Vehicle braking control method and device, controller and readable storage medium

Abstract

The invention relates to a vehicle braking control method and device, a controller and a readable storage medium. The method comprises the steps that in the running process of a vehicle, when it is detected that a vehicle brake pedal is stepped down, an automatic emergency braking system of the vehicle is started; in the braking process of the automatic emergency braking system, when a pedal is switched from a stepped state to a non-stepped state, timing of the non-stepped state of the pedal is started, and the duration is determined; and under the condition that the duration reaches the duration threshold value, braking processing of the automatic emergency braking system for the vehicle is ended. By adopting the method, the driving safety of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle braking control method, device, controller and readable storage medium. Background Art

[0002] With the rapid development of active automotive safety technologies, Automatic Emergency Braking (AEB), a core feature for collision prevention, has become widely adopted in modern vehicles. By monitoring obstacles ahead of the vehicle and automatically braking when a collision risk is detected, AEB significantly reduces the likelihood of rear-end collisions and other accidents.

[0003] However, the AEB system in related technologies may exit braking intervention prematurely due to misjudging the driver's intention, resulting in the vehicle's failure to slow down or avoid in time, thereby causing potential collision risks and reducing vehicle driving safety. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle braking control method, device, controller and readable storage medium that can improve vehicle driving safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle braking control method, comprising:

[0006] When the vehicle is in motion and the brake pedal is detected to be depressed, the vehicle's automatic emergency braking system is activated;

[0007] During the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to a non-depressed state, the timing of the pedal non-depressed state is started and the duration of the pedal non-depressed state is determined;

[0008] When the duration reaches a duration threshold, the automatic emergency braking system ends the braking process for the vehicle.

[0009] In some embodiments, when the duration reaches a duration threshold, the automatic emergency braking system's braking processing of the vehicle is terminated, including: obtaining an initial duration threshold for the automatic emergency braking system; updating the initial duration threshold according to the vehicle's first vehicle status information to obtain a duration threshold; when the duration reaches the duration threshold, the automatic emergency braking system's braking processing of the vehicle is terminated.

[0010] In some embodiments, the initial duration threshold is updated according to the first vehicle status information of the vehicle to obtain the duration threshold, including: obtaining the first vehicle status information of the vehicle when it is determined that the threshold update judgment condition is met; updating the initial duration threshold according to the first vehicle status information to obtain the duration threshold.

[0011] In some embodiments, when the duration reaches a duration threshold, the automatic emergency braking system's braking processing of the vehicle is terminated, including: when the duration reaches the duration threshold, obtaining a time threshold to be updated based on the time threshold, and obtaining second vehicle status information of the vehicle; determining a delay duration based on the second vehicle status information; updating the time threshold to be updated based on the delay duration, and obtaining the time threshold after the delayed update; when the duration reaches the time threshold after the delayed update, the automatic emergency braking system's braking processing of the vehicle is terminated.

[0012] In some embodiments, when the duration reaches the duration threshold after the delayed update, the automatic emergency braking system's braking processing of the vehicle is terminated, including: when the duration reaches the duration threshold after the delayed update, obtaining the duration threshold to be updated according to the duration threshold after the delayed update; returning to execute the step of obtaining the second vehicle status information of the vehicle.

[0013] In some embodiments, the vehicle braking control method further includes: when it is determined based on the second vehicle state information that the vehicle has a driving risk, maintaining braking processing on the vehicle through the automatic emergency braking system.

[0014] In some embodiments, during the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to an undepressed state, the timing of the pedal undepressed state is started and the duration is determined, including: during the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to an undepressed state, the duration of the pedal being in the depressed state is determined; if the depression duration does not reach a preset first depression duration threshold, the timing of the pedal undepressed state is started and the duration is determined.

[0015] In some embodiments, the vehicle braking control method further includes: when the depression duration reaches a first depression duration threshold, maintaining braking processing for the vehicle through the automatic emergency braking system.

[0016] In some embodiments, the vehicle braking control method further includes: when the duration does not reach a duration threshold and the pedal switches from a non-depressed state to a depressed state, maintaining braking processing for the vehicle through the automatic emergency braking system.

[0017] In some embodiments, the vehicle braking control method also includes: when the duration reaches a duration threshold and the pressing duration does not reach a preset second pressing duration threshold, ending the automatic emergency braking system's braking processing of the vehicle, the pressing duration is the length of time the pedal remains in a pressed state during the process of braking the vehicle by the automatic emergency braking system.

[0018] In a second aspect, the present application further provides a vehicle brake control device, comprising:

[0019] A brake system activation module is used to activate the vehicle's automatic emergency braking system when it detects that the vehicle's brake pedal is depressed during vehicle driving;

[0020] a duration determination module, configured to start timing the pedal-not-depressed state and determine the duration of the pedal-not-depressed state when the pedal switches from the depressed state to the undepressed state during braking by the automatic emergency braking system;

[0021] The braking system control module is used to end the braking process of the automatic emergency braking system on the vehicle when the duration reaches a duration threshold.

[0022] In a third aspect, the present application further provides a controller comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the method provided in the first aspect above when executing the computer program.

[0023] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the method provided in the first aspect above when the computer program is executed by a processor.

