Automatic braking control method and device, vehicle, medium and product

Abstract

The invention discloses an automatic braking control method and device, a vehicle, a medium and a product, the method is applied to a cabin-driving fusion controller, the cabin-driving fusion controller comprises a main control domain, an intelligent driving domain and a cabin domain, and the method is executed by the main control domain. The method comprises the steps that when it is determined that an obstacle target exists based on vehicle external environment information of an intelligent driving domain, vehicle control information and vehicle internal environment information of a cabin domain are obtained, and the vehicle internal environment information comprises driver state information; and according to the vehicle external environment information, the vehicle internal environment information and the vehicle control information, whether brake taking-over is conducted or not is judged, a brake judgment result is obtained, and automatic brake control is conducted. By fusing and identifying the driving state of the driver and the takeover control capability, brake takeover judgment is carried out in advance, effective brake measures are taken in advance, and the problem that the vehicle continuously runs in danger due to out-of-control of the driver is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an automatic braking control method, device, vehicle, medium and product. Background Art

[0002] Driving accidents often result in serious or lasting injuries. Active safety failures typically include emergency braking system failure and the driver's inability to effectively take over control of the vehicle. Active safety technologies include emergency braking based on external sensor data and active safety technologies based on in-vehicle driver status monitoring.

[0003] As vehicle architecture evolves from distributed to centralized, active safety technology is also moving toward multi-sensor fusion. Traditional automatic emergency braking (AEB) operates in two phases, determined by whether a collision can be avoided after the driver takes over. In the first phase, if the driver takes over and the collision can be avoided, external sensors identify obstacles ahead of the vehicle and collision risks, using sound, light, and vibration to alert the driver to take control. In the second phase, if a collision cannot be avoided even after driver re-engagement, full automatic braking is applied to avoid or minimize damage.

[0004] However, if the driver loses the ability to take over the brake control due to panic, limited behavior due to illness, shock or death in the first stage, the first stage becomes an invalid waiting period and the effective control time to avoid collision is lost. Summary of the Invention

[0005] The present invention provides an automatic braking control method, device, vehicle, medium and product to achieve control of automatic braking and improve the braking completion rate.

[0006] According to a first aspect of the present invention, an automatic braking control method is provided, which is applied to a cabin-cockpit fusion controller, the cabin-cockpit fusion controller comprising: a main control domain, an intelligent driving domain, and a cockpit domain. The method is executed by the main control domain and comprises:

[0007] When it is determined that an obstacle target exists based on the vehicle external environment information of the intelligent driving domain, vehicle control information and vehicle internal environment information of the cockpit domain are acquired, wherein the vehicle internal environment information includes driver status information;

[0008] Based on the vehicle internal environment information and the vehicle control information, it is determined whether to perform brake takeover, a braking determination result is obtained, and automatic braking control is performed.

[0009] According to a second aspect of the present invention, an automatic braking control device is provided, which is applied to a cabin-pilot fusion controller, wherein the cabin-pilot fusion controller includes: a main control domain, an intelligent driving domain, and a cockpit domain. The device includes:

[0010] an information acquisition module, configured to acquire vehicle control information and vehicle interior environment information from the cockpit domain when an obstacle target is determined to exist based on the vehicle exterior environment information from the intelligent driving domain, wherein the vehicle interior environment information includes driver status information;

[0011] The braking control module is used to determine whether to take over the braking according to the vehicle external environment information, the vehicle internal environment information and the vehicle control information, obtain a braking judgment result and perform automatic braking control.

[0012] According to a third aspect of the present invention, there is provided an electronic device, comprising:

[0013] at least one cabin-pilot fusion controller; and

[0014] A memory in communication with the at least one cabin-pilot fusion controller; wherein,

[0015] The memory stores a computer program that can be executed by the at least one cabin-pilot fusion controller, and the computer program is executed by the at least one cabin-pilot fusion controller so that the at least one cabin-pilot fusion controller can execute the automatic braking control method described in any embodiment of the present invention.

[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a cabin-cockpit fusion controller to implement the automatic braking control method described in any embodiment of the present invention when executed.

