Emergency braking control method, equipment and device of vehicle and storage medium

Abstract

The invention discloses an emergency braking control method, device and equipment of a vehicle and a computer readable storage medium, and the method comprises the steps: building a coordinate system through obtaining the position information of the vehicle, and obtaining the information of a target vehicle in the coordinate system; calculating a risk index coefficient between the target vehicle and the vehicle according to the obtained information of the target vehicle; calculating a target braking distance according to the risk index coefficient and the information of the target vehicle; according to the target braking distance and the information of the target vehicle, whether emergency braking control is conducted on the vehicle or not is determined, the technical problems that in the related technology, abnormal behaviors of a motor vehicle in a view blind area cannot be obtained, and a motor vehicle collision accident occurs are solved, the speed reduction behavior of the vehicle with the view shielding for the vehicle is recognized, and the speed reduction efficiency is improved. Therefore, emergency braking control is carried out on the vehicle, and collision accidents of pedestrians or motor vehicles suddenly appearing in a view blind area are avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle control, specifically to an emergency braking control method, device, equipment, and computer-readable storage medium for a vehicle. Background Technology

[0002] In modern road traffic systems, safety hazards caused by limited visibility during vehicle operation have always been a significant contributing factor to traffic accidents. When vehicle A is traveling parallel to vehicle B on the same side, the driver of vehicle A's line of sight is obstructed by vehicle B, creating a blind spot. This prevents vehicle A from directly observing potential hazards within vehicle B's field of vision. Traditional vehicle safety systems primarily rely on information collected by the vehicle's own sensors (such as radar and cameras) to provide hazard warnings and formulate response strategies. However, these systems have significant limitations in addressing blind spot risks, failing to perceive road conditions in areas obscured by other vehicles, and thus unable to detect potential dangers in a timely manner, making it difficult to take effective defensive driving measures promptly. With the development of intelligent connected vehicle technology, inter-vehicle information interaction has gradually become an important means of improving driving safety. However, existing inter-vehicle cooperative defensive driving technologies often focus on information sharing in fixed scenarios, lacking targeted solutions for common and complex scenarios such as obstructed vision caused by parallel vehicle traffic. In actual driving scenarios, when a collision risk occurs in the field of vision of vehicle B, and its driver makes a sudden deceleration decision, vehicle A, lacking the perception of vehicle B's field of vision information and an effective analysis mechanism for its abnormal deceleration behavior, struggles to quickly and accurately predict the risk within vehicle B's field of vision. Consequently, it cannot coordinate with vehicle B to take defensive driving actions in a timely manner, increasing the likelihood of rear-end collisions or scrapes. Therefore, there is an urgent need for a technical solution that can predict blind spot risks and collaboratively execute defensive driving actions based on the analysis of abnormal inter-vehicle behavior, in order to improve the safety and reliability of road traffic. Summary of the Invention

[0003] This application provides an emergency braking control method, device, equipment, and computer-readable storage medium for a vehicle, which can solve the technical problem in the prior art of being unable to detect abnormal behavior of motor vehicles in blind spots, leading to collision accidents.

[0004] In a first aspect, embodiments of this application provide an emergency braking control method for a vehicle, characterized in that the emergency braking control method for the vehicle includes: Establish a coordinate system by acquiring the vehicle's location information, and acquire the target vehicle's information within the coordinate system; Based on the obtained information about the target vehicle, the risk index coefficient between the target vehicle and the vehicle is calculated; The target braking distance is calculated based on the risk index coefficient and the information of the target vehicle; Based on the target braking distance and the information of the target vehicle, determine whether to perform emergency braking control on the vehicle.

[0005] In conjunction with the first aspect, in one implementation, the information of the target vehicle includes vehicle speed and coordinate information; the step of calculating the risk index coefficient between the target vehicle and the vehicle based on the acquired information of the target vehicle includes: The first risk coefficient is calculated based on the coordinate information of the target vehicle, the preset adjustable parameters, the first preset length value, and the second preset length value. A second risk factor is determined based on the speed of the target vehicle; Based on the first risk coefficient and the second risk coefficient, the risk index coefficients of the target vehicle and the vehicle are calculated.

[0006] In conjunction with the first aspect, in one implementation, the information of the target vehicle includes the speed of the target vehicle; calculating the target braking distance based on the risk index coefficient includes: The risk index coefficients are compared with the preset risk limit values; If the risk index is greater than or equal to the preset risk limit value, then the road surface adhesion coefficient of the current driving road and the vehicle speed are obtained. The target braking distance is calculated based on the road surface adhesion coefficient of the current road where the vehicle is traveling, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance.