[0024] The above-mentioned vehicle braking control method, device, controller and readable storage medium, when the vehicle is driving, activates the vehicle's automatic emergency braking system when it is detected that the vehicle's brake pedal is depressed, determines the duration of the pedal being in the undepressed state when the pedal switches from the depressed state to the undepressed state, and terminates the automatic emergency braking system's braking processing of the vehicle when the duration reaches a duration threshold. During the process of performing braking processing on the vehicle through the automatic emergency braking system, when the brake pedal switches from the depressed state to the undepressed state, determines the duration of the pedal being in the undepressed state, and terminates the automatic emergency braking system's braking processing of the vehicle when the duration reaches a duration threshold. The method can accurately identify the driver's intention based on the duration of the brake pedal being in the undepressed state, reduce the situation where the automatic emergency braking system exits the braking intervention prematurely, and thus improve the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 1 is a flow chart of a vehicle braking control method according to an embodiment;

[0027] Figure 2 A schematic diagram of a process flow for braking end processing in one embodiment;

[0028] Figure 3 A schematic flow chart of a vehicle braking control method according to another embodiment;

[0029] Figure 4 is a structural block diagram of a vehicle brake control device in one embodiment;

[0030] Figure 5 FIG. 4 is a diagram showing the internal structure of a controller in one embodiment. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0032] It should be noted that the terms "first", "second", etc. used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "including" and "having" used in this application and any variations thereof are intended to cover non-exclusive inclusions. The term "plurality" used in this application refers to two or more. The term "and / or" used in this application refers to one of the solutions or any combination of multiple solutions.

[0033] In an exemplary embodiment, Figure 1 As shown, a vehicle braking control method is provided, which is described by taking the method applied to a controller in a vehicle as an example. The controller can be used for vehicle braking control, including the following steps S102 to S106.

[0034] Step S102: During the driving process of the vehicle, when it is detected that the vehicle brake pedal is stepped on, the vehicle's automatic emergency braking system is activated.

[0035] The vehicle's brake pedal is the core operating component used by the driver to control vehicle deceleration or stopping. The brake pedal converts the driver's pedaling action into braking force through mechanical, hydraulic, or electronic signal transmission. It serves as the key interface between the driver and the vehicle's braking system. The pedal state can reflect the driver's operation of the brake pedal. For example, the pedal state can include a pressed state, indicating that the driver is braking, and a not pressed state, indicating that the driver is not pressing the brake pedal for control purposes. The pressed state indicates that the brake pedal is being pressed by the driver, while the not pressed state indicates that the brake pedal is not being pressed by the driver. A vehicle's automatic emergency braking system is an active safety technology designed to avoid or mitigate accident injuries by automatically detecting potential collision risks and triggering braking. The automatic emergency braking system monitors the vehicle's forward environment in real time using sensors such as radar and cameras. If the system determines that the distance to the vehicle, pedestrian, or obstacle ahead is less than a safety threshold and the driver fails to respond promptly, it automatically triggers emergency braking.

[0036] For example, while the vehicle is in motion, the vehicle controller may detect the brake pedal to determine its state. Upon detecting that the brake pedal is depressed, indicating that the driver has triggered a brake pedal depression action, the controller may, in response to the driver's brake pedal depression action, activate the vehicle's automatic emergency braking system to perform emergency braking. For example, when the brake pedal is depressed, the brake pedal's pedal state is depressed, indicating that the driver has applied the brake pedal. Due to various factors, such as braking timing, the controller may determine that the vehicle is at risk of collision and may proactively trigger the AEB system to apply braking action.

[0037] Step S104: During the braking process of the automatic emergency braking system, when the pedal switches from the depressed state to the undepressed state, start timing the undepressed state and determine the duration.

[0038] The "Not Pressed" state indicates that the driver has not directly stepped on the brake pedal, meaning they haven't activated the brake pedal. In vehicles with non-decoupled braking systems, the brake pedal and brake actuator are mechanically linked, with the driver's pedal operation being directly transmitted to the brake actuator through the mechanical structure. The AEB system can also control the brake actuator through the brake pedal when implementing intervention. However, if the AEB system's required braking deceleration is greater than the driver's manually activated braking deceleration, the speed at which the AEB system controls the brake pedal's depression will be greater than the driver's depressing speed. This means the driver's depressing speed cannot keep up with the brake pedal's depression speed, causing the brake pedal to actively depress even when the driver isn't touching it. At this point, the pedal switches to the "Not Pressed" state, indicating that the driver isn't controlling the brake pedal.

[0039] The duration is the cumulative length of time the brake pedal remains in the un-pressed state, and can be triggered to start timing when the pedal switches from the pressed state to the un-pressed state. The duration is the length of time the brake pedal remains in the un-pressed state. When the brake pedal's pedal state switches, the duration statistics need to be reset. For example, at time t1, the brake pedal switches from the pressed state to the un-pressed state, and timing of the un-pressed state can be started to determine the duration T1 of the pedal state being in the un-pressed state; at time t2, the brake pedal switches from the un-pressed state to the pressed state, and at time t3, it switches from the pressed state to the un-pressed state again, and the duration T1 can be determined to be t2-t1, and timing is restarted at time t3 to obtain the corresponding duration T2.

[0040] Optionally, during the AEB braking process, the AEB system can control the brake pedal to be depressed, or the driver can directly depress the brake pedal. If the driver's brake pedal depressing speed cannot keep up with the speed at which the AEB activates the brake pedal, the brake pedal's pedal state will switch, specifically from being pressed to being released, creating a "gas-like" effect for the driver. Upon detecting that the brake pedal's pedal state has switched from being pressed to being released, it indicates that the driver's brake pedal depressing has been released. The controller can then time the time the brake pedal remains in the released state to determine the duration of the released state.