[0017] According to another aspect of the present invention, an embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a cabin-pilot fusion controller, it implements the automatic braking control method of any embodiment of the present invention.

[0018] The technical solution of the embodiment of the present invention is applied to a cabin-driver fusion controller, which includes: a main control domain, an intelligent driving domain, and a cockpit domain. The method is executed by the main control domain. When the vehicle's external environment information based on the intelligent driving domain determines that there is an obstacle target, the method obtains vehicle control information and vehicle internal environment information from the cockpit domain. The vehicle internal environment information includes driver status information; based on the vehicle's external environment information, vehicle internal environment information, and vehicle control information, it determines whether to take over the brakes, obtains a braking judgment result, and performs automatic braking control. By integrating and identifying the driver's driving status and takeover control capabilities, a braking takeover judgment is made in advance, so that effective braking measures can be taken in advance to solve the problem of the vehicle continuing to drive dangerously due to the driver's loss of control.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a flowchart of an automatic braking control method provided according to the first embodiment of the present invention;

[0022] Figure 2 1 is a structural diagram of a cabin-driver fusion controller in an automatic braking control method according to a first embodiment of the present invention;

[0023] Figure 3 2 is another structural diagram of a cabin-driver fusion controller in an automatic braking control method according to the first embodiment of the present invention;

[0024] Figure 4 This is an example flow chart of an automatic braking control method provided according to the first embodiment of the present invention;

[0025] Figure 5 This is a structural diagram of an automatic braking control device provided according to a second embodiment of the present invention;

[0026] Figure 6 2 is a schematic structural diagram of a vehicle implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Example 1

[0030] Figure 1 A flowchart of an automatic braking control method is provided for the first embodiment of the present invention. This embodiment is applicable to the judgment and activation of emergency braking and is applied to a cabin-driver fusion controller, which includes: a main control domain, an intelligent driving domain, and a cockpit domain. The method is applied to the main control domain. The method can be executed by an automatic braking control device, which can be implemented in the form of hardware and / or software and can be configured in a vehicle. Figure 1 As shown, the method includes:

[0031] S110 : When it is determined that an obstacle target exists based on the vehicle external environment information in the intelligent driving domain, vehicle control information and vehicle internal environment information in the cockpit domain are obtained, where the vehicle internal environment information includes driver status information.

[0032] In this embodiment, the intelligent driving domain can be understood as providing intelligent driving related services. Vehicle external environment information can be understood as information used to reflect the external situation of the vehicle, for example, it can include information such as the type, shape and distance of obstacle targets outside the vehicle. Obstacle targets can be understood as objects around the vehicle that pose obstacles to the vehicle. Vehicle control information can be understood as information for controlling the form of the vehicle, such as throttle, brakes and collisions. The cockpit domain can be understood as providing related services for the cockpit inside the vehicle. Vehicle internal environment information can be understood as information about the situation of relevant personnel in the vehicle cabin, for example, it can include driver status information and vehicle internal voice control information. Driver status information can be understood as information used to reflect data such as the driver's vital signs.

[0033] Specifically, the main control domain can obtain the vehicle's external environment information transmitted by the intelligent driving domain and identify obstacles ahead. Alternatively, the intelligent driving domain can determine the presence of obstacles based on the vehicle's external environment information and feed the obstacle identification results back to the main control domain. The main control domain can also obtain its own vehicle control information and vehicle internal environment information transmitted by the cockpit domain, including driver status information.

[0034] S120: Determine whether to perform brake takeover based on the vehicle's internal environment information and vehicle control information, obtain a braking determination result, and perform automatic braking control.

[0035] In this embodiment, the braking judgment result can be understood as a judgment result indicating whether braking is to be performed.

[0036] Specifically, when an obstacle is ahead, the master control domain can determine whether the driver can actively take over the vehicle and brake based on the vehicle's internal environment information. If it is determined that active takeover is not possible, the braking judgment result is braking. The master control domain can also determine whether the driver intends to brake the vehicle when there is an obstacle ahead based on vehicle control information. If it is determined that there is no braking intention, the braking judgment result is braking, and the master control domain can cancel the first stage of braking and pre-initiate the second stage of braking, thereby increasing the braking distance and braking completion rate.

