Calibration method, system and equipment for vehicle braking starting point position and medium

Abstract

The invention provides a calibration method, system and device for a vehicle braking starting point position and a medium. The calibration method comprises the steps that a vehicle body size configuration file is obtained; according to the vehicle body size configuration file, the vehicle body of the test vehicle is extended by a preset length in the movement direction to obtain a virtual vehicle body; the virtual vehicle body is used as a reference, the unified safety braking distance is used as a benchmark, the braking starting point position of the test vehicle is calibrated according to different test vehicle speeds and different target vehicle speeds, and the motion directions of the test vehicle and the target vehicle intersect. According to the invention, the actual collision between the test vehicle and the target vehicle is avoided, so that the safety risk is solved, and the brake starting point position which can be reached by the test vehicle at each speed point can be obtained.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, system, equipment and medium for calibrating a vehicle braking starting point position. Background Art

[0002] With the increasing popularity of assisted driving functions and the continuous improvement of active safety technology performance, automakers are also conducting more comprehensive testing and verification of related functions. When targeting vehicle braking scenarios, it is necessary to calibrate the vehicle's braking distance, and vehicle verification testing can be carried out in the test site.

[0003] In the prior art, brake tests can be performed on a dummy car model in a field, but the dummy car's chassis power system performance is limited and cannot accelerate to high-speed scenes. Moreover, collisions between the dummy car and the real car during testing will damage the test vehicle and the dummy car's power chassis, posing a greater risk. In addition, brake tests can also be performed on a simulation bench, but the simulation environment cannot guarantee the complete restoration of the brake scene's authenticity, and using it for functional testing will deviate from authenticity. In addition, both the test vehicle and the target vehicle can be tested using real cars, but high-speed braking scenes are too dangerous, and collisions with real cars pose a greater risk. Therefore, there is room for improvement. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a method, system, equipment and medium for calibrating the vehicle braking starting point position, which is used to solve the problem of collision between the test vehicle and the target vehicle in the braking scenario of the vehicle in the prior art, thereby posing a safety risk.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a method for calibrating a vehicle braking starting point position, comprising:

[0006] Get the vehicle body size profile;

[0007] According to the body size configuration file, the body of the test vehicle is extended by a preset length along the movement direction to obtain a virtual body;

[0008] With the virtual vehicle body as a reference and a uniform safe braking distance as a benchmark, the braking starting position of the test vehicle is calibrated for different test vehicle speeds and different target vehicle speeds, wherein the movement directions of the test vehicle and the target vehicle intersect.

[0009] In one embodiment of the present invention, the step of extending the body length of the test vehicle along the moving direction according to the body size configuration file to obtain a virtual body includes:

[0010] When in a reversing scenario, the rear end of the test vehicle is extended by a preset length according to the vehicle body size profile to obtain a virtual vehicle body;

[0011] When in the forward scenario, the front of the test vehicle is extended by a preset length according to the vehicle body size configuration file to obtain a virtual vehicle body.

[0012] In one embodiment of the present invention, the step of calibrating the braking starting position of the test vehicle for different test vehicle speeds and different target vehicle speeds using the virtual vehicle body as a reference and a unified safe stopping distance as a benchmark includes:

[0013] Controlling the test vehicle and the target vehicle to travel at a first target speed and a second target speed respectively;

[0014] Obtaining a first virtual interval between the virtual vehicle body and the target vehicle according to a first actual interval between the test vehicle and the target vehicle and a preset length, wherein the first actual interval is a distance from the test vehicle to an extension line of a near side edge of the target vehicle;

[0015] Obtaining a theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and a preset braking acceleration;

[0016] When the virtual vehicle body moves to the theoretical braking starting position, controlling the braking of the virtual vehicle body with the braking acceleration to obtain an actual braking distance of the virtual vehicle body;

[0017] The braking starting point position of the test vehicle is confirmed based on a comparison result of the actual braking distance and the theoretical braking distance.