[0041] Step S106: When the duration reaches the duration threshold, the automatic emergency braking system ends the braking process for the vehicle.

[0042] The duration threshold is used to determine whether the AEB system needs to be exited. The duration threshold can be set based on actual needs, such as 1 second, 2 seconds, or other values. For example, the controller can obtain the duration threshold and compare the duration with the duration threshold. If the duration reaches the duration threshold, the controller can determine that the driver of the vehicle has no braking demand and terminate the automatic emergency braking system's braking process on the vehicle. In some embodiments, if the duration does not reach the duration threshold, the controller can continue to monitor the duration and maintain the automatic emergency braking system's braking process on the vehicle.

[0043] In the above-mentioned vehicle braking control method, during the vehicle's driving process, when it is detected that the vehicle's brake pedal is depressed, the vehicle's automatic emergency braking system is activated. When the pedal switches from a depressed state to an undepressed state, the duration of the pedal being in the undepressed state is determined. If the duration reaches a duration threshold, the automatic emergency braking system's braking process for the vehicle is terminated. During the process of the automatic emergency braking system performing braking processing on the vehicle, when the brake pedal switches from a depressed state to an undepressed state, the duration of the pedal being in the undepressed state is determined. If the duration reaches a duration threshold, the automatic emergency braking system's braking process for the vehicle is terminated. This method can accurately identify the driver's intention based on the duration of the brake pedal being in the undepressed state, reduce the situation where the automatic emergency braking system exits braking intervention prematurely, and thus improve vehicle driving safety.

[0044] In an exemplary embodiment, when the duration reaches a duration threshold, the automatic emergency braking system's braking processing of the vehicle is terminated, including: obtaining an initial duration threshold for the automatic emergency braking system; updating the initial duration threshold according to the first vehicle status information of the vehicle to obtain a duration threshold; when the duration reaches the duration threshold, the automatic emergency braking system's braking processing of the vehicle is terminated.

[0045] The initial duration threshold may be a duration threshold configured for initialization of the automatic emergency braking system. For example, the initial duration threshold may be configured based on the vehicle's driver information, and different driver information may correspond to different initial duration thresholds. The first vehicle status information may include vehicle operating condition information, such as vehicle deceleration, driving scenario, and driving speed. The duration threshold is an updated duration threshold obtained by updating the initial duration threshold.

[0046] For example, during braking of a vehicle by an automatic emergency braking system, the controller may obtain an initial duration threshold for the vehicle's AEB system. In some embodiments, the initial duration threshold may be pre-configured for the vehicle's AEB system, and the controller may determine the initial duration threshold based on the AEB system configuration information. In some embodiments, the initial duration threshold may correspond to the vehicle's driver information. Different drivers may have different reaction capabilities, and thus a corresponding initial duration threshold may be configured. For example, the controller may obtain the vehicle's driver information and determine the corresponding initial duration threshold based on the driver information. For example, the controller may query a pre-configured initial duration threshold that matches the driver's identifier in the driver information.

[0047] During braking processing of a vehicle by an automatic emergency braking system, a controller may obtain first vehicle state information of the vehicle and, based on the first vehicle state information, update an initial duration threshold, such as by increasing or decreasing the initial duration threshold, to obtain a duration threshold. In some embodiments, the first vehicle state information may include the vehicle's overall deceleration. The controller may adjust the initial duration threshold based on the overall deceleration, such as by increasing or decreasing the initial duration threshold, to obtain a duration threshold. In some embodiments, the first vehicle state information may also include the vehicle's overall deceleration and driving scenario. The controller may adjust the initial duration threshold based on the overall deceleration and driving scenario, to obtain a duration threshold. The controller may compare the duration with the duration threshold. If it is determined that the duration reaches the duration threshold, indicating that the driver has been depressing the brake pedal for a certain period of time and that the driver may not have specified a request, the controller may exit the AEB system, such as by terminating the automatic emergency braking system's braking processing of the vehicle.

[0048] In this embodiment, the control is based on the first vehicle status information of the vehicle to update the initial duration threshold, and determines whether to end the braking processing of the automatic emergency braking system through the numerical relationship between the updated duration threshold and the duration. The duration threshold can be accurately determined based on the vehicle status information, and the reliability of the duration threshold can be ensured. By determining whether to exit the automatic emergency braking system through the duration threshold, the situation where the automatic emergency braking system exits the braking intervention prematurely can be reduced, thereby improving the safety of vehicle driving.

[0049] In an exemplary embodiment, an initial duration threshold is updated according to the first vehicle status information of the vehicle to obtain the duration threshold, including: obtaining the first vehicle status information of the vehicle when it is determined that the threshold update judgment condition is met; updating the initial duration threshold according to the first vehicle status information to obtain the duration threshold.

[0050] The threshold update determination condition is used to determine whether an update is required for the initial duration threshold. For example, the threshold update determination condition may include a first duration threshold. When the duration reaches the first duration threshold, the threshold update determination condition is considered satisfied, thereby triggering an update of the initial duration threshold. For another example, the threshold update determination condition may include a threshold update period. When the threshold update period is reached, the threshold update determination condition is considered satisfied, thereby triggering an update of the initial duration threshold.

