Vehicle braking management method, device and equipment and storage medium
By acquiring data and processing delays to determine the vehicle's safe zone and sending emergency braking commands, the problem of communication delays in determining vehicle position relationships is solved, improving the accuracy of emergency braking timing and enhancing vehicle driving safety.
Patent Information
- Application Number
- CN202510881506.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-27
- Publication Date
- 2025-11-07
AI Technical Summary
In vehicle emergency collision avoidance strategies, the determination of vehicle position relationships in existing technologies suffers from communication delays, affecting the accuracy of emergency braking timing and leading to reduced driving safety.
By acquiring data processing delay, the safe zone between the target vehicle and the reference vehicle is determined, and an emergency braking command is sent based on the safe distance data. The data processing delay is introduced to improve the accuracy of emergency braking timing.
It improves the accuracy of emergency braking timing, enhances vehicle driving safety, and avoids vehicle collisions.
Smart Images
Figure CN120913440A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] Embodiments of the present application relate to the technical field of vehicle control, in particular to a vehicle braking management method, device, equipment and storage medium. BACKGROUND
[0002] The vehicle emergency collision avoidance strategy of the intersection section needs to determine whether there is a collision danger between the environment vehicle and the subject vehicle, and determine the time of AEB starting vehicle braking when there is a collision danger. During the process of vehicle driving on the road, due to the changes of pedestrians, vehicles, road shapes and environment, etc., the operation condition of the vehicle needs to constantly adapt to the changes of traffic conditions, etc. In the process of determining the position relationship between the two vehicles, the information transmission between the vehicle-mounted communication devices has a communication delay, and the determination of the collision avoidance time in the AEB system is easily affected by the communication delay. SUMMARY
[0003] Embodiments of the present application provide a vehicle braking management method, device, equipment and storage medium, which can improve the accuracy of determining the emergency braking time and improve the safety of vehicle driving.
[0004] In a first aspect, embodiments of the present application provide a vehicle braking management method, which comprises:
[0005] acquiring a data processing delay, determining a target safety area of a target vehicle and a reference safety area of a reference vehicle according to the data processing delay; wherein the data processing delay is used to represent the delay time of determining the position data between two vehicles; determining safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; and sending an emergency braking instruction to a braking device of the target vehicle in the case that the safety distance data meets a preset braking condition.
[0006] In a second aspect, embodiments of the present application provide a vehicle braking management device, which comprises:
[0007] a safety area determination module, configured to acquire a data processing delay, and determine a target safety area of a target vehicle and a reference safety area of a reference vehicle according to the data processing delay; wherein the data processing delay is used to represent the delay time of determining the position data between two vehicles; a safety distance determination module, configured to determine safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; and an emergency braking control module, configured to send an emergency braking instruction to a braking device of the target vehicle in the case that the safety distance data meets a preset braking condition.
[0008] In a third aspect, embodiments of the present application provide a computer device, which comprises:
[0009] one or more processors;
[0010] a memory for storing one or more programs;
[0011] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle braking management method described in any embodiment.
[0012] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the vehicle braking management method described in any embodiment.
[0013] The technical solution provided by the embodiment of the present application obtains a data processing delay, determines a target safety area of a target vehicle and a reference safety area of a reference vehicle according to the data processing delay, wherein the data processing delay is used to represent a delay time for determining position data between two vehicles; determines safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; and sends an emergency braking instruction to a braking device of the target vehicle in a case where the safety distance data meets a preset braking condition. The technical solution of the embodiment of the present application solves the problem that in the prior art, communication delay exists when determining the position relationship between vehicles, which easily affects the timing of emergency braking. The data processing delay can be introduced into the analysis of the timing of emergency braking, the accuracy of determining the timing of emergency braking is improved, and the vehicle driving safety is improved. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 is a vehicle braking management method flowchart provided by an embodiment of the present application;
[0015] Figure 2 is another vehicle braking management method flowchart provided by an embodiment of the present application;
[0016] Figure 3 is a schematic diagram of determining a safety area of a vehicle provided by an embodiment of the present application;
[0017] Figure 4 is a schematic diagram of performing vehicle collision analysis provided by an embodiment of the present application;
[0018] Figure 5 is a structural schematic diagram of a vehicle braking management device provided by an embodiment of the present application;
[0019] Figure 6 is a structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION
[0020] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.