[0018] In one embodiment of the present invention, the step of obtaining the theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and the preset braking acceleration includes:

[0019] Obtaining a second actual distance between the test vehicle and the target vehicle, where the second actual distance is a distance from the target vehicle to an extension line of a near side of the test vehicle;

[0020] obtaining a first time based on the first virtual interval and a first target speed;

[0021] obtaining a second time based on the second actual interval and the second target speed;

[0022] When the first time is less than the second time, a theoretical braking starting position of the virtual vehicle body is obtained according to the first virtual interval, the safety distance, the first target speed and a preset braking acceleration.

[0023] In one embodiment of the present invention, the step of obtaining the theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and the preset braking acceleration includes:

[0024] Obtaining a second actual distance between the test vehicle and the target vehicle, where the second actual distance is a vertical distance from an extension line of the target vehicle to a near side of the test vehicle;

[0025] obtaining a first time based on the first virtual interval, the safety distance, and the first target speed;

[0026] obtaining a second time based on the second actual interval and the second target speed;

[0027] When the first time is less than the second time, a theoretical braking starting position of the virtual vehicle body is obtained according to the first virtual interval, the safety distance, the first target speed and a preset braking acceleration.

[0028] In one embodiment of the present invention, the step of obtaining the theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and the preset braking acceleration includes:

[0029] Calculating a theoretical braking distance of the test vehicle according to the first target speed and a preset braking acceleration;

[0030] determining a theoretical driving distance according to the first virtual interval, the safety distance, and the theoretical braking distance;

[0031] A theoretical braking starting position is determined according to the theoretical driving distance and the current position of the test vehicle.

[0032] In one embodiment of the present invention, the theoretical braking distance S satisfies:

[0033] Wherein, Ve represents the first target speed, and a represents the braking acceleration preset for the test vehicle.

[0034] The present invention also provides a system for calibrating the vehicle braking starting point position, comprising:

[0035] An acquisition unit, used for acquiring a vehicle body size configuration file;

[0036] a configuration unit, configured to extend the body of the test vehicle by a preset length along a moving direction according to the body size configuration file to obtain a virtual body;

[0037] A calibration unit is used to calibrate the braking starting position of the test vehicle for different test vehicle speeds and different target vehicle speeds with the virtual vehicle body as a reference and a unified safe braking distance as a benchmark, wherein the movement directions of the test vehicle and the target vehicle intersect.

[0038] The present invention further provides an electronic device, comprising:

[0039] one or more processors;

[0040] A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the vehicle braking starting position calibration method as described in any one of the above items.

[0041] The present invention also proposes a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute any of the above-mentioned methods for calibrating the vehicle braking starting point position.

[0042] As described above, the method, system, device and medium for calibrating the braking starting position of a vehicle of the present invention have the following beneficial effects: the present invention can virtually extend the length of the vehicle body of the test vehicle to obtain a virtual body through a body size configuration file. With the virtual body as a reference, when the test vehicle is driving normally, an emergency braking test is performed with the virtual body. Even if the virtual body collides with the target vehicle, there will be no actual collision between the test vehicle and the target vehicle, thereby resolving the safety risk. Moreover, based on a unified safe braking distance, the braking starting position of the test vehicle is calibrated for different test vehicle speeds and different target vehicle speeds, and the corresponding braking starting position of the test vehicle at each initial speed point can be accurately obtained, thereby completing the braking test of the test vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic flow chart of a method for calibrating a vehicle braking starting point position provided in one embodiment of the present invention.

[0044] Figure 2 A schematic diagram of the positions of a test vehicle and a target vehicle provided in one embodiment of the present invention.

[0045] Figure 3 This is a structural block diagram of a vehicle braking starting point position calibration system provided by one embodiment of the present invention.

[0046] Figure 4 FIG. 1 is a structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0048] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0049] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0050] See also Figures 1 to 4 The present invention proposes a method, system, device, and medium for calibrating the vehicle's braking starting point. These methods can be applied in vehicle emergency braking scenarios. By virtually extending the length of a test vehicle to create a virtual vehicle body, the present invention uses this virtual vehicle body for brake testing and verification. This allows the test vehicle to maintain a sufficient safety distance, avoiding collision risks, and safely calibrating the braking starting point at various speeds. This is described in detail below through specific embodiments.