[0051] Optionally, the controller may obtain a preset threshold update determination condition and determine whether the threshold update determination condition is satisfied. If the threshold update determination condition is determined to be satisfied, indicating that a duration threshold update is required, the controller may obtain first vehicle status information of the vehicle, and thereby update the initial duration threshold based on the first vehicle status information, thereby obtaining the duration threshold. In some embodiments, if the threshold update determination condition is determined not to be satisfied, indicating that an update of the initial duration threshold is not required, the controller may continue to monitor whether the threshold update determination condition is satisfied until the threshold update determination condition is determined to be satisfied, thereby triggering an update process for the initial duration threshold.

[0052] In this embodiment, when the threshold update judgment condition is met, the controller triggers the update of the initial duration threshold based on the first vehicle status information of the vehicle, which can accurately determine the update timing of the initial duration threshold and ensure the reliability of the duration threshold. By using the duration threshold to determine whether the automatic emergency braking system is to be exited or not, the situation where the automatic emergency braking system exits the braking intervention prematurely can be reduced, thereby improving the safety of vehicle driving.

[0053] In an exemplary embodiment, Figure 2 As shown, the process of ending the braking, that is, ending the braking process of the automatic emergency braking system on the vehicle when the duration reaches the duration threshold, includes steps S202 to S208.

[0054] Step S202: When the duration reaches the duration threshold, a to-be-updated duration threshold is obtained according to the duration threshold, and second vehicle status information of the vehicle is obtained.

[0055] The pending-update duration threshold is a duration threshold that requires updating. The pending-update duration threshold may include a preset duration threshold or may be derived based on a previously updated duration threshold. The second vehicle status information may include vehicle operating condition information and sensor information (e.g., information collected by sensors such as a lidar and a camera). The operating condition information may include at least one of a forward braking distance, a current vehicle speed, and a vehicle deceleration.

[0056] Optionally, the controller can determine a duration threshold, which can be a pre-set threshold or a duration threshold obtained after updating the initial duration threshold. The controller can perform a numerical comparison between the duration and the duration threshold. When it is determined based on the numerical comparison that the duration reaches the duration threshold, it indicates that the driver has been in the empty state of the brake pedal for a certain period of time, and the controller needs to consider whether to exit the AEB system. The controller obtains the to-be-updated duration threshold based on the duration threshold. For example, the controller can use the duration threshold as the to-be-updated duration threshold for this update. The controller can also obtain second vehicle status information of the vehicle at the current moment. For example, the controller can obtain the vehicle's operating condition information and sensor information at the current moment.

[0057] Step S204: Determine the delay duration based on the second vehicle state information.

[0058] The delay duration is the duration required to delay the determination based on the duration threshold. The delay duration can be determined based on the second vehicle status information. The delay duration can be greater than or equal to 0. When the delay duration is greater than 0, it indicates that a delay of a certain period is required before determining the determination. When the delay duration is equal to 0, no update is required and the determination can be made directly based on the pending update duration threshold.

[0059] For example, the controller may determine a delay duration for a pending update threshold based on the vehicle's second vehicle status information. For example, the controller may fit a timing curve based on information such as the forward braking distance, current vehicle speed, vehicle deceleration, and the pending update threshold in the second vehicle status information, and determine the corresponding delay duration based on the timing curve. Different second vehicle status information may correspond to different delay durations. For example, if the second vehicle status information determines that the vehicle's driving risk is high, a larger delay duration may be set to delay the disengagement of the AEB system.

[0060] Step S206: updating the to-be-updated duration threshold according to the delay duration to obtain the updated delayed duration threshold.

[0061] Optionally, the controller may use the delay duration to update the to-be-updated duration threshold, for example, by adding the delay duration to the to-be-updated duration threshold to obtain the delayed updated duration threshold, where the delayed updated duration threshold = the to-be-updated duration threshold + the delay duration.

[0062] Step S208: When the duration reaches the delayed updated duration threshold, the automatic emergency braking system ends the braking process for the vehicle.

[0063] The controller can determine whether to terminate the AEB system's braking process based on the updated delay duration threshold. For example, the controller can compare the duration with the updated delay duration threshold. If it is determined that the duration reaches the updated delay duration threshold, indicating that the driver's brake pedal has been in a non-depressed state for a certain period of time and has been delayed, and the driver may not have a braking demand, the controller can terminate the automatic emergency braking system's braking process on the vehicle.

[0064] In this embodiment, the controller can determine the delay duration based on the second vehicle status information of the vehicle, delay the update of the duration threshold according to the delay duration, and determine whether to end the braking processing of the AEB system according to the duration threshold after the delay update. The reliability of the driver's intention recognition can be determined, thereby reducing the situation where the automatic emergency braking system exits the braking intervention prematurely, thereby improving the safety of vehicle driving.

[0065] In an exemplary embodiment, when the duration reaches the time threshold after the delay update, the automatic emergency braking system's braking processing of the vehicle is terminated, including: when the duration reaches the time threshold after the delay update, obtaining the time threshold to be updated according to the time threshold after the delay update; returning to execute the step of obtaining the second vehicle status information of the vehicle.