[0007] In conjunction with the first aspect, in one embodiment, the information of the target vehicle includes the coordinates of the target vehicle; the step of performing emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle includes: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. If it is determined that the target vehicle and the vehicle are in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Based on the target braking distance and the distance between the vehicle and the target vehicle, it is determined whether to perform emergency braking control on the vehicle.

[0008] In conjunction with the first aspect, in one embodiment, determining whether to perform emergency braking control on the vehicle based on the target braking distance and the distance between the vehicle and the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; If the distance between the vehicle and the target vehicle is less than or equal to the first braking distance, then it is determined that emergency braking control should be applied to the vehicle.

[0009] In conjunction with the first aspect, in one embodiment, determining whether to perform emergency braking control on the vehicle based on the target braking distance and the distance between the vehicle and the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; The second braking distance is obtained based on the target braking distance and the second threshold braking coefficient; If the distance between the vehicle and the target vehicle is greater than the first braking distance and less than or equal to the second braking distance, then it is determined that no emergency braking control will be applied to the vehicle, and the driver will be alerted.

[0010] In conjunction with the first aspect, in one embodiment, the information of the target vehicle includes the coordinates of the target vehicle and the acceleration of the target vehicle; the step of performing emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle includes: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. If it is determined that the target vehicle and the vehicle are not in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle, it is determined whether to perform emergency braking control on the vehicle.

[0011] In conjunction with the first aspect, in one embodiment, determining whether to perform emergency braking control on the vehicle based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; If the distance between the vehicle and the target vehicle is less than or equal to the first braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that emergency braking control will be applied to the vehicle.

[0012] In conjunction with the first aspect, in one embodiment, determining whether to perform emergency braking control on the vehicle based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; The second braking distance is obtained based on the target braking distance and the second threshold braking coefficient; If the distance between the vehicle and the target vehicle is greater than the first braking distance, less than or equal to the second braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that emergency braking control will not be performed on the vehicle, and the driver will be alerted.

[0013] Secondly, embodiments of this application provide an emergency braking control device for a vehicle, the emergency braking control device for the vehicle comprising: The acquisition module is used to acquire the vehicle's location information to establish a coordinate system, and to acquire the target vehicle's information in the coordinate system; The first calculation module is used to calculate the risk index coefficient between the target vehicle and the vehicle based on the information of the target vehicle obtained. The second calculation module is used to calculate the target braking distance based on the risk index coefficient and the information of the target vehicle; The determination and control module is used to determine whether to perform emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle.

[0014] Thirdly, embodiments of this application provide an emergency braking control device for a vehicle, the vehicle emergency braking control device including a processor, a memory, and an emergency braking control program for the vehicle stored in the memory and executable by the processor, wherein when the emergency braking control program for the vehicle is executed by the processor, the steps of the emergency braking control method for the vehicle as described above are implemented.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle emergency braking control program, wherein when the vehicle emergency braking control program is executed by a processor, it implements the steps of the vehicle emergency braking control method as described above.

[0016] The beneficial effects of the technical solutions provided in this application include: By acquiring the vehicle's location information to establish a coordinate system, and obtaining the target vehicle's information within the coordinate system; based on the acquired target vehicle information, calculating the risk index coefficient between the target vehicle and the target vehicle; based on the risk index coefficient and the target vehicle information, calculating the target braking distance; and based on the target braking distance and the target vehicle information, determining whether to perform emergency braking control on the vehicle, this solves the technical problem in related technologies where abnormal behavior of motor vehicles in blind spots cannot be detected, leading to collisions with motor vehicles. It enables the identification of deceleration behavior of vehicles obstructing the driver's view, allowing for emergency braking control of the vehicle and preventing collisions with pedestrians or motor vehicles suddenly appearing in blind spots. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the first embodiment of the emergency braking control method for the vehicle described in this application. Figure 2 This is a scene diagram illustrating the vehicle coordinate system of this application; Figure 3 This is a flowchart illustrating the second embodiment of the emergency braking control method for the vehicle described in this application. Figure 4 This is a flowchart illustrating the third embodiment of the emergency braking control method for the vehicle described in this application. Figure 5 This is a schematic diagram of the functional modules of an embodiment of the emergency braking control device for the vehicle of this application; Figure 6 This is a schematic diagram of the hardware structure of the emergency braking control device for a vehicle involved in the embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] In a first aspect, embodiments of this application provide an emergency braking control method for a vehicle.

[0022] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the emergency braking control method for the vehicle described in this application. Figure 1 As shown, the vehicle's emergency braking control methods include: Step S10: Obtain the vehicle's location information, establish a coordinate system, and obtain the target vehicle's information within the coordinate system; As an example, the vehicle's position information is obtained, with the vehicle's forward direction as the vertical axis and the vehicle's left or right direction as the horizontal axis, establishing a system as follows: Figure 2 The coordinate system shown. After establishing the coordinate system, radar detection is used as follows: Figure 2 The system determines whether there are vehicles in the coordinate system. If a vehicle is detected in the coordinate system, the information of the target vehicle in the coordinate system is obtained, and the vehicle in the coordinate system is taken as the target vehicle. The information of the target vehicle includes coordinate information, vehicle speed information, and acceleration information.