[0051] See also Figure 1 and Figure 2 In one embodiment of the present invention, a method for calibrating the vehicle braking starting point position is proposed, which may include the following steps.

[0052] Step S10: Obtain a vehicle body size configuration file.

[0053] Specifically, such as Figure 2 As shown, Figure 2 Figure 1 shows the travel paths of test vehicle 101 and target vehicle 102. In braking scenarios, the test vehicle needs to make repeated attempts to calibrate the starting position. During the test, there is a risk of entering the safety distance e and colliding with the target vehicle. Therefore, by virtually extending the length of the test vehicle to maintain a sufficient safety distance, braking distances at different speeds can be safely calibrated.

[0054] The body length of the test vehicle 101 is a. By virtually extending the body length a of the test vehicle 101 by a preset length b, a virtual body length c of the test vehicle 101 can be obtained. Specifically, the body size profile refers to a profile that virtually extends the body length a of the test vehicle 101 by the preset length b.

[0055] The target vehicle 102 is traveling toward the test vehicle 101. The vertical distance between the target vehicle 102 and the edge of the test vehicle 101 is f, and the vertical distance between the edge of the test vehicle 101 and the edge of the target vehicle 102 is b+d. In the figure, e is the safety distance, which refers to the minimum distance that needs to be maintained between the virtual body and the target vehicle 102 when the test vehicle 102 brakes to a stop.

[0056] Step S20: According to the vehicle body size configuration file, the vehicle body of the test vehicle is extended by a preset length along the moving direction to obtain a virtual vehicle body.

[0057] Specifically, the preset length b in the configuration file is a calibratable value, i.e., the value of the preset length b can be adjusted accordingly based on different braking test scenarios. After the length of the test vehicle 101 is virtually extended to generate a virtual body, the virtual body can be used as a reference to conduct a braking test between the virtual body and the target vehicle 102.

[0058] In one embodiment of the present invention, step S20 may include step S210 and step S220.

[0059] Step S210: When in the forward scenario, according to the vehicle body size configuration file, the front of the test vehicle is extended by a preset length to obtain a virtual vehicle body.

[0060] Specifically, for a braking scenario where the test vehicle 101 is traveling forward, the length of the test vehicle 101 is virtually extended on the front side of the test vehicle 101 to create a virtual body. A coordinate system is then established with the front of the virtual body as the origin. Within this established coordinate system, the coordinate positions of the test vehicle 101 and the target vehicle 102 are calibrated, allowing for quantitative analysis of the braking performance of the test vehicle 101.

[0061] Step S220: When in a reversing scenario, the rear end of the test vehicle is extended by a preset length according to the vehicle body size configuration file to obtain a virtual vehicle body.

[0062] Specifically, for the braking scenario when the test vehicle 101 is reversing, such as Figure 2As shown, the length of the test vehicle 101 is virtually extended at the rear of the test vehicle 101 to create a virtual body. A coordinate system is then established with the rear of the virtual body as the origin. Within this established coordinate system, the coordinate positions of the test vehicle 101 and the target vehicle 102 are calibrated to perform quantitative analysis of the braking performance of the test vehicle 101.

[0063] Step S30: Using the virtual vehicle body as a reference and a unified safe braking distance as a benchmark, calibrate the braking starting position of the test vehicle for different test vehicle speeds and different target vehicle speeds, wherein the movement directions of the test vehicle and the target vehicle intersect.

[0064] Specifically, based on the unified safe braking distance, the braking starting position of the test vehicle is calibrated for different test vehicle speeds and different target vehicle speeds, so that the braking starting position corresponding to the test vehicle at each initial speed point can be accurately obtained, thereby completing the braking test of the test vehicle.

[0065] In one embodiment of the present invention, step S30 may include the following steps.

[0066] Step S310: Control the test vehicle and the target vehicle to travel at a first target speed and a second target speed respectively.

[0067] Specifically, in order to perform a brake test verification on the test vehicle 101 and the target vehicle 102 during a braking scenario test, it is necessary to first control the test vehicle 101 and the target vehicle 102 to start and accelerate, and ensure that the test vehicle 101 and the target vehicle 102 can reach a preset first target speed and a preset second target speed, respectively, at a preset position. Furthermore, the test vehicle 101 and the target vehicle 102 are driven at the first target speed and the second target speed, respectively. When the target vehicle 102 approaches the test vehicle 101, the test vehicle 101 can perform a brake test.