[0021] Figure 1 FIG. 1 is a flow chart of a vehicle braking management method provided by an embodiment of the present application. The method can be applied to a scenario in which a target vehicle is controlled to perform emergency braking when passing through an intersection. The method can be performed by a vehicle braking management device, which can be implemented in the form of software and / or hardware.
[0022] As shown in FIG. 1, the vehicle braking management method comprises the following steps: Figure 1
[0023] S110, acquiring a data processing delay, and determining a target safety area of the target vehicle and a reference safety area of a reference vehicle according to the data processing delay.
[0024] In the process of determining the data processing delay, preset simulation data can be sent from the first vehicle to the second vehicle, and feedback data returned by the second vehicle in response to the preset simulation data can be received. The total delay can be determined according to the receiving time of the feedback data and the sending time of the preset simulation data, and half of the total delay can be taken as the data processing delay. By adding the data processing delay, the delay in determining the positional relationship between the target vehicle and other vehicles can be added, the errors caused by data transmission and data analysis can be reduced, and the calculation accuracy of the positional data can be improved.
[0025] Further, the target vehicle can be a vehicle that needs to be managed by vehicle braking. The reference vehicle can be other vehicles around the target vehicle. Specifically, vehicles that can be detected around the target vehicle can all be reference vehicles. The technical solution of the embodiment of the present application can determine whether each reference vehicle has a collision risk with the target vehicle, and in the case of a collision risk, the target vehicle is braked in an emergency to avoid vehicle collision. The target safety area can be an area used to determine whether other vehicles have a collision risk with the target vehicle. The reference safety area can be an area used to determine whether other vehicles have a collision risk with the reference vehicle. Specifically, the area where the body of the target vehicle is located can be the target safety area, and the area where the body of the reference vehicle is located can be the reference safety area. The subsequent solution can determine whether the target vehicle and the reference vehicle have a collision risk by using the target safety area of the target vehicle and the reference safety area of the reference vehicle.
[0026] S120, determining safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area.
[0027] The safety distance data can be distance data used to determine whether the target vehicle and the reference vehicle have a safety risk. Specifically, the distance between the reference safety area and the target safety area can be analyzed to determine the safety distance data.
[0028] S130, in the case that the safety distance data meets a preset braking condition, sending an emergency braking instruction to a braking device of the target vehicle.
[0029] The preset braking condition can be a preset condition that needs to be braked in an emergency. Specifically, the preset braking condition can be set by a person. In the case that the safety distance data meets the preset braking condition, it indicates that the target vehicle and the reference vehicle are about to collide, and at this time, an emergency braking instruction can be sent to the braking device of the target vehicle to make the braking device control the target vehicle to perform an emergency braking action to avoid the target vehicle and the reference vehicle from colliding.
[0030] The technical scheme provided by the embodiment of the present application comprises the following steps: obtaining data processing delay, determining a target safety area of a target vehicle and a reference safety area of a reference vehicle according to the data processing delay, wherein the data processing delay is used to represent the delay time of determining the position data between the two vehicles; determining safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; and sending an emergency braking instruction to the braking device of the target vehicle in the case that the safety distance data meets a preset braking condition. The technical scheme of the embodiment of the present application solves the problem that the communication delay exists when the position relationship between the vehicles is determined in the prior art, and the timing of emergency braking is easily affected. The data processing delay can be introduced into the analysis of the timing of emergency braking, so that the accuracy of determining the timing of emergency braking is improved, and the vehicle driving safety is improved.
[0031] Figure 2 The present embodiment can be applied to the scene of controlling the target vehicle to perform emergency braking when passing through the intersection. The present embodiment further illustrates how to determine the target safety area of the target vehicle and the reference safety area of the reference vehicle according to the data processing delay, how to determine the safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area, and how to send an emergency braking instruction to the braking device of the target vehicle in the case that the safety distance data meets a preset braking condition. The device can be realized by software and / or hardware, and integrated in a computer device with application development function.
[0032] As shown in Figure 2 , the vehicle braking management method comprises the following steps:
[0033] S210, determining the coordinate data of the four target vehicle vertices of the target vehicle, and taking the rectangular area surrounded by the four target vehicle vertices as the target safety area.