[0037] The technical solution of the embodiment of the present invention is applied to a cabin-driver fusion controller, which includes: a main control domain, an intelligent driving domain, and a cockpit domain. The method is executed by the main control domain. When the vehicle's external environment information based on the intelligent driving domain determines that there is an obstacle target, the method obtains vehicle control information and vehicle internal environment information from the cockpit domain. The vehicle internal environment information includes driver status information; based on the vehicle's external environment information, vehicle internal environment information, and vehicle control information, it determines whether to take over the brakes, obtains a braking judgment result, and performs automatic braking control. By integrating and identifying the driver's driving status and takeover control capabilities, a braking takeover judgment is made in advance, so that effective braking measures can be taken in advance to solve the problem of the vehicle continuing to drive dangerously due to the driver's loss of control.

[0038] Optionally, the hardware architecture of the cabin-driver fusion controller is a chip, and the main control domain, the intelligent driving domain and the cockpit domain are three parts of the hardware abstract resources of the system-level chip, and the internal data of the system-level chip interacts through a bus.

[0039] In this embodiment, the hardware abstraction resource can be understood as a form presented after the hardware resource is abstracted by the hardware abstraction layer to realize the functions of different domains. The chip can be a system-level chip.

[0040] Specifically, the hardware architecture of the cabin-driver fusion controller can be a chip, and the main control domain, the intelligent driving domain and the cockpit domain are three parts of the hardware abstract resources of the system-level chip. The internal data of the system-level chip is interacted and monitored through the bus.

[0041] For example, Figure 2 A structural diagram of a cabin-driver fusion controller in an automatic braking control method is provided for the first embodiment of the present invention. Figure 2As shown, a chip 1 is divided into the main control domain, the intelligent driving domain and the cockpit domain. The sensors may include an external camera sensor, a radar sensor, an internal camera sensor, a microphone (MIC) sensor, a heartbeat sensor, an accelerator pedal sensor, a brake pedal sensor and a collision sensor. Among them, the external camera sensor is used to detect and identify obstacle targets and obstacle distances. The external camera includes a monocular or dual front-view camera. The resolution of the external camera is 8 million pixels. The camera frame rate includes 30FPS or 60FPS. Video data is transmitted through LVDS twisted pair or coaxial cable, and can be connected to the MIPI interface of the intelligent driving domain. The millimeter wave radar sensor is used to detect the distance to the obstacle. It uses the CAN / CANFD communication interface or the vehicle Ethernet communication interface to connect to the hardware interface of the intelligent driving domain. The MIC voice sensor supports driver voice acquisition and is connected to the internal / external DSP interface of the cockpit domain through the TDM interface. The heartbeat sensor is used to detect the driver's heartbeat speed and presence. This sensor can be one of the following: a wearable heartbeat detection device deployed on the driver's seatbelt, which transmits heartbeat data to the cockpit domain hardware interface via a BT communication interface. A piezoelectric heartbeat sensor deployed on the steering wheel transmits heartbeat data to the cockpit domain hardware interface via an A2B bus or CAN bus. An accelerator pedal sensor, such as a wristwatch or wristband, is optionally available from the manufacturer. This sensor is used to obtain information about the accelerator pedal's depression depth and duration. The heartbeat monitoring device is connected to the main control domain's built-in ADC interface and transmits data to the cockpit domain hardware interface via a BT communication interface. A brake pedal sensor is used to obtain information about the brake pedal's depression depth and duration and is connected to the main control domain's built-in ADC interface. A collision sensor provides collision information and is linked to the main control domain's built-in GPIO interface resources.

[0042] Optionally, the hardware architecture of the cabin-cockpit fusion controller is multiple chips, including: the main control domain is set in a micro control unit chip, and the intelligent driving domain and the cockpit domain are set as two parts of hardware abstract resources of a system-level chip; or, the main control domain is set in a micro control unit chip, the intelligent driving domain is set in a system-level chip, and the cockpit domain is set in a system-level chip; data transmission is carried out through a communication bus and an interface bus.