[0023] Step S20: Calculate the risk index coefficient between the target vehicle and the vehicle based on the obtained information about the target vehicle; Exemplary methods include: acquiring target vehicle information and calculating risk index coefficients between target vehicles; acquiring target vehicle speed and calculating risk index coefficients between target vehicles based on that speed; for example, acquiring the risk coefficient corresponding to the target vehicle's speed from a preset speedometer table, and calculating the risk index coefficients between target vehicles based on that risk coefficient and the target vehicle's speed; and acquiring the target vehicle's coordinates, obtaining the distances between target vehicles based on those coordinates, acquiring the corresponding risk coefficients from a preset distance table, and calculating the risk index coefficients between target vehicles based on those risk coefficients and the distances between target vehicles.

[0024] Specifically, the information of the target vehicle includes its speed and coordinates; the step of calculating the risk index coefficient between the target vehicle and the other vehicle based on the obtained information of the target vehicle includes: calculating a first risk coefficient based on the coordinates of the target vehicle, preset adjustable parameters, a first preset length value, and a second preset length value; determining a second risk coefficient based on the speed of the target vehicle; and calculating the risk index coefficient between the target vehicle and the other vehicle based on the first risk coefficient and the second risk coefficient.

[0025] As an example, the target vehicle information includes its speed and coordinates. The target vehicle's coordinates, preset adjustable parameters, first preset length value, and second preset length value are obtained to calculate a first risk coefficient; for example, a preset formula is obtained. Calculate the first risk coefficient ,in, Let be the ordinate of the target vehicle. Let x be the x-coordinate of the target vehicle. This is the first preset length value. This is the second preset length value. The preset adjustable parameters are: the first preset length value is the length of the vehicle, and the second preset length value is the width of the vehicle.

[0026] Based on the target vehicle's speed, a second risk factor is determined, for example, by obtaining a preset formula. Calculate the second risk coefficient ,in, The target vehicle's speed.

[0027] Based on the first risk factor and the second risk coefficient This calculates the risk index coefficients for the target vehicle and other vehicles. For example, it retrieves preset formulas. Calculate the risk index coefficient I between the target vehicle and the vehicle, where, .

[0028] Step S30: Calculate the target braking distance based on the risk index coefficient and the information of the target vehicle; As an example, when obtaining the risk index coefficient, the obtained risk index coefficient is compared with a preset risk limit value. If the risk index coefficient is greater than or equal to the preset risk limit value, the target braking distance is calculated based on the target vehicle information. For example, the target vehicle speed is obtained, and the target braking distance is calculated by comparing the target vehicle speed with the vehicle speed.

[0029] Specifically, the information of the target vehicle includes the vehicle speed; calculating the target braking distance based on the risk index coefficient includes: comparing the risk index coefficient with a preset risk limit value; if the risk index coefficient is greater than or equal to the preset risk limit value, then obtaining the road surface adhesion coefficient of the current driving road and the vehicle speed; calculating the target braking distance based on the road surface adhesion coefficient of the current driving road, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance.

[0030] As an example, the risk index coefficient is compared with a preset risk threshold value. If the risk index coefficient is determined to be greater than or equal to the preset risk threshold value, the road surface adhesion coefficient of the current driving road, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance are obtained. The target braking distance is then calculated using these parameters. For example, a preset formula is obtained. Calculate the target braking distance Where v represents the vehicle. The coefficient of friction of the road surface on the road where the vehicle is currently traveling. The target vehicle's speed. To pre-set driver reaction delay, To pre-set driver reaction delay, Preset parking distance. To preset the minimum stopping distance, the target braking distance is calculated as the minimum braking distance.

[0031] Step S40: Based on the target braking distance and the information of the target vehicle, determine whether to perform emergency braking control on the vehicle.

[0032] As an example, the system determines whether the target vehicle is in the same lane as the current vehicle using the target vehicle's coordinates. If the target vehicle is indeed in the same lane, the distance between the two vehicles is obtained based on the target vehicle's coordinates. Then, based on the target braking distance and the obtained distance between the two vehicles, the system determines whether to apply emergency braking control. If the target vehicle is not in the same lane, the system obtains the distance between the two vehicles based on the target vehicle's coordinates. Then, based on the target braking distance, the obtained distance between the two vehicles, and the target vehicle's acceleration, the system determines whether to apply emergency braking control.