[0066] Optionally, the controller can perform multiple delays for the AEB system exit determination based on the vehicle's real-time second vehicle status information. In some embodiments, when the duration reaches a delay-updated duration threshold, the controller can use the delay-updated duration threshold as the to-be-updated duration threshold and return to the step of obtaining the vehicle's second vehicle status information to perform the next delay determination process. In some embodiments, the delay process can be terminated when it is determined that the delay duration has reached a preset range. For example, when the delay duration is 0 or less than a preset threshold, the controller can terminate the delay process and perform the AEB system exit determination based on the delay duration threshold after this update. In some embodiments, the delay process can also be terminated when the number of delays reaches a threshold, or the total delay duration reaches a threshold, and the AEB system exit determination can be performed based on the delay duration threshold after this update.

[0067] In this embodiment, the exit judgment of the AEB system can be delayed at least once, so that the situation where the automatic emergency braking system exits the braking intervention prematurely can be reduced based on the vehicle status information of the vehicle, thereby improving the safety of vehicle driving.

[0068] In an exemplary embodiment, the vehicle braking control method further includes: in a case where it is determined based on the second vehicle state information that the vehicle has a driving risk, maintaining braking processing on the vehicle by the automatic emergency braking system.

[0069] For example, after obtaining the second vehicle state information, the controller may perform a risk analysis based on the second vehicle state information to determine whether the vehicle presents a driving risk. For example, based on the vehicle information and sensor information in the second vehicle state information, the controller may determine whether the vehicle presents a collision risk with a forward obstacle. If a collision risk is present, the controller may determine that the vehicle presents a driving risk. In this case, the controller may maintain braking action on the vehicle through the automatic emergency braking system, i.e., the controller may control the AEB system to perform braking action to ensure the vehicle's driving safety.

[0070] In this embodiment, when it is determined that the vehicle has a driving risk based on the second vehicle state information of the vehicle, the controller performs braking processing on the vehicle through the automatic emergency braking system, which can improve the driving safety of the vehicle.

[0071] In an exemplary embodiment, during the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to an undepressed state, the timing of the pedal undepressed state is started and the duration is determined, including: during the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to an undepressed state, the duration of the pedal being in the depressed state is determined; if the depression duration does not reach a preset first depression duration threshold, the timing of the pedal undepressed state is started and the duration is determined.

[0072] The "depressed duration" is the length of time the brake pedal remains depressed after the automatic emergency braking system (AEB) initiates braking action. This can be determined by timing statistics when the AEB initiates braking action. If the brake pedal remains depressed after the AEB initiates braking action, this indicates that the driver's brake pedal speed matches the AEB system's brake pedal depression speed. This means the driver's brake pedal speed is no less than the AEB system's brake pedal depression speed, indicating that the driver's brake pedal is not in the air. The "depressed duration" represents the duration of the matching between the driver's brake pedal speed and the AEB system's brake pedal depression speed. The first "depressed duration" threshold is used to determine whether the AEB system needs to be controlled, such as whether to maintain the AEB system's braking action or whether to determine the duration of the undepressed state to terminate the AEB system's braking action.

[0073] For example, during an automatic emergency braking system braking process, if the brake pedal switches from a depressed state to an undepressed state, the controller may determine the duration of the pedal's depression. Specifically, the controller may determine the duration of time during which the driver's brake pedal depression velocity matches the AEB system's brake pedal depression velocity. The controller may obtain a pre-configured first depression duration threshold and compare the depression duration with the first depression duration threshold. If the controller determines that the depression duration does not meet the pre-configured first depression duration threshold, it indicates that the duration of time during which the driver's brake pedal depression velocity matches the AEB system's brake pedal depression velocity is short, necessitating further determination of the driver's intention based on the duration of the undepressed state. The controller may then begin timing the undepressed state and determine the duration of time the pedal has remained undepressed. In some embodiments, the duration that the driver's brake pedal pressing speed matches the AEB system's brake pedal pressing speed is short, indicating that after the AEB system is started for braking, the driver's brake pedal is empty in a short period of time, and the driver may not have any braking needs. Therefore, further judgment of the driver's intention can be made based on the duration of the non-pressed state.

[0074] In this embodiment, after the AEB system is started for braking processing, when the pedal state is in the depressed state and the pedal depression time does not reach the preset first depression time threshold, it indicates that the duration of the driver's brake pedal depression speed matching the AEB system's brake pedal depression speed is short. The controller can determine the duration of the pedal state being in the undepressed state to make further judgment on the driver's intention. It can make two-level driver intention judgments based on the depression time of the depressed state and the duration of the undepressed state, thereby improving the accuracy of driver intention recognition and reducing the situation where the automatic emergency braking system exits braking intervention prematurely, thereby improving vehicle driving safety.

[0075] In an exemplary embodiment, the vehicle braking control method further includes: when the depression duration reaches a first depression duration threshold, maintaining braking processing for the vehicle through the automatic emergency braking system.

[0076] Among them, the pressing time is the duration during which the driver's pressing speed of the brake pedal matches the AEB system's pressing speed of the brake pedal. If the pressing time reaches the first pressing time threshold, it indicates that the driver's pressing speed of the brake pedal matches the AEB system's pressing speed of the brake pedal for a long time. After the AEB system is started for braking, the driver does not step on the brake pedal in vain for a long time, and the braking speed controlled by the driver is not less than the braking speed of the AEB system. The driver may have a braking demand, so that the AEB system can maintain braking processing for the vehicle.