[0068] Step S320: Obtain a first virtual distance between the virtual vehicle body and the target vehicle based on a first actual distance between the test vehicle and the target vehicle and a preset length, wherein the first actual distance is a distance from the test vehicle to an extension line of a near side edge of the target vehicle.

[0069] Specific, concrete, such as Figure 2As shown, the actual distance between the test vehicle 101 and the target vehicle 102 can be calculated. The extended line of the target vehicle 102 intersects the extended line of the test vehicle 101's driving trajectory to obtain an intersection point, and the distance between the intersection point and the test vehicle 101 is used as the first actual distance. Because the test vehicle 101 needs to brake, the vertical distance b+d between the edges of the test vehicle 101 and the target vehicle 102 is used as the first actual distance between the test vehicle 101 and the target vehicle 102.

[0070] In addition, the first actual distance between the target vehicle 102 and the test vehicle 101 can also be obtained in the following manner. Specifically, Figure 2 As shown, the driving trajectory of the test vehicle 101 and the driving trajectory of the target vehicle 102 can be obtained. The driving trajectory of the test vehicle 101 and the driving trajectory of the target vehicle 102 are fitted to obtain the intersection of the driving trajectory of the test vehicle 101 and the driving trajectory of the target vehicle 102. The distance between the test vehicle 101 and the above-mentioned intersection is obtained, and this distance is subtracted from half of the body of the target vehicle 102 to obtain the first actual separation between the test vehicle 101 and the target vehicle 102. The first actual separation is the vertical distance between the edges of the body of the test vehicle 101 and the target vehicle 102, which is b + d.

[0071] Correspondingly, the actual distance b+d is subtracted from the preset length b to obtain the first virtual distance d between the test vehicle and the target vehicle. Considering the virtual vehicle body, when the virtual vehicle body is outside the boundary of the safety distance e, a sufficient safety distance is ensured between the test vehicle 101 and the target vehicle 102.

[0072] Step S330: Obtain a theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and a preset braking acceleration.

[0073] In another embodiment of the present invention, step S330 may include the following steps.

[0074] Step S3301: Acquire a second actual distance between the test vehicle and the target vehicle, where the second actual distance is a distance from the target vehicle to an extension line of the near side of the test vehicle.

[0075] Step S3302: Acquire a first time based on the first virtual interval and a first target speed.

[0076] Step S3303: Acquire a second time based on the second actual interval and the second target speed.

[0077] Step S3304: When the first time is less than the second time, the theoretical braking starting position of the virtual vehicle body is obtained according to the first virtual interval, the safety distance, the first target speed and the preset braking acceleration.

[0078] Specifically, such as Figure 2 As shown, first, a second actual interval between target vehicle 102 and test vehicle 101 is obtained. Then, if test vehicle 101 and target vehicle 102 are traveling at a first target speed and a second target speed, respectively, a first time can be calculated using the first virtual interval and the first target speed, and a second time can be calculated using the second actual interval and the second target speed. The first time and the second time are then compared, and the travel of test vehicle 101 can be controlled based on the comparison result.

[0079] If the first time is greater than the second time, indicating that the travel distance of the test vehicle 101 has not yet reached the first virtual interval, the travel distance of the target vehicle 102 has reached and exceeded the second actual interval, and the target vehicle 102 has already driven away, there will be no collision between the test vehicle 101 and the target vehicle 102.

[0080] If the first time is less than the second time, indicating that the target vehicle 102 has not yet reached the second actual distance, the test vehicle 101 has already reached and exceeded the first virtual distance. If the target vehicle 102 continues to move forward, a collision will occur between the test vehicle 101 and the target vehicle 102. Therefore, the test vehicle 101 needs to perform emergency braking and obtain the theoretical braking starting position of the virtual vehicle body.

[0081] In another embodiment of the present invention, step S330 may further include the following steps.