[0033] In this embodiment, a coordinate system is established by acquiring the vehicle's position information, and the information of the target vehicle in the coordinate system is acquired. Based on the acquired information of the target vehicle, a risk index coefficient between the target vehicle and the target vehicle is calculated. Based on the risk index coefficient and the information of the target vehicle, a target braking distance is calculated. Based on the target braking distance and the information of the target vehicle, it is determined whether to perform emergency braking control on the vehicle. This solves the technical problem in related technologies where abnormal behavior of motor vehicles in blind spots cannot be acquired, leading to collisions with motor vehicles. It enables the identification of deceleration behavior of vehicles that obstruct the driver's view, so as to perform emergency braking control on the driver and avoid collisions with pedestrians or motor vehicles that suddenly appear in the blind spot.

[0034] In one embodiment, reference is made to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the emergency braking control method for the vehicle described in this application. Figure 3 As shown, the vehicle's emergency braking control methods include: Step S11: Obtain the vehicle's location information, establish a coordinate system, and obtain the target vehicle's information within the coordinate system; As an example, the vehicle's position information is obtained, with the vehicle's forward direction as the vertical axis and the vehicle's left or right direction as the horizontal axis, establishing a system as follows: Figure 2 The coordinate system shown. After establishing the coordinate system, radar detection is used as follows: Figure 2 The system determines whether there are vehicles in the coordinate system. If a vehicle is detected in the coordinate system, the information of the target vehicle in the coordinate system is obtained, and the vehicle in the coordinate system is taken as the target vehicle. The information of the target vehicle includes coordinate information, vehicle speed information, and acceleration information.

[0035] Step S12: Calculate the risk index coefficient between the target vehicle and the vehicle based on the obtained information about the target vehicle; Exemplary methods include: acquiring target vehicle information and calculating risk index coefficients between target vehicles; acquiring target vehicle speed and calculating risk index coefficients between target vehicles based on that speed; for example, acquiring the risk coefficient corresponding to the target vehicle's speed from a preset speedometer table, and calculating the risk index coefficients between target vehicles based on that risk coefficient and the target vehicle's speed; and acquiring the target vehicle's coordinates, obtaining the distances between target vehicles based on those coordinates, acquiring the corresponding risk coefficients from a preset distance table, and calculating the risk index coefficients between target vehicles based on those risk coefficients and the distances between target vehicles.

[0036] Specifically, the information of the target vehicle includes its speed and coordinates; the step of calculating the risk index coefficient between the target vehicle and the other vehicle based on the obtained information of the target vehicle includes: calculating a first risk coefficient based on the coordinates of the target vehicle, preset adjustable parameters, a first preset length value, and a second preset length value; determining a second risk coefficient based on the speed of the target vehicle; and calculating the risk index coefficient between the target vehicle and the other vehicle based on the first risk coefficient and the second risk coefficient.

[0037] As an example, the target vehicle information includes its speed and coordinates. The target vehicle's coordinates, preset adjustable parameters, first preset length value, and second preset length value are obtained to calculate a first risk coefficient; for example, a preset formula is obtained. Calculate the first risk coefficient ,in, Let be the ordinate of the target vehicle. Let x be the x-coordinate of the target vehicle. This is the first preset length value. This is the second preset length value. The preset adjustable parameters are: the first preset length value is the length of the vehicle, and the second preset length value is the width of the vehicle.

[0038] Based on the target vehicle's speed, a second risk factor is determined, for example, by obtaining a preset formula. Calculate the second risk coefficient ,in, The target vehicle's speed.

[0039] Based on the first risk factor and the second risk coefficient This calculates the risk index coefficients for the target vehicle and other vehicles. For example, it retrieves preset formulas. Calculate the risk index coefficient I between the target vehicle and the vehicle, where, .

[0040] Step S13: Calculate the target braking distance based on the risk index coefficient and the information of the target vehicle; As an example, when obtaining the risk index coefficient, the obtained risk index coefficient is compared with a preset risk limit value. If the risk index coefficient is greater than or equal to the preset risk limit value, the target braking distance is calculated based on the target vehicle information. For example, the target vehicle speed is obtained, and the target braking distance is calculated by comparing the target vehicle speed with the vehicle speed.

[0041] Specifically, the information of the target vehicle includes the vehicle speed; calculating the target braking distance based on the risk index coefficient includes: comparing the risk index coefficient with a preset risk limit value; if the risk index coefficient is greater than or equal to the preset risk limit value, then obtaining the road surface adhesion coefficient of the current driving road and the vehicle speed; calculating the target braking distance based on the road surface adhesion coefficient of the current driving road, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance.