[0034] The target vehicle can be a vehicle that needs to be managed by the vehicle braking management. The technical scheme of the present embodiment can determine whether the target vehicle and other vehicles have a collision risk, and timely perform emergency braking on the target vehicle in the case that the collision risk exists, so as to avoid the occurrence of vehicle collision. The target vehicle vertices include the left upper corner vertex, the right upper corner vertex, the left lower corner vertex and the right lower corner vertex of the target vehicle. Specifically, the coordinate data of the four target vehicle vertices can be determined according to the center point coordinate of the target vehicle and the heading angle of the target vehicle. The target safety area can be an area used to determine whether other vehicles and the target vehicle have a collision risk. Specifically, the rectangular area surrounded by the four target vehicle vertices can be taken as the target safety area.
[0035] For example,Figure 3 is a schematic view of determining a safety area of a vehicle provided by an embodiment of the present application. As shown, A is a GPS positioning point of the vehicle, Lf and Le are distances from point A to front and rear boundaries of the safety area of the vehicle respectively, Wl and Wr are distances from point A to left and right boundaries of the safety area of the vehicle respectively, and φ is a heading angle of the vehicle, which is obtained from GPS coordinates. The position of the vehicle in the coordinate system is determined by φ, and then the positions of the safety boundaries in the coordinate system are determined according to the position of point A and the distances from point A to the safety boundaries of the vehicle. The rectangular area formed by the four vertices is the safety area of the vehicle, and the positions of the four vertices are as follows: Figure 3
[0036] The calculation method of the vehicle vertex coordinates on the X-axis is as follows:
[0037]
[0038]
[0039] The calculation method of the vehicle vertex coordinates on the Y-axis is as follows:
[0040]
[0041] S220, determining coordinate data of four reference vehicle vertices of the reference vehicle according to the data processing delay, and taking a rectangular area surrounded by the four reference vehicle vertices as a reference safety area.
[0042] The reference vehicle can be other vehicles around the target vehicle. Specifically, any vehicle that can be detected around the target vehicle can be taken as a reference vehicle. The technical solution of the embodiment of the present application can determine whether each reference vehicle has a collision risk with the target vehicle, and in the case of a collision risk, the target vehicle is braked in an emergency to avoid vehicle collision. The reference vehicle vertices include a top-left vertex, a top-right vertex, a bottom-left vertex and a bottom-right vertex of the reference vehicle. Specifically, the coordinate data of the four reference vehicle vertices can be determined according to the center point coordinate of the reference vehicle (for example, the center point coordinate of the reference vehicle can be determined on the basis of the initial center point coordinate, and then the product of the reference vehicle speed and the data processing delay is added) and the heading angle of the reference vehicle. The reference safety area can be an area used to determine whether other vehicles have a collision risk with the reference vehicle. Specifically, the rectangular area surrounded by the four reference vehicle vertices can be taken as the reference safety area.
[0043] S230, establishing a preset coordinate system about the target vehicle and the reference vehicle, and mapping the reference safety area and the target safety area in the preset coordinate system.
[0044] The preset coordinate system can be used to analyze whether there is a collision risk between the target vehicle and the reference vehicle. Specifically, the center point, the horizontal axis direction, and the vertical axis direction of the preset coordinate system can be set by a person and are not limited here.
[0045] S240, determine the horizontal distance data and the longitudinal distance data of the reference safety area and the target safety area in the preset coordinate system.
[0046] The horizontal distance data can be the distance data of the target safety area and the reference safety area in the horizontal axis direction. The longitudinal distance data can be the distance data of the target safety area and the reference safety area in the vertical axis direction. Specifically, the maximum horizontal distance value and the maximum longitudinal distance value of the target vehicle and the reference vehicle can be determined; the horizontal body length and the longitudinal body length of the target vehicle in the preset coordinate system, and the horizontal body length and the longitudinal body length of the reference vehicle in the preset coordinate system can be determined; the horizontal distance data is determined according to the maximum horizontal distance value, the horizontal body length of the target vehicle, and the horizontal body length of the reference vehicle, and the longitudinal distance data is determined according to the maximum longitudinal distance value, the longitudinal body length of the target vehicle, and the longitudinal body length of the reference vehicle.