[0082] Step S3311: Acquire a second actual distance between the test vehicle and the target vehicle, where the second actual distance is a vertical distance from the target vehicle to an extension line of the near side of the test vehicle.

[0083] Step S3312: Obtain a first time based on the first virtual interval, the safety distance, and the first target speed.

[0084] Step S3313: Acquire a second time based on the second actual interval and the second target speed.

[0085] Step S3314: When the first time is less than the second time, the theoretical braking starting position of the virtual vehicle body is obtained according to the first virtual interval, the safety distance, the first target speed and the preset braking acceleration.

[0086] Specifically, such as Figure 2As shown, first, a second actual interval between target vehicle 102 and test vehicle 101 is obtained. Next, if test vehicle 101 immediately brakes, target vehicle 102 travels at a second target speed. A first time is calculated using the first virtual interval, the safety distance, and the first target speed. A second time is calculated using the second actual interval and the second target speed. The first time and the second time are compared, and the travel of test vehicle 101 is controlled based on the comparison result.

[0087] If the first time is greater than the second time, indicating that the travel distance of the test vehicle 101 has not yet reached the first virtual interval, the travel distance of the target vehicle 102 has reached and exceeded the second actual interval, and the target vehicle 102 has already driven away, there will be no collision between the test vehicle 101 and the target vehicle 102.

[0088] If the first time is less than the second time, indicating that the target vehicle 102 has not yet reached the second actual distance, the test vehicle 101 has already reached the first virtual distance. If the target vehicle 102 continues to move forward, a collision between the test vehicle 101 and the target vehicle 102 may occur. Therefore, the test vehicle 101 needs to perform emergency braking and obtain the theoretical braking starting position of the virtual vehicle body.

[0089] In one embodiment of the present invention, step S330 may include the following steps.

[0090] Step S331: Calculate the theoretical braking distance of the test vehicle according to the first target speed and the preset braking acceleration.

[0091] Step S332: Determine a theoretical driving distance according to the first virtual interval, the safety distance, and the theoretical braking distance.

[0092] Step S333: Determine a theoretical braking starting point according to the theoretical driving distance and the current position of the test vehicle.

[0093] Specifically, the theoretical braking distance of test vehicle 101 can be obtained based on the first target speed of test vehicle 101 and the preset braking acceleration. By subtracting the virtual distance d from the preset safety distance e, the theoretical braking distance of test vehicle 101 and the travel distance at the first target speed can be obtained. Since the theoretical braking distance can be calculated, the travel distance of test vehicle 101 can also be calculated. The theoretical braking starting point position of test vehicle 101 can be determined based on the current position of test vehicle 101 and the travel distance.

[0094] Specifically, for the theoretical braking distance S, it can be satisfied:

[0095] Wherein, Ve represents the initial speed of the test vehicle 101 , and a represents the preset braking acceleration of the test vehicle 101 .

[0096] Step S340: When the virtual vehicle body moves to the theoretical braking starting position, the virtual vehicle body is braked by controlling the braking acceleration to obtain an actual braking distance of the virtual vehicle body.

[0097] Specifically, since the above analysis is based on theory, actual testing is necessary to verify its consistency with the theory. When the test vehicle 101 reaches the theoretical braking starting point, the test vehicle 101 is controlled to brake, thereby obtaining the actual braking distance of the test vehicle 101. The braking acceleration corresponding to the braking action of the test vehicle 101 at different initial speeds is the same, that is, the braking acceleration is a constant value.

[0098] Step S350: confirming the braking starting point position of the test vehicle according to the comparison result of the actual braking distance and the theoretical braking distance.

[0099] Specifically, when the actual braking distance is the same as the theoretical braking distance, the theoretical braking starting position is recorded as the actually required braking starting position, thereby achieving calibration of the braking starting position.

[0100] Specifically, such as Figure 2 As shown, in a reversing scenario, when the actual braking distance equals the theoretical braking distance, the virtual distance between the virtual rear end and the target vehicle is exactly equal to the safe distance, and a collision between the virtual rear end and the target vehicle is unlikely. Furthermore, the distance between the actual rear end of the test vehicle and the target vehicle is equal to the sum of the safe distance e and the preset length b, making a collision between test vehicle 101 and target vehicle 102 impossible. Under these conditions, it is guaranteed that in an actual reversing scenario, the vehicle will stop within the safe distance e. In this case, test vehicle 101 is able to complete the braking action within the theoretical braking distance, indicating successful calibration and finding the vehicle's braking starting point.