[0042] As an example, the risk index coefficient is compared with a preset risk threshold value. If the risk index coefficient is determined to be greater than or equal to the preset risk threshold value, the road surface adhesion coefficient of the current driving road, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance are obtained. The target braking distance is then calculated using these parameters. For example, a preset formula is obtained. Calculate the target braking distance Where v represents the vehicle. The coefficient of friction of the road surface on the road where the vehicle is currently traveling. The target vehicle's speed. To pre-set driver reaction delay, To pre-set driver reaction delay, Preset parking distance. To preset the minimum stopping distance, the target braking distance is calculated as the minimum braking distance.

[0043] Step S14: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. Step S15: If it is determined that the target vehicle and the vehicle are in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Step S16: Based on the target braking distance and the distance between the vehicle and the target vehicle, determine whether to perform emergency braking control on the vehicle.

[0044] As an example, the coordinates of the target vehicle are obtained to determine whether the target vehicle is in the same lane as the vehicle. For example, the horizontal coordinate of the target vehicle is obtained; if the horizontal coordinate of the target vehicle is zero, it is determined that the target vehicle and the vehicle are in the same lane; if the horizontal coordinate of the target vehicle is not zero, it is determined that the target vehicle and the vehicle are not in the same lane. If it is determined that the target vehicle and the vehicle are in the same lane, the distance between the two vehicles is obtained based on the coordinates of the target vehicle. For example, the vertical coordinate of a preset target vehicle is obtained to get the distance between the two vehicles. Based on the target braking distance and a first preset braking coefficient, a first braking distance is obtained; if the distance between the two vehicles is less than or equal to the first braking distance, it is determined that emergency braking control should be performed on the vehicle.

[0045] Based on the target braking distance and the first preset braking coefficient, a first braking distance is obtained; based on the target braking distance and the second threshold braking coefficient, a second braking distance is obtained; if the distance between the vehicle and the target vehicle is greater than the first braking distance and less than or equal to the second braking distance, it is determined that no emergency braking control will be performed on the vehicle, and the driver is reminded.

[0046] In this embodiment, a coordinate system is established by acquiring the vehicle's position information, and the information of the target vehicle in the coordinate system is acquired. Based on the acquired information of the target vehicle, a risk index coefficient between the target vehicle and the target vehicle is calculated. Based on the risk index coefficient and the information of the target vehicle, a target braking distance is calculated. Based on the target braking distance and the information of the target vehicle, it is determined whether to perform emergency braking control on the vehicle. This solves the technical problem in related technologies where abnormal behavior of motor vehicles in blind spots cannot be acquired, leading to collisions with motor vehicles. It enables the identification of deceleration behavior of vehicles that obstruct the driver's view, so as to perform emergency braking control on the driver and avoid collisions with pedestrians or motor vehicles that suddenly appear in the blind spot.

[0047] In one embodiment, reference is made to Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of the emergency braking control method for the vehicle described in this application. Figure 4 As shown, the vehicle's emergency braking control methods include: Step S21: Obtain the vehicle's location information, establish a coordinate system, and obtain the target vehicle's information within the coordinate system; As an example, the vehicle's position information is obtained, with the vehicle's forward direction as the vertical axis and the vehicle's left or right direction as the horizontal axis, establishing a system as follows: Figure 2 The coordinate system shown. After establishing the coordinate system, radar detection is used as follows: Figure 2The system determines whether there are vehicles in the coordinate system. If a vehicle is detected in the coordinate system, the information of the target vehicle in the coordinate system is obtained, and the vehicle in the coordinate system is taken as the target vehicle. The information of the target vehicle includes coordinate information, vehicle speed information, and acceleration information.

[0048] Step S22: Calculate the risk index coefficient between the target vehicle and the vehicle based on the obtained information about the target vehicle; Exemplary methods include: acquiring target vehicle information and calculating risk index coefficients between target vehicles; acquiring target vehicle speed and calculating risk index coefficients between target vehicles based on that speed; for example, acquiring the risk coefficient corresponding to the target vehicle's speed from a preset speedometer table, and calculating the risk index coefficients between target vehicles based on that risk coefficient and the target vehicle's speed; and acquiring the target vehicle's coordinates, obtaining the distances between target vehicles based on those coordinates, acquiring the corresponding risk coefficients from a preset distance table, and calculating the risk index coefficients between target vehicles based on those risk coefficients and the distances between target vehicles.

[0049] Specifically, the information of the target vehicle includes its speed and coordinates; the step of calculating the risk index coefficient between the target vehicle and the other vehicle based on the obtained information of the target vehicle includes: calculating a first risk coefficient based on the coordinates of the target vehicle, preset adjustable parameters, a first preset length value, and a second preset length value; determining a second risk coefficient based on the speed of the target vehicle; and calculating the risk index coefficient between the target vehicle and the other vehicle based on the first risk coefficient and the second risk coefficient.