[0043] In this embodiment, the communication bus is used for interactive data transmission between different domains, and the interface data is used for transmitting interface signals.

[0044] Furthermore, a specific example can be used to demonstrate the multi-chip cabin-pilot fusion architecture. Figure 3 Another structural diagram of the cabin-driver fusion controller in the automatic braking control method is provided for the first embodiment of the present invention, as shown in FIG. Figure 3 As shown, the main control domain can be set in chip 1, which can be a microcontroller unit MCU chip, and the intelligent driving domain and cockpit domain are set in chip 2. The intelligent driving domain and cockpit domain are composed of two parts of hardware abstract resources of a system-level chip 2. The main control domain can also be set in chip 1, the intelligent driving domain in chip 2, and the cockpit domain in chip 3. Perception signal data is exchanged through any one of the communication buses: PCIe bus, Ethernet bus and SPI communication bus, and fault status information is exchanged through any one of the interface signals: SPI interface signal, GPIO interface signal, and dedicated chip fault indication interface signal.

[0045] Furthermore, based on the above embodiment, the steps of determining whether to perform brake takeover based on the vehicle internal environment information and the vehicle control information, obtaining a brake determination result, and performing automatic brake control can be refined as follows:

[0046] The driver's takeover ability is judged based on the vehicle's internal environmental information, and a takeover ability judgment result is determined; if the accelerator pedal data in the vehicle control information is continuous acceleration and the brake pedal data is no braking signal or continuous braking, the intention judgment result is determined to trigger automatic braking; when the takeover ability judgment result or the intention judgment result meets the automatic braking triggering conditions, and the relative distance to the obstacle target in the vehicle's external environmental information reaches a threshold, a braking control instruction is generated and automatic braking control is performed.

[0047] In this embodiment, takeover capability can be understood as a state that indicates whether the driver can take over and control the vehicle. The takeover capability determination result can be understood as a result that indicates whether the driver has the ability to take over. The intention determination result can be understood as a result that indicates whether the driver is capable of actively braking. The automatic braking condition can be understood as the result of determining whether braking is to be performed. The relative distance can be understood as the distance between the vehicle and the obstacle. The threshold can be understood as the distance set for automatic braking.

[0048] Specifically, the main controller can judge the driver's takeover ability based on the internal environment information of the vehicle and determine the takeover ability judgment result. The main controller can judge whether there is an acceleration intention based on the accelerator pedal data in the vehicle control information. If the accelerator pedal data is continuous acceleration, that is, the driver continues to accelerate when an obstacle target appears in front, then the intention judgment result is determined to trigger automatic braking. The main controller can also determine the intention judgment result to trigger automatic braking when the brake pedal data is no braking signal, that is, the driver has no intention to brake when an obstacle target appears in front, or the brake pedal data is a signal generated by continuously pressing the brake pedal deeply. When the takeover ability judgment result or the intention judgment result meets the conditions for triggering automatic braking, the main control domain can judge whether to generate a braking control instruction based on the relative distance and the threshold. If the relative distance reaches the threshold, a braking control instruction is generated and automatic braking control is performed.

[0049] The vehicle interior environment information includes heartbeat data, voice information, and facial monitoring data. Accordingly, judging the driver's takeover capability based on the vehicle interior environment information and determining the takeover capability judgment result include:

[0050] If the heartbeat data does not reach the set threshold, the voice information is a continuous issuance of parking instructions, or the facial monitoring data is continuous closing of eyes, the takeover capability judgment result is triggering automatic braking.

[0051] In this embodiment, heartbeat data can be understood as data used to characterize the driver's heartbeat rate, which can be measured by a heartbeat sensor. The set threshold can be understood as a heartbeat threshold set to determine whether the driver has the ability to take over, such as a low number or 0. Voice information can be understood as the driver's voice data in the car. Facial monitoring data can be understood as facial

[0052] Specifically, the main control domain can compare the heartbeat data with the set threshold. If the heartbeat data does not reach the set threshold (that is, the driver's heartbeat is too low and may be in a coma or have no heartbeat), it can be judged that the driver has no ability to take over. Or if the driver's voice information inside the cabin is continuously issuing stop commands or the facial monitoring data shows that the eyes are continuously closed, the takeover ability judgment result is to trigger automatic braking.