[0101] In addition, it is worth noting that since the safety distance is a calibrable value, for example, the safety distance is 0.5m to 2m. When the safety distance is 0.5m and 2m respectively, the calibration of the corresponding vehicle braking starting position is different. Therefore, the corresponding vehicle braking starting position can be calibrated based on different safety distances.

[0102] See also Figure 3 In one embodiment of the present invention, a system for calibrating the vehicle braking starting point position is also proposed, which may include an acquisition unit 110, a configuration unit 120 and a calibration unit 130.

[0103] The acquiring unit 110 is configured to acquire a vehicle body size configuration file.

[0104] The configuration unit 120 is configured to extend the body of the test vehicle by a preset length along the moving direction according to the body size configuration file to obtain a virtual body.

[0105] The calibration unit 130 is used to calibrate the braking starting position of the test vehicle for different test vehicle speeds and different target vehicle speeds with the virtual vehicle body as a reference and a unified safe braking distance as a benchmark, wherein the movement directions of the test vehicle and the target vehicle intersect.

[0106] See also Figure 4 In one embodiment of the present invention, an electronic device 10 may be provided. The electronic device 10 may include a memory 11, a processor 12 and a bus. It may also include a computer program stored in the memory 11 and executable on the processor 12, such as a calibration program for the vehicle braking starting position.

[0107] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 10, such as a mobile hard disk of the electronic device 10. In other embodiments, the memory 11 can also be an external storage device of the electronic device 10, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 10. Furthermore, the memory 11 can also include both an internal storage unit of the electronic device 10 and an external storage device. The memory 11 can not only be used to store application software installed in the electronic device 10 and various types of data, such as the code for calibrating the vehicle braking starting position, but can also be used to temporarily store data that has been output or is to be output.

[0108] In some embodiments, the processor 12 may be composed of an integrated circuit, such as a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips. The processor 12 is the control core (Control Unit) of the electronic device 10, connecting the various components of the entire electronic device 10 using various interfaces and lines. It executes or runs programs or modules stored in the memory 11 (such as a vehicle braking starting position calibration program) and calls data stored in the memory 11 to perform various functions of the electronic device 10 and process data.

[0109] The processor 12 executes the operating system and various installed applications of the electronic device 10. The processor 12 executes the applications to implement the steps in the above-mentioned method for calibrating the vehicle braking starting point position.

[0110] Exemplarily, the computer program may be divided into one or more modules, which are stored in the memory 11 and executed by the processor 12 to complete the present application. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 10. For example, the computer program may be divided into an acquisition unit 110, a configuration unit 120, and a calibration unit 130.

[0111] The above-mentioned integrated unit implemented in the form of a software functional module can be stored in a computer-readable storage medium, which can be non-volatile or volatile. The above-mentioned software functional module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, computer device, or network device, etc.) or a processor to perform part of the functions of the vehicle braking starting point position calibration method described in various embodiments of the present application.

[0112] In summary, the present invention discloses a method, system, device and medium for calibrating the braking starting position of a vehicle. The present invention can virtually extend the length of the test vehicle's body to obtain a virtual body through a body size configuration file. Taking the virtual body as a reference, when the test vehicle is driving normally, an emergency braking test is performed with the virtual body. Even if the virtual body collides with the target vehicle, there will be no actual collision between the test vehicle and the target vehicle, thereby resolving the safety risk. Moreover, based on a unified safe braking distance, the braking starting position of the test vehicle is calibrated for different test vehicle speeds and different target vehicle speeds, and the corresponding braking starting position of the test vehicle at each initial speed point can be accurately obtained. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0113] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for calibrating the starting position of vehicle braking, characterized in that: include: Get the vehicle body size profile; According to the body size configuration file, the body of the test vehicle is extended by a preset length along the movement direction to obtain a virtual body; With the virtual vehicle body as a reference and a uniform safe braking distance as a benchmark, the braking starting position of the test vehicle is calibrated for different test vehicle speeds and different target vehicle speeds, wherein the movement directions of the test vehicle and the target vehicle intersect.