[0050] As an example, the target vehicle information includes its speed and coordinates. The target vehicle's coordinates, preset adjustable parameters, first preset length value, and second preset length value are obtained to calculate a first risk coefficient; for example, a preset formula is obtained. Calculate the first risk coefficient ,in, Let be the ordinate of the target vehicle. Let x be the x-coordinate of the target vehicle. This is the first preset length value. This is the second preset length value. The preset adjustable parameters are: the first preset length value is the length of the vehicle, and the second preset length value is the width of the vehicle.

[0051] Based on the target vehicle's speed, a second risk factor is determined, for example, by obtaining a preset formula. Calculate the second risk coefficient ,in, The target vehicle's speed.

[0052] Based on the first risk factor and the second risk coefficient This calculates the risk index coefficients for the target vehicle and other vehicles. For example, it retrieves preset formulas. Calculate the risk index coefficient I between the target vehicle and the vehicle, where, .

[0053] Step S23: Calculate the target braking distance based on the risk index coefficient and the information of the target vehicle; As an example, when obtaining the risk index coefficient, the obtained risk index coefficient is compared with a preset risk limit value. If the risk index coefficient is greater than or equal to the preset risk limit value, the target braking distance is calculated based on the target vehicle information. For example, the target vehicle speed is obtained, and the target braking distance is calculated by comparing the target vehicle speed with the vehicle speed.

[0054] Specifically, the information of the target vehicle includes the vehicle speed; calculating the target braking distance based on the risk index coefficient includes: comparing the risk index coefficient with a preset risk limit value; if the risk index coefficient is greater than or equal to the preset risk limit value, then obtaining the road surface adhesion coefficient of the current driving road and the vehicle speed; calculating the target braking distance based on the road surface adhesion coefficient of the current driving road, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance.

[0055] As an example, the risk index coefficient is compared with a preset risk threshold value. If the risk index coefficient is determined to be greater than or equal to the preset risk threshold value, the road surface adhesion coefficient of the current driving road, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance are obtained. The target braking distance is then calculated using these parameters. For example, a preset formula is obtained. Calculate the target braking distance Where v represents the vehicle. The coefficient of friction of the road surface on the road where the vehicle is currently traveling. The target vehicle's speed. To pre-set driver reaction delay, To pre-set driver reaction delay, Preset parking distance. To preset the minimum stopping distance, the target braking distance is calculated as the minimum braking distance.

[0056] Step S24: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. Step S25: If it is determined that the target vehicle and the vehicle are not in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Step S26: Based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle, determine whether to perform emergency braking control on the vehicle.

[0057] As an example, the coordinates of the target vehicle are obtained to determine whether the target vehicle is in the same lane as the vehicle. For example, the horizontal coordinate of the target vehicle is obtained. If the horizontal coordinate of the target vehicle is zero, it is determined that the target vehicle is in the same lane as the vehicle; if the horizontal coordinate of the target vehicle is not zero, it is determined that the target vehicle is not in the same lane. If it is determined that the target vehicle is not in the same lane, the distance between the two vehicles is obtained based on the coordinates of the target vehicle. For example, the vertical coordinate of a preset target vehicle is obtained to obtain the distance between the two vehicles. Based on the target braking distance and a first preset braking coefficient, a first braking distance is obtained; if the distance between the two vehicles is less than or equal to the first braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, it is determined that emergency braking control should be applied to the vehicle.

[0058] Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; based on the target braking distance and the second threshold braking coefficient, the second braking distance is obtained; if the distance between the vehicle and the target vehicle is greater than the first braking distance, less than or equal to the second braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that no emergency braking control will be performed on the vehicle, and the driver is reminded.

[0059] In this embodiment, a coordinate system is established by acquiring the vehicle's position information, and the information of the target vehicle in the coordinate system is acquired. Based on the acquired information of the target vehicle, a risk index coefficient between the target vehicle and the target vehicle is calculated. Based on the risk index coefficient and the information of the target vehicle, a target braking distance is calculated. Based on the target braking distance and the information of the target vehicle, it is determined whether to perform emergency braking control on the vehicle. This solves the technical problem in related technologies where abnormal behavior of motor vehicles in blind spots cannot be acquired, leading to collisions with motor vehicles. It enables the identification of deceleration behavior of vehicles that obstruct the driver's view, so as to perform emergency braking control on the driver and avoid collisions with pedestrians or motor vehicles that suddenly appear in the blind spot.

[0060] Secondly, embodiments of this application also provide an emergency braking control device for a vehicle.

[0061] In one embodiment, reference is made to Figure 5 , Figure 5 This is a functional module diagram of an embodiment of the emergency braking control device for the vehicle described in this application. Figure 5 As shown, the vehicle's emergency braking control device includes: The acquisition module 10 is used to acquire the vehicle's location information to establish a coordinate system, and to acquire the target vehicle's information in the coordinate system; The first calculation module 20 is used to calculate the risk index coefficient between the target vehicle and the vehicle based on the information of the target vehicle obtained. The second calculation module 30 is used to calculate the target braking distance based on the risk index coefficient and the information of the target vehicle; The determination and control module 40 is used to determine whether to perform emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle.