[0053] The technical solution of the embodiment of the present invention judges the driver's takeover ability through the driver's heartbeat data, voice data and facial monitoring data, determines the takeover ability judgment result of whether the driver has the takeover ability, and determines the driver's driving intention by comprehensively detecting the data of the brake pedal and the accelerator pedal to obtain the intention judgment result. The takeover ability judgment result and the intention judgment result are integrated, combined with the relative distance between the vehicle itself and the obstacle target, to determine the braking judgment result and trigger automatic braking, so as to take effective braking measures in advance, increase the braking distance, improve the braking completion rate, and thereby improve the driving comfort during the process, and solve the problem of the vehicle continuing to drive dangerously due to the driver's loss of control.

[0054] As a first optional embodiment of the first embodiment, based on the above embodiment, it further includes:

[0055] The braking judgment result and collision detection data are recorded.

[0056] In this embodiment, the collision detection data can be understood as data such as the number of collisions and collision conditions recorded after a collision occurs.

[0057] Specifically, when braking is triggered, the main controller can record the braking judgment result to record the reason for this braking. If a collision still occurs after braking, the collision situation can be detected and combined with the braking judgment result to record as the data of this collision.

[0058] The technical solution of the embodiment of the present invention records the braking judgment results and collision detection data when braking is started, providing a basis for subsequent feedback and responsibility determination, thereby facilitating later function optimization and responsibility determination.

[0059] For example, a specific example can be used as a demonstration and comparison with the prior art. Figure 4 : is an example flow chart of an automatic braking control method according to the first embodiment of the present invention. Figure 4As shown above, the traditional emergency braking process is as follows. When the vehicle detects an obstacle ahead, it first prepares for braking and issues an audible and visual warning and a brake reminder. When it reaches a certain target distance, the first stage of braking is initiated. When it reaches a closer target distance, the second stage of braking is initiated. The intensity of the second stage of braking is greater than that of the first stage (i.e., the braking depth is greater). When it reaches a closer target distance, full braking is initiated until a force majeure collision occurs. When this method identifies an obstacle ahead, it adds driver monitoring during braking preparation. That is, it obtains vehicle internal environment information, and determines whether the driver is capable of taking over control by prejudging the vehicle internal environment information. After it is determined that the driver does not have the conditions to take over, the first stage of braking is canceled and the second stage of braking is initiated in advance, thereby increasing the braking distance, improving the braking completion rate, and improving the driving comfort during the process.

[0060] Example 2

[0061] Figure 5 This is a schematic diagram of the structure of an automatic braking control device provided by the second embodiment of the present invention. Figure 5 As shown, it is applied to a cabin-cockpit fusion controller, which includes: a main control domain, an intelligent driving domain and a cockpit domain. The device includes: an information acquisition module 51 and a braking control module 52.

[0062] An information acquisition module 51 is configured to acquire vehicle control information and vehicle interior environment information in the cockpit domain when an obstacle target is determined to exist based on the vehicle exterior environment information in the intelligent driving domain, wherein the vehicle interior environment information includes driver status information;

[0063] The brake control module 52 is used to determine whether to take over the brake according to the vehicle external environment information, the vehicle internal environment information and the vehicle control information, obtain a brake determination result and perform automatic brake control.

[0064] The technical solution of the embodiment of the present invention is applied to a cabin-driver fusion controller, which includes: a main control domain, an intelligent driving domain, and a cockpit domain. The method is executed by the main control domain. When the vehicle's external environment information based on the intelligent driving domain determines that there is an obstacle target, the method obtains vehicle control information and vehicle internal environment information from the cockpit domain. The vehicle internal environment information includes driver status information; based on the vehicle's external environment information, vehicle internal environment information, and vehicle control information, it determines whether to take over the brakes, obtains a braking judgment result, and performs automatic braking control. By integrating and identifying the driver's driving status and takeover control capabilities, a braking takeover judgment is made in advance, so that effective braking measures can be taken in advance to solve the problem of the vehicle continuing to drive dangerously due to the driver's loss of control.