[0077] Optionally, the controller can obtain a pre-configured first depression duration threshold, and compare the depression duration with the first depression duration threshold. When it is determined that the depression duration reaches the preset first depression duration threshold, it indicates that the driver's brake pedal depression speed matches the AEB system's brake pedal depression speed for a longer period of time, and the driver has a braking demand. The controller can then directly control the automatic emergency braking system to maintain braking of the vehicle.

[0078] In this embodiment, after the AEB system is started for braking processing, when the pedal state is in the depressed state and the depression time reaches a preset first depression time threshold, it indicates that the driver's brake pedal depression speed and the AEB system's brake pedal depression speed match for a long time, and the driver has a braking demand, so the automatic emergency braking system is controlled to maintain braking processing for the vehicle, which can reduce the situation where the automatic emergency braking system exits braking intervention prematurely, thereby improving the safety of vehicle driving.

[0079] In an exemplary embodiment, the vehicle braking control method further includes: maintaining braking of the vehicle by the automatic emergency braking system if the duration does not reach a duration threshold and the pedal switches from an undepressed state to a depressed state. Optionally, the controller may compare the duration with the duration threshold. If the duration does not reach the duration threshold and the pedal switches from an undepressed state to a depressed state, indicating that the driver has re-depressed the brake pedal and has a braking demand, the controller may control the automatic emergency braking system to maintain braking of the vehicle.

[0080] In this embodiment, when the duration does not reach the duration threshold and the pedal switches from the unpressed state to the pressed state, the controller can control the automatic emergency braking system to maintain braking processing for the vehicle, which can reduce the situation where the automatic emergency braking system exits the braking intervention prematurely, thereby improving the safety of vehicle driving.

[0081] In an exemplary embodiment, the vehicle braking control method also includes: when the duration reaches a duration threshold and the pressing duration does not reach a preset second pressing duration threshold, ending the automatic emergency braking system's braking processing of the vehicle, the pressing duration is the length of time the pedal remains in a pressed state during the process of braking the vehicle by the automatic emergency braking system.

[0082] The "depressed duration" is the length of time the brake pedal remains depressed after the automatic emergency braking system is activated to initiate braking. This duration can be determined by timing statistics when the automatic emergency braking system is activated. The second "depressed duration" threshold is used to determine whether the AEB system should be controlled, such as maintaining or terminating the AEB system's braking action.

[0083] For example, the controller may determine the duration of time the brake pedal remains depressed during braking by the automatic emergency braking system. The controller may obtain a pre-set second depression duration threshold and compare the depression duration with the second depression duration threshold. If the controller determines that the depression duration does not reach the pre-set second depression duration threshold, it indicates that the duration of time during which the driver's brake pedal depression speed matches the AEB system's brake pedal depression speed is shorter. If the duration reaches the duration threshold, indicating that the driver's brake pedal depression speed does not match the AEB system's brake pedal depression speed for a longer duration, the controller may determine that the driver has no braking demand and terminate the automatic emergency braking system's braking of the vehicle.

[0084] In this embodiment, when the duration reaches the duration threshold and the pressing duration does not reach the preset second pressing duration threshold, it indicates that the duration during which the driver's pressing speed for the brake pedal matches the AEB system's pressing speed for the brake pedal is shorter, and the duration during which the driver's pressing speed for the brake pedal does not match the AEB system's pressing speed for the brake pedal is longer, and the driver has no braking demand, thereby terminating the automatic emergency braking system's braking processing of the vehicle. The driver's intention can be judged based on the pressing duration of the pressed state and the duration of the non-pressed state, thereby improving the accuracy of driver intention recognition and reducing the situation where the automatic emergency braking system exits braking intervention prematurely, thereby improving vehicle driving safety.

[0085] This application also provides an application scenario, which applies the above-mentioned vehicle braking control method. Specifically, the application of the vehicle braking control method in this application scenario is as follows:

[0086] With the continuous development of active automotive safety technology, automatic emergency braking systems have become an important feature for vehicle safety. However, for non-decoupled braking systems, in certain circumstances, AEB may exit prematurely due to incorrect pedal status recognition, resulting in a failure to effectively avoid potential collision risks. Specifically, for non-decoupled braking systems, when the driver presses the brake pedal to trigger AEB, the driver's pedal depressing speed cannot keep up with the speed at which the brake pedal sinks when AEB activates. This can cause the system to mistakenly identify that the driver currently has no braking demand and subsequently exit the AEB response. In other words, vehicles equipped with automatic emergency braking (AEB) systems may misidentify the brake pedal status in certain scenarios, causing the function to exit prematurely, posing a potential safety risk.

[0087] Therefore, in a non-decoupled braking system structure, the deceleration of the driver pressing the brake pedal is less than the deceleration generated by the AEB triggering, and the pedal actively sinks, misjudging the driver's actual needs and causing AEB to exit prematurely. Figure 3 As shown, in the vehicle braking control method provided by the present application, a vehicle controller identifies the pedal state of the brake pedal. If the pedal state is depressed, the automatic emergency braking system is triggered to perform braking operations on the vehicle. After the automatic emergency braking system is triggered, if the brake pedal switches to the undepressed state, a timer is started. Different vehicle state information corresponds to different timer durations, such as a timer duration based on the vehicle's acceleration. If the brake pedal remains depressed within the timer duration, the automatic emergency braking system performs braking operations, specifically, executing an AEB system request. Furthermore, if the timer exceeds an initial timer threshold, the timer is updated to determine a timer threshold. For example, the timer threshold can be determined by fitting an optimal timer curve based on information such as the forward braking distance, current vehicle speed, and vehicle deceleration. If the timer threshold is reached and the brake pedal is not depressed, the automatic emergency braking system is terminated, i.e., the AEB system response is exited. Furthermore, if the brake pedal is not depressed when the automatic emergency braking system is triggered, the controller can directly perform braking operations on the automatic emergency braking system.