[0062] Furthermore, in one embodiment, the first computing module 20 is used for: The first risk coefficient is calculated based on the coordinate information of the target vehicle, the preset adjustable parameters, the first preset length value, and the second preset length value. A second risk factor is determined based on the speed of the target vehicle; Based on the first risk coefficient and the second risk coefficient, the risk index coefficients of the target vehicle and the vehicle are calculated.

[0063] Furthermore, in one embodiment, the second computing module 30 is used for: The risk index coefficients are compared with the preset risk limit values; If the risk index is greater than or equal to the preset risk limit value, then the road surface adhesion coefficient of the current driving road and the vehicle speed are obtained. The target braking distance is calculated based on the road surface adhesion coefficient of the current road where the vehicle is traveling, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance.

[0064] Furthermore, in one embodiment, the determination and control module 40 is used for: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. If it is determined that the target vehicle and the vehicle are in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Based on the target braking distance and the distance between the vehicle and the target vehicle, it is determined whether to perform emergency braking control on the vehicle.

[0065] Furthermore, in one embodiment, the vehicle's emergency braking control device further includes a new module for: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; If the distance between the vehicle and the target vehicle is less than or equal to the first braking distance, then it is determined that emergency braking control should be applied to the vehicle.

[0066] Furthermore, in one embodiment, the vehicle's emergency braking control device further includes a new module for: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; The second braking distance is obtained based on the target braking distance and the second threshold braking coefficient; If the distance between the vehicle and the target vehicle is greater than the first braking distance and less than or equal to the second braking distance, then it is determined that no emergency braking control will be applied to the vehicle, and the driver will be alerted.

[0067] Furthermore, in one embodiment, the vehicle's emergency braking control device further includes a new module for: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. If it is determined that the target vehicle and the vehicle are not in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle, it is determined whether to perform emergency braking control on the vehicle.

[0068] Furthermore, in one embodiment, the vehicle's emergency braking control device further includes a new module for: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; If the distance between the vehicle and the target vehicle is less than or equal to the first braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that emergency braking control will be applied to the vehicle.

[0069] Furthermore, in one embodiment, the vehicle's emergency braking control device further includes a new module for: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; The second braking distance is obtained based on the target braking distance and the second threshold braking coefficient; If the distance between the vehicle and the target vehicle is greater than the first braking distance, less than or equal to the second braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that emergency braking control will not be performed on the vehicle, and the driver will be alerted.

[0070] The functions of each module in the emergency braking control device of the above-mentioned vehicle correspond to the steps in the embodiment of the emergency braking control method of the above-mentioned vehicle, and their functions and implementation processes will not be described in detail here.

[0071] Thirdly, embodiments of this application provide an emergency braking control device for a vehicle, which can be a device with data processing capabilities such as a personal computer (PC), a laptop computer, or a server.

[0072] Reference Figure 6 , Figure 6 This is a schematic diagram of the hardware structure of the emergency braking control device for a vehicle involved in an embodiment of this application. In this embodiment, the emergency braking control device for the vehicle may include a processor, a memory, a communication interface, and a communication bus.

[0073] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0074] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used to interconnect components within the vehicle's emergency braking control system, as well as interfaces used to interconnect the vehicle's emergency braking control system with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0075] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0076] The processor can be a general-purpose processor, which can call the vehicle's emergency braking control program stored in the memory and execute the vehicle's emergency braking control method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle's emergency braking control program is called can be referred to in the various embodiments of the vehicle's emergency braking control method of this application, and will not be repeated here.

[0077] Those skilled in the art will understand that Figure 6 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0078] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0079] The present application provides a computer-readable storage medium storing a vehicle emergency braking control program, wherein when the vehicle emergency braking control program is executed by a processor, it implements the steps of the vehicle emergency braking control method as described above.

[0080] The method implemented when the vehicle's emergency braking control procedure is executed can be referred to in various embodiments of the vehicle's emergency braking control method of this application, and will not be repeated here.

[0081] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0082] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0083] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0084] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0085] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0087] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An emergency braking control method for a vehicle, characterized in that, The emergency braking control method for the vehicle includes: Establish a coordinate system by acquiring the vehicle's location information, and acquire the target vehicle's information within the coordinate system; Based on the obtained information about the target vehicle, the risk index coefficient between the target vehicle and the vehicle is calculated; The target braking distance is calculated based on the risk index coefficient and the information of the target vehicle; Based on the target braking distance and the information of the target vehicle, determine whether to apply emergency braking control to the vehicle.