[0065] Furthermore, the brake control module 52 includes:

[0066] a first determining unit, configured to determine the driver's ability to take over based on the vehicle internal environment information, and determine a result of the determination of the ability to take over;

[0067] a second determining unit, configured to determine that the intention determination result is triggering automatic braking if the accelerator pedal data in the vehicle control information indicates continuous acceleration and the brake pedal data indicates no braking signal or continuous braking;

[0068] An instruction control unit is used to generate a braking control instruction and perform automatic braking control when the takeover capability judgment result or the intention judgment result meets the triggering automatic braking condition.

[0069] Furthermore, the vehicle interior environment information includes heartbeat data, voice information, and facial monitoring data. Accordingly, the first determining unit is specifically configured to:

[0070] If the heartbeat data does not reach the set threshold, the voice information is a continuous issuance of parking instructions, or the facial monitoring data is continuous closing of eyes, the takeover capability judgment result is triggering automatic braking.

[0071] Optionally, the device further comprises:

[0072] The data recording module is used to record the braking judgment result and collision detection data.

[0073] Furthermore, the hardware architecture of the cabin-driver fusion controller is a chip, and the main control domain, the intelligent driving domain and the cockpit domain are three parts of the hardware abstract resources of the system-level chip. The internal data of the system-level chip interacts through a bus.

[0074] Furthermore, the hardware architecture of the cabin-cockpit fusion controller is multiple chips, including: the main control domain is set in a micro control unit chip, and the intelligent driving domain and the cockpit domain are set as two parts of hardware abstract resources of a system-level chip; or, the main control domain is set in a micro control unit chip, the intelligent driving domain is set in a system-level chip, and the cockpit domain is set in a system-level chip; data transmission is carried out through a communication bus and an interface bus.

[0075] The automatic braking control device provided by the embodiment of the present invention can execute the automatic braking control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0076] Example 3

[0077] Figure 6 A schematic diagram of the structure of a vehicle provided in the third embodiment of the present invention is shown in FIG. Figure 5 As shown, the vehicle includes a cabin-driver fusion controller 61, a memory 62, an input device 63 and an output device 64; the number of cabin-driver fusion controllers 61 in the vehicle can be one or more. Figure 6 In the figure, a cabin-driver fusion controller 61 is taken as an example; the cabin-driver fusion controller 61, the memory 62, the input device 63 and the output device 64 in the vehicle can be connected by a bus or other means. Figure 6 The bus connection is taken as an example.

[0078] Memory 62, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the automatic braking control method in the embodiments of the present invention (for example, the information acquisition module 51 and the braking control module 52 in the automatic braking control device). The cabin-driver fusion controller 61 executes the software programs, instructions, and modules stored in memory 62 to execute various vehicle functional applications and data processing, thereby implementing the aforementioned automatic braking control method.

[0079] The memory 62 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 62 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 62 may further include a memory remotely located relative to the cabin-drive fusion controller 61, and these remote memories may be connected to the vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0080] The input device 63 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the cloud platform. The output device 64 may include a display device such as a display screen.

[0081] Example 4

[0082] Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute an automatic braking control method, which is applied to a cabin-cockpit fusion controller. The cabin-cockpit fusion controller includes: a main control domain, an intelligent driving domain, and a cockpit domain. The method is executed by the main control domain and includes:

[0083] When it is determined that an obstacle target exists based on the vehicle external environment information of the intelligent driving domain, vehicle control information and vehicle internal environment information of the cockpit domain are acquired, wherein the vehicle internal environment information includes driver status information;

[0084] Based on the vehicle external environment information, the vehicle internal environment information and the vehicle control information, it is determined whether to perform brake takeover, a braking determination result is obtained and automatic braking control is performed.

