second time-consuming.

[0107] A vehicle braking system provided by an embodiment of the present application, the first processing module may include:

[0108] A third determination unit, configured to determine a first moment corresponding to the end moment of the first time-consuming in the braking time-consuming according to the braking time-consuming and the first time-consuming;

[0109] A fourth determination unit, configured to determine a second moment corresponding to the end moment of the second time-consuming in the braking time-consuming according to the braking time-consuming and the second time-consuming;

[0110] A first processing unit, configured to process the first moment, the second moment, the braking time-consuming and the maximum deceleration value through a quartic polynomial to generate target deceleration control information of the target vehicle.

[0111] A vehicle braking system provided by an embodiment of the present application, the first processing unit may be used for:

[0112] Obtain the initial deceleration change rate of the target vehicle at the start of braking;

[0113] Determine a third moment when the deceleration value of the target vehicle decreases from the initial deceleration value to the first deceleration value according to the calibration value and the first moment;

[0114] Process the initial deceleration value, the initial deceleration change rate, the first moment, the third moment, the first deceleration value and the maximum deceleration value through a quartic polynomial to generate first deceleration control information of the target vehicle within the first time-consuming;

[0115] Use the first deceleration control information as the target deceleration control information;

[0116] Wherein, the first deceleration value is the average value of the initial deceleration value and the maximum deceleration value.

[0117] A vehicle braking system provided by an embodiment of the present application, the first processing unit may be used for:

[0118] Determine a fourth moment corresponding to the midpoint of a third elapsed time according to the second moment and the end moment of the braking elapsed time;

[0119] Use half of the maximum deceleration value as the second deceleration value corresponding to the fourth moment;

[0120] Process the second moment, the fourth moment, the maximum deceleration value, the second deceleration value, and the braking elapsed time through a quartic polynomial to generate third deceleration control information of the target vehicle within the third elapsed time;

[0121] Use the third deceleration control information as the target deceleration control information.

[0122] This application also provides an electronic device and a computer-readable storage medium, both of which have corresponding effects of a vehicle braking method provided by an embodiment of this application. Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of an electronic device provided by an embodiment of this application.

[0123] An electronic device provided by an embodiment of this application includes a memory 201 and a processor 202. A computer program is stored in the memory 201. When the processor 202 executes the computer program, the steps of the vehicle braking method described in any of the above embodiments are implemented.

[0124] Please refer to Figure 6 , in another electronic device provided by an embodiment of this application, it may further include: an input port 203 connected to the processor 202 for transmitting externally input commands to the processor 202; a display unit 204 connected to the processor 202 for displaying the processing result of the processor 202 to the outside; a communication module 205 connected to the processor 202 for realizing communication between the electronic device and the outside. The display unit 204 may be a display panel, a laser scanning display, etc.; the communication methods adopted by the communication module 205 include but are not limited to Mobile High-Definition Link (MHL), Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI), wireless connections: Wireless Fidelity (WiFi), Bluetooth communication technology, low-power Bluetooth communication technology, communication technology based on IEEE802.11s.

[0125] A computer-readable storage medium provided by an embodiment of this application stores a computer program. When the computer program is executed by a processor, the steps of the vehicle braking method described in any of the above embodiments are implemented.

[0126] The computer-readable storage medium involved in this application includes random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROM (compact disc read-only memory), or any other form of storage medium well-known in the technical field.

[0127] For the description of relevant parts in a vehicle braking system, an electronic device, and a computer-readable storage medium provided in the embodiments of this application, please refer to the corresponding detailed description in a vehicle braking method provided in the embodiments of this application, and details will not be repeated here. In addition, parts of the above technical solutions provided in the embodiments of this application that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail to avoid excessive elaboration.

[0128] It should also be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including the said element.

[0129] The above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be obvious 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 this application. Therefore, this application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle braking method, characterized in that, Including: Generating a maximum deceleration value according to the current speed of the target vehicle; Generating a braking time of the target vehicle according to the current speed and the maximum deceleration value; Determining a first time, a second time, and a third time of the target vehicle based on the braking time; Processing the first time, the second time, the third time, and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle; Controlling the speed of the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero; Wherein, the first time includes the time for the target vehicle to decrease from an initial deceleration value to the maximum deceleration value; the second time includes the time for the target vehicle to maintain the maximum deceleration value; the third time includes the time for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first time, the second time, and the third time is equal to the following-stop time.