[0047] The maximum horizontal distance value can be the maximum distance value of the target vehicle and the reference vehicle in the horizontal axis direction. The maximum longitudinal distance value can be the maximum distance value of the target vehicle and the reference vehicle in the vertical axis direction. Specifically, the vehicle vertex horizontal coordinate data of the target vehicle and the reference vehicle can be obtained respectively, and the difference between the maximum value and the minimum value in the vehicle vertex horizontal coordinate data is taken as the maximum horizontal distance value; the vehicle vertex vertical coordinate data of the target vehicle and the reference vehicle can be obtained respectively, and the difference between the maximum value and the minimum value in the vehicle vertex vertical coordinate data is taken as the maximum longitudinal distance value.
[0048] Further, the horizontal body length can be the body length of the vehicle in the horizontal axis direction. The longitudinal body length can be the body length of the vehicle in the vertical axis direction. Specifically, when determining the horizontal body length and the longitudinal body length of the target vehicle, the target safety area can be projected to the horizontal axis direction of the preset coordinate system, two boundary points of the target safety area in the horizontal axis direction are determined, and then the horizontal coordinates of the two boundary points are subtracted to obtain the horizontal body length of the target vehicle. Similarly, the target safety area can be projected to the vertical axis direction of the preset coordinate system, two boundary points of the target safety area in the vertical axis direction are determined, and then the vertical coordinates of the two boundary points are subtracted to obtain the longitudinal body length of the target vehicle.
[0049] Similarly, when determining the lateral body length and longitudinal body length of the reference vehicle, the reference safety region can be projected to the lateral axis direction of the preset coordinate system to determine two boundary points of the reference safety region in the lateral axis direction, and then the lateral coordinates of the two boundary points are subtracted to obtain the lateral body length of the reference vehicle. Similarly, the reference safety region can be projected to the longitudinal axis direction of the preset coordinate system to determine two boundary points of the reference safety region in the longitudinal axis direction, and then the longitudinal coordinates of the two boundary points are subtracted to obtain the longitudinal body length of the reference vehicle.
[0050] Further, the lateral maximum distance value, the lateral body length of the target vehicle and the lateral body length of the reference vehicle can be substituted into the preset formula to determine the lateral distance data of the target safety region and the reference safety region. At the same time, the longitudinal maximum distance value, the longitudinal body length of the target vehicle and the longitudinal body length of the reference vehicle can be substituted into the preset formula to determine the longitudinal distance data of the target safety region and the reference safety region.
[0051] S250, in the case where the lateral distance data and the longitudinal distance data are not greater than zero, sending an emergency braking instruction to the braking device of the target vehicle.
[0052] In the case where the lateral distance data and the longitudinal distance data are not greater than zero, it indicates that the target vehicle and the reference vehicle will collide in the lateral aspect and the longitudinal aspect, at this time an emergency braking instruction can be sent to the braking device of the target vehicle to make the braking device control the target vehicle to perform an emergency braking action to avoid the target vehicle from colliding with the reference vehicle.
[0053] For better understanding of the technical solutions provided by the present application, exemplary embodiments are introduced as follows: Figure 4 is a schematic diagram provided by an embodiment of the present application for vehicle collision analysis. Wherein, "the vehicle" is the target vehicle, and "the environment vehicle" is the reference vehicle. As shown in Figure 4 The initial GPS positioning point of the vehicle can be taken as the origin of the coordinate system, and the heading angle of the vehicle can be taken as the orientation of the vehicle in the coordinate system. The position of the environment vehicle in the coordinate system can be determined according to the position of the GPS positioning point coordinate of the environment vehicle relative to the GPS positioning point coordinate of the vehicle and the distance between the two GPS positioning point coordinates, and finally the overall position of the environment vehicle in the coordinate system can be determined according to the heading angle of the environment vehicle. The thick solid line in the figure is the length of the projection of the two vehicles in the X and Y axes, and the prerequisite for preventing the two vehicles from colliding is that the projections of the two vehicles in the X and Y axes do not overlap at the same time.
[0054] The overlap of the projections of the vehicle in the X and Y axes is shown as follows:
[0055] Sx(t) = Lx - (L1x + L2x),
[0056] Sy(t) = Ly - (Lly + L2y).
[0057] where Sx(t) and Sy(t) are the lateral and longitudinal distance data at time t, Lx and Ly are the maximum difference of the projection point distance of the two vehicles on the X and Y axes, respectively, and Llx, Lly, L2x, and L2y are the lengths of the body projection values of the environment vehicle and the ego vehicle on the X and Y axes, respectively.
[