[0085] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0086] It is worth noting that in the embodiment of the above-mentioned automatic braking control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0087] In one embodiment, the present invention further includes a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the transaction flow limiting method of any embodiment of the present invention.

[0088] The computer program product may be implemented by writing computer program code for performing the operations of the present invention in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0089] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automatic braking control method, characterized in that: Applied to a cockpit fusion controller, the cockpit fusion controller includes: a main control domain, an intelligent driving domain, and a cockpit domain. The method is executed by the main control domain and includes: When it is determined that an obstacle target exists based on the vehicle external environment information of the intelligent driving domain, vehicle control information and vehicle internal environment information of the cockpit domain are acquired, wherein the vehicle internal environment information includes driver status information; Based on the vehicle external environment information, the vehicle internal environment information and the vehicle control information, it is determined whether to perform brake takeover, a braking determination result is obtained and automatic braking control is performed.

2. The method according to claim 1, characterized in that The determining whether to perform brake takeover based on the vehicle external environment information, the vehicle internal environment information, and the vehicle control information, obtaining a brake determination result, and performing automatic brake control includes: judging the driver's ability to take over based on the vehicle's internal environment information, and determining a result of the judgment of the ability to take over; If the accelerator pedal data in the vehicle control information indicates continuous acceleration and the brake pedal data indicates no braking signal or continuous braking, determining that the intention determination result is triggering automatic braking; When the takeover capability judgment result or the intention judgment result meets the triggering condition of automatic braking, and the relative distance to the obstacle target in the vehicle external environment information reaches a threshold, a braking control instruction is generated and automatic braking control is performed.

3. The method according to claim 2, characterized in that The vehicle interior environment information includes heartbeat data, voice information, and facial monitoring data. Accordingly, judging the driver's takeover capability based on the vehicle interior environment information and determining the takeover capability judgment result include: If the heartbeat data does not reach the set threshold, the voice information is a continuous issuance of parking instructions, or the facial monitoring data is continuous closing of eyes, the takeover capability judgment result is triggering automatic braking.

4. The method according to claim 1, wherein Also includes: The braking judgment result and collision detection data are recorded.

5. The method according to claim 1, characterized in that The hardware architecture of the cabin-driver fusion controller is a chip. The main control domain, the intelligent driving domain and the cockpit domain are three parts of the hardware abstract resources of the system-level chip. The internal data of the system-level chip interacts through the bus.

6. The method according to claim 1, characterized in that The hardware architecture of the cabin-cockpit fusion controller is multiple chips, including: the main control domain is set in a micro control unit chip, and the intelligent driving domain and the cockpit domain are set as two parts of hardware abstract resources of a system-level chip; or, the main control domain is set in a micro control unit chip, the intelligent driving domain is set in a system-level chip, and the cockpit domain is set in a system-level chip; data transmission is carried out through a communication bus and an interface bus.

7. An automatic brake control device, characterized in that: Applied to a cabin-pilot fusion controller, the cabin-pilot fusion controller includes: a main control domain, an intelligent driving domain, and a cockpit domain. The device includes: an information acquisition module, configured to acquire vehicle control information and vehicle interior environment information from the cockpit domain when an obstacle target is determined to exist based on the vehicle exterior environment information from the intelligent driving domain, wherein the vehicle interior environment information includes driver status information; The braking control module is used to determine whether to take over the braking according to the vehicle external environment information, the vehicle internal environment information and the vehicle control information, obtain a braking judgment result and perform automatic braking control.

8. A vehicle, characterized in that: The vehicle comprises: at least one cabin-pilot fusion controller; and A memory in communication with the at least one cabin-pilot fusion controller; wherein, The memory stores a computer program that can be executed by the at least one cabin-pilot fusion controller, and the computer program is executed by the at least one cabin-pilot fusion controller to enable the at least one cabin-pilot fusion controller to execute the automatic braking control method described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the cabin-cockpit fusion controller to implement the automatic braking control method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program which, when executed by a cabin-pilot fusion controller, implements the automatic braking control method according to any one of claims 1 to 6.

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