[0088] Furthermore, the vehicle braking control method provided by this application adds a timer strategy to prevent premature AEB exit in this scenario. During the timing period of the vehicle's ECU (Electronic Control Unit), the method identifies the driver's actual braking intention and ensures that AEB can fully exert its braking capability, thereby effectively preventing unexpected AEB exit. Specifically:

[0089] When the driver presses the brake pedal to brake, due to various factors such as the braking timing, the upper layer determines that the vehicle is at risk of collision and actively triggers AEB;

[0090] In a non-decoupled braking system equipped with AEB, if the braking deceleration required by the AEB system is greater than the braking deceleration established by the driver, the brake pedal will automatically sink;

[0091] The vehicle's Electronic Control Unit (ECU) detects the pedal status using a pedal travel sensor or an algorithm such as a pedal recognition strategy. If the pedal status changes from pressed to not pressed, the ECU activates a built-in timing strategy to start timing.

[0092] Before the timer expires, if the pedal is still not depressed, the vehicle's current state needs to be comprehensively judged in combination with information from other vehicle sensors (such as lidar and cameras). If the lidar and camera indicate that there is still a risk of collision with the obstacle ahead, the ECU should automatically extend the timer. The timing duration needs to be fitted with an optimal timing curve based on information such as the braking distance ahead, the current vehicle speed, and the vehicle's deceleration. If the ECU ultimately determines that the driver's operation exceeds the optimal curve boundary, the braking system will actively cancel the AEB deceleration request.

[0093] Before the timing ends, the ECU can fit the optimal timing curve based on the actual deceleration of the vehicle. A shorter timing period is set for low deceleration and a longer timing period is set for high deceleration. If the pedal state changes to pressed during the timing period, the previous timing is reset and the ECU restarts the timing.

[0094] The ECU restarts the timing from the current pedal travel state to ensure accurate implementation of the timing strategy, and the timing duration can be determined based on the specific application scenario. By setting a time delay judgment, the driver can be given enough time to adjust the pedal state, thus avoiding unexpected AEB disengagement due to inaccurate pedal state recognition.

[0095] The vehicle braking control method provided in this application incorporates a pedal state recognition strategy to more accurately identify driver intent. When AEB is triggered during braking, this pedal state recognition strategy is added, adding a timer to prevent premature AEB disengagement, providing active safety performance. In terms of system architecture, a non-decoupled braking system, based on this pedal state strategy, addresses the scenario of accidental AEB disengagement. The implementation in this scenario offers the same benefits as a decoupled braking system, while also reducing hardware costs.

[0096] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps. It is understandable that the various steps in different embodiments can be freely combined as needed, and the various non-contradictory schemes formed by the combination all fall within the scope of protection of this application.

[0097] Based on the same inventive concept, embodiments of the present application further provide a vehicle brake control device for implementing the aforementioned vehicle brake control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle brake control device embodiments provided below can be found in the above-described limitations of the vehicle brake control method and will not be further elaborated here.

[0098] In an exemplary embodiment, Figure 4 As shown, a vehicle braking control device 400 is provided, comprising: a braking system starting module 402, a duration determination module 404 and a braking system control module 406, wherein:

[0099] The brake system activation module 402 is used to activate the vehicle's automatic emergency braking system when it detects that the vehicle's brake pedal is depressed during the vehicle's driving process;

[0100] a duration determination module 404 for, during the braking process of the automatic emergency braking system, starting to time the pedal-not-depressed state and determining a duration when the pedal switches from the depressed state to the undepressed state;

[0101] The braking system control module 406 is configured to terminate the braking process of the vehicle by the automatic emergency braking system when the duration reaches a duration threshold.

[0102] In some embodiments, the braking system control module 406 is also used to obtain an initial duration threshold for the automatic emergency braking system; update the initial duration threshold according to the first vehicle status information of the vehicle to obtain a duration threshold; and end the braking processing of the vehicle by the automatic emergency braking system when the duration reaches the duration threshold.

[0103] In some embodiments, the braking system control module 406 is further configured to obtain first vehicle status information of the vehicle when it is determined that the threshold update determination condition is met; and update the initial duration threshold according to the first vehicle status information to obtain the duration threshold.

[0104] In some embodiments, the braking system control module 406 is also used to obtain a time threshold to be updated based on the time threshold when the duration reaches a time threshold, and obtain second vehicle status information of the vehicle; determine the delay duration based on the second vehicle status information; update the time threshold to be updated based on the delay duration, and obtain the time threshold after the delay update; and end the braking processing of the automatic emergency braking system on the vehicle when the duration reaches the time threshold after the delay update.

[0105] In some embodiments, the braking system control module 406 is also used to obtain the time threshold to be updated according to the time threshold after the delay update when the duration reaches the time threshold after the delay update; and return to execute the step of obtaining the second vehicle status information of the vehicle.

[0106] In some embodiments, the braking system control module 406 is further configured to maintain braking processing on the vehicle through the automatic emergency braking system when it is determined based on the second vehicle state information that the vehicle has a driving risk.