2. The method for calibrating the vehicle braking starting point position according to claim 1, characterized in that: The step of extending the body length of the test vehicle along the movement direction according to the body size configuration file to obtain a virtual body includes: When in a reversing scenario, the rear end of the test vehicle is extended by a preset length according to the vehicle body size profile to obtain a virtual vehicle body; When in the forward scenario, the front of the test vehicle is extended by a preset length according to the vehicle body size configuration file to obtain a virtual vehicle body.

3. The method for calibrating the vehicle braking starting point position according to claim 1, characterized in that: The step of calibrating the braking starting position of the test vehicle for different test vehicle speeds and different target vehicle speeds using the virtual vehicle body as a reference and a unified safe braking distance as a benchmark includes: Controlling the test vehicle and the target vehicle to travel at a first target speed and a second target speed respectively; Obtaining a first virtual interval between the virtual vehicle body and the target vehicle according to a first actual interval between the test vehicle and the target vehicle and a preset length, wherein the first actual interval is a distance from the test vehicle to an extension line of a near side edge of the target vehicle; Obtaining a theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and a preset braking acceleration; When the virtual vehicle body moves to the theoretical braking starting position, controlling the braking of the virtual vehicle body with the braking acceleration to obtain an actual braking distance of the virtual vehicle body; The braking starting point position of the test vehicle is confirmed based on a comparison result of the actual braking distance and the theoretical braking distance.

4. The method for calibrating the vehicle braking starting point position according to claim 3, characterized in that: The step of obtaining the theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and the preset braking acceleration includes: Obtaining a second actual distance between the test vehicle and the target vehicle, where the second actual distance is a distance from the target vehicle to an extension line of a near side of the test vehicle; obtaining a first time based on the first virtual interval and a first target speed; obtaining a second time based on the second actual interval and the second target speed; When the first time is less than the second time, a theoretical braking starting position of the virtual vehicle body is obtained according to the first virtual interval, the safety distance, the first target speed and a preset braking acceleration.

5. The method for calibrating the vehicle braking starting point position according to claim 3, characterized in that: The step of obtaining a theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and a preset braking acceleration includes: Obtaining a second actual distance between the test vehicle and the target vehicle, where the second actual distance is a vertical distance from an extension line of the target vehicle to a near side of the test vehicle; obtaining a first time based on the first virtual interval, the safety distance, and the first target speed; obtaining a second time based on the second actual interval and the second target speed; When the first time is less than the second time, a theoretical braking starting position of the virtual vehicle body is obtained according to the first virtual interval, the safety distance, the first target speed and a preset braking acceleration.

6. The method for calibrating the vehicle braking starting point position according to claim 3, characterized in that: The step of obtaining the theoretical braking starting position of the virtual vehicle body according to the first virtual interval, the safety distance, the first target speed, and the preset braking acceleration includes: Calculating a theoretical braking distance of the test vehicle according to the first target speed and a preset braking acceleration; determining a theoretical driving distance according to the first virtual interval, the safety distance, and the theoretical braking distance; A theoretical braking starting position is determined according to the theoretical driving distance and the current position of the test vehicle.

7. The method for calibrating the vehicle braking starting point position according to claim 6, characterized in that: The theoretical braking distance S satisfies: Wherein, Ve represents the first target speed, and a represents the braking acceleration preset for the test vehicle.

8. A vehicle braking starting position calibration system, characterized in that: include: An acquisition unit, used for acquiring a vehicle body size configuration file; a configuration unit, configured to extend the body of the test vehicle by a preset length along a moving direction according to the body size configuration file to obtain a virtual body; A calibration unit is used to calibrate the braking starting position of the test vehicle for different test vehicle speeds and different target vehicle speeds with the virtual vehicle body as a reference and a unified safe braking distance as a benchmark, wherein the movement directions of the test vehicle and the target vehicle intersect.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the method for calibrating the vehicle braking starting position as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the method for calibrating the vehicle braking starting point position as described in any one of claims 1 to 7.

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