2. The method according to claim 1, characterized in that Before generating the maximum deceleration value according to the current speed of the target vehicle, it further includes: Determining the actual distance between the target vehicle and a first vehicle, the first vehicle being in front of the target vehicle; Determining a target displacement that the target vehicle needs to travel to follow and stop the first vehicle according to the actual distance; After controlling the speed of the target vehicle according to the target deceleration control information, it further includes: Generating an absolute distance traveled by the target vehicle and predicting a remaining distance that the target vehicle needs to travel based on the target displacement and the absolute distance; Obtaining the current distance between the target vehicle and the first vehicle and obtaining the real-time speed of the first vehicle; In response to the remaining distance being greater than the current distance and the real-time speed being greater than a set speed value, returning to execute the steps of determining the actual distance between the target vehicle and the first vehicle and subsequent steps.

3. The method according to claim 1, characterized in that Generating the braking time of the target vehicle according to the current speed and the maximum deceleration value includes: Generating an initial time for the target vehicle to decelerate from the current speed to zero according to the maximum deceleration value; Obtaining a set amplification factor; Amplifying the initial time based on the amplification factor to obtain the braking time of the target vehicle.

4. The method according to claim 1, wherein Determining the first time, the second time, and the third time of the target vehicle based on the braking time includes: Determining calibration coefficients for the first time and the second time respectively according to the deceleration performance of the target vehicle; Performing operations on the braking time based on the calibration coefficients to obtain the first time and the second time; Determining the third time according to the braking time, the first time, and the second time.

5. The method according to any one of claims 1 to 4, characterized in that Processing the first time, the second time, the third time, and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle includes: Determining a first moment corresponding to the end moment of the first time in the braking time according to the braking time and the first time; Determine a second moment corresponding to an end moment of the second time consumption in the braking time consumption according to the braking time consumption and the second time consumption; Process the first moment, the second moment, the braking time consumption, and the maximum deceleration value through a quartic polynomial to generate target deceleration control information of the target vehicle.

6. The method according to claim 5, characterized in that In the process of processing the first moment, the second moment, the braking time consumption, and the maximum deceleration value through a quartic polynomial to generate the target deceleration control information of the target vehicle, it includes: Obtain an initial deceleration change rate of the target vehicle at the start of braking; Determine a third moment when the deceleration value of the target vehicle decreases from the initial deceleration value to a first deceleration value according to a calibration value and the first moment; Process the initial deceleration value, the initial deceleration change rate, the first moment, the third moment, the first deceleration value, and the maximum deceleration value through a quartic polynomial to generate first deceleration control information of the target vehicle within the first time consumption; Use the first deceleration control information as the target deceleration control information; Wherein, the first deceleration value is an average value of the initial deceleration value and the maximum deceleration value.

7. The method according to claim 6, characterized in that In the process of processing the first moment, the second moment, the braking time consumption, and the maximum deceleration value through a quartic polynomial to generate the target deceleration control information of the target vehicle, it includes: Determine a fourth moment corresponding to a midpoint of the third time consumption according to the second moment and an end moment of the braking time consumption; Use a half value of the maximum deceleration value as a second deceleration value corresponding to the fourth moment; Process the second moment, the fourth moment, the maximum deceleration value, the second deceleration value, and the braking time consumption through a quartic polynomial to generate third deceleration control information of the target vehicle within the third time consumption; Use the third deceleration control information as the target deceleration control information.

8. A vehicle braking system, characterized in that, It includes: A first generation module, configured to generate a maximum deceleration value according to a current speed of a target vehicle; A second generation module, configured to generate the braking time consumption of the target vehicle according to the current speed and the maximum deceleration value; A first determination module, configured to determine a first time consumption, a second time consumption, and a third time consumption of the target vehicle based on the braking time consumption; A first processing module, configured to process the first time consumption, the second time consumption, the third time consumption, and the maximum deceleration value through a model to generate target deceleration control information of the target vehicle; A first control module, configured to perform speed control on the target vehicle according to the target deceleration control information so that the speed of the target vehicle drops to zero; Wherein, the first time consumption includes the time consumption for the target vehicle to decrease from the initial deceleration value to the maximum deceleration value; the second time consumption includes the time consumption for the target vehicle to maintain the maximum deceleration value; the third time consumption includes the time consumption for the target vehicle to increase from the maximum deceleration value to zero; and the sum of the first time consumption, the second time consumption and the third time consumption is equal to the following-stop time consumption.

9. An electronic device, characterized in that, Comprising: a memory for storing a computer program; a processor for implementing the steps of the vehicle braking method according to any one of claims 1 to 7 when executing the computer program.

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

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