[0107] In some embodiments, the duration determination module 404 is also used to determine the duration of the pedal being in the depressed state when the pedal switches from the depressed state to the undepressed state during the braking process of the automatic emergency braking system; if the depression duration does not reach the preset first depression duration threshold, start timing the pedal undepressed state and determine the duration.

[0108] In some embodiments, the duration determination module 404 is further configured to continue braking the vehicle through the automatic emergency braking system when the depression duration reaches a first depression duration threshold.

[0109] In some embodiments, the braking system control module 406 is further configured to maintain braking of the vehicle through the automatic emergency braking system when the duration does not reach a duration threshold and the pedal switches from a non-depressed state to a depressed state.

[0110] In some embodiments, the braking system control module 406 is also used to end the automatic emergency braking system's braking processing of the vehicle when the duration reaches a duration threshold and the depression duration does not reach a preset second depression duration threshold. The depression duration is the length of time the pedal remains in a depressed state during the process of braking the vehicle by the automatic emergency braking system.

[0111] Each module in the vehicle brake control device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within the controller in hardware form, or may be stored in memory within the controller in software form, allowing the processor to call and execute the corresponding operations of each module.

[0112] In an exemplary embodiment, a controller is provided, the internal structure of which can be shown as follows: Figure 5 As shown. The controller includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the controller is used to store various data involved in the vehicle braking control method. The input / output interface of the controller is used to exchange information between the processor and external devices. The communication interface of the controller is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle braking control method is implemented.

[0113] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the controller to which the solution of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0114] In one embodiment, a controller is further provided, comprising a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0115] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0116] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0117] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0118] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0119] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0120] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle braking control method, characterized in that: The method comprises: When the vehicle is in motion and the brake pedal is detected to be depressed, the vehicle's automatic emergency braking system is activated; During the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to a non-depressed state, starting to time the pedal non-depressed state and determining a duration; When the duration reaches a duration threshold, the automatic emergency braking system ends the braking process on the vehicle.

2. The method according to claim 1, characterized in that When the duration reaches a duration threshold, ending the braking process of the vehicle by the automatic emergency braking system includes: Obtaining an initial duration threshold for the automatic emergency braking system; updating the initial duration threshold according to the first vehicle state information of the vehicle to obtain a duration threshold; When the duration reaches the duration threshold, the braking process of the vehicle by the automatic emergency braking system is terminated.

3. The method according to claim 2, characterized in that The updating of the initial duration threshold according to the first vehicle state information of the vehicle to obtain the duration threshold includes: When it is determined that the threshold update determination condition is met, obtaining first vehicle state information of the vehicle; The initial duration threshold is updated according to the first vehicle state information to obtain a duration threshold.

4. The method according to claim 1, wherein When the duration reaches a duration threshold, ending the braking process of the vehicle by the automatic emergency braking system includes: When the duration reaches a duration threshold, obtaining a to-be-updated duration threshold according to the duration threshold, and acquiring second vehicle state information of the vehicle; determining a delay duration based on the second vehicle state information; Update the to-be-updated duration threshold according to the delay duration to obtain the updated delayed duration threshold; When the duration reaches the delayed updated duration threshold, the braking process of the vehicle by the automatic emergency braking system is terminated.

5. The method according to claim 4, characterized in that When the duration reaches the delayed updated duration threshold, ending the braking process of the vehicle by the automatic emergency braking system includes: When the duration reaches the delayed updated duration threshold, obtaining the to-be-updated duration threshold according to the delayed updated duration threshold; Return to the step of obtaining the second vehicle status information of the vehicle.

6. The method according to claim 4, characterized in that The method further comprises: When it is determined based on the second vehicle state information that the vehicle has a driving risk, the braking process for the vehicle by the automatic emergency braking system is maintained.

7. The method according to claim 1, characterized in that During the braking process of the automatic emergency braking system, when the pedal switches from a depressed state to a non-depressed state, starting to time the pedal non-depressed state and determining a duration thereof includes: During a braking process of the automatic emergency braking system, when the pedal switches from a depressed state to a non-depressed state, determining a depression time duration of the pedal in the depressed state; When the pedal pressing duration does not reach a preset first pedal pressing duration threshold, the timing of the pedal non-pressing state is started and the duration is determined.

8. The method according to claim 7, characterized in that The method further comprises: When the depression duration reaches the first depression duration threshold, the automatic emergency braking system continues to perform braking processing on the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises at least one of the following: When the duration does not reach the duration threshold and the pedal switches from the undepressed state to the depressed state, continuing to perform braking processing on the vehicle through the automatic emergency braking system; When the duration reaches the duration threshold and the depression duration does not reach the preset second depression duration threshold, the automatic emergency braking system's braking process for the vehicle is terminated. The depression duration is the time the pedal remains in the depressed state during the braking process of the vehicle by the automatic emergency braking system.

10. A vehicle brake control device, characterized in that: The device comprises: A brake system activation module is used to activate the vehicle's automatic emergency braking system when it detects that the vehicle's brake pedal is depressed during vehicle driving; a duration determination module, configured to, during a braking process of the automatic emergency braking system, start timing the pedal-not-depressed state and determine a duration when the pedal switches from a depressed state to a non-depressed state; The braking system control module is configured to terminate the braking process of the vehicle by the automatic emergency braking system when the duration reaches a duration threshold.

11. A controller comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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