2. The emergency braking control method for a vehicle as described in claim 1, characterized in that, The target vehicle information includes vehicle speed and coordinate information; the step of calculating the risk index coefficient between the target vehicle and the vehicle based on the obtained target vehicle information includes: The first risk coefficient is calculated based on the coordinate information of the target vehicle, the preset adjustable parameters, the first preset length value, and the second preset length value. A second risk factor is determined based on the speed of the target vehicle; Based on the first risk coefficient and the second risk coefficient, the risk index coefficients of the target vehicle and the vehicle are calculated.

3. The emergency braking control method for a vehicle as described in claim 1, characterized in that, The information of the target vehicle includes the vehicle speed; calculating the target braking distance based on the risk index coefficient includes: The risk index coefficients are compared with the preset risk limit values; If the risk index coefficient is greater than or equal to the preset risk limit value, then the road surface adhesion coefficient of the current driving road and the vehicle speed are obtained. The target braking distance is calculated based on the road surface adhesion coefficient of the current road where the vehicle is traveling, the vehicle speed, the target vehicle speed, the preset driver reaction delay time, the preset brake delay time, and the preset stopping distance.

4. The emergency braking control method for a vehicle as described in claim 1, characterized in that, The information of the target vehicle includes the coordinates of the target vehicle; determining whether to perform emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle includes: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. If it is determined that the target vehicle and the vehicle are in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Based on the target braking distance and the distance between the vehicle and the target vehicle, it is determined whether to perform emergency braking control on the vehicle.

5. The emergency braking control method for a vehicle as described in claim 4, characterized in that, The step of determining whether to perform emergency braking control on the vehicle based on the target braking distance and the distance between the vehicle and the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; If the distance between the vehicle and the target vehicle is less than or equal to the first braking distance, then it is determined that emergency braking control should be applied to the vehicle.

6. The emergency braking control method for a vehicle as described in claim 4, characterized in that, The step of determining whether to perform emergency braking control on the vehicle based on the target braking distance and the distance between the vehicle and the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; The second braking distance is obtained based on the target braking distance and the second threshold braking coefficient; If the distance between the vehicle and the target vehicle is greater than the first braking distance and less than or equal to the second braking distance, then it is determined that no emergency braking control will be applied to the vehicle, and the driver will be alerted.

7. The emergency braking control method for a vehicle as described in claim 1, characterized in that, The information of the target vehicle includes the coordinates of the target vehicle and the acceleration of the target vehicle; The step of performing emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle includes: Based on the coordinates of the target vehicle, determine whether the target vehicle is in the same lane as the vehicle. If it is determined that the target vehicle and the vehicle are not in the same lane, then the distance between the vehicle and the target vehicle is obtained based on the coordinates of the target vehicle; Based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle, it is determined whether to perform emergency braking control on the vehicle.

8. The emergency braking control method for a vehicle as described in claim 7, characterized in that, The step of determining whether to apply emergency braking control to the vehicle based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; If the distance between the vehicle and the target vehicle is less than or equal to the first braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that emergency braking control will be applied to the vehicle.

9. The emergency braking control method for a vehicle as described in claim 7, characterized in that, The step of determining whether to apply emergency braking control to the vehicle based on the target braking distance, the distance between the vehicle and the target vehicle, and the acceleration of the target vehicle includes: Based on the target braking distance and the first preset braking coefficient, the first braking distance is obtained; The second braking distance is obtained based on the target braking distance and the second threshold braking coefficient; If the distance between the vehicle and the target vehicle is greater than the first braking distance, less than or equal to the second braking distance, and the acceleration of the target vehicle is greater than or equal to the preset acceleration, then it is determined that no emergency braking control will be performed on the vehicle, and the driver will be alerted.

10. An emergency braking control device for a vehicle, characterized in that, The vehicle's emergency braking control device includes: The acquisition module is used to acquire the vehicle's location information to establish a coordinate system, and to acquire the target vehicle's information in the coordinate system; The first calculation module is used to calculate the risk index coefficient between the target vehicle and the vehicle based on the information of the target vehicle obtained. The second calculation module is used to calculate the target braking distance based on the risk index coefficient and the information of the target vehicle; The determination and control module is used to determine whether to perform emergency braking control on the vehicle based on the target braking distance and the information of the target vehicle.

11. An emergency braking control device for a vehicle, characterized in that, The vehicle's emergency braking control device includes a processor, a memory, and an emergency braking control program for the vehicle stored in the memory and executable by the processor, wherein when the emergency braking control program for the vehicle is executed by the processor, it implements the steps of the emergency braking control method for the vehicle as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an emergency braking control program for a vehicle, wherein when the emergency braking control program for the vehicle is executed by a processor, it implements the steps of the emergency braking control method for a vehicle as described in any one of claims 1 to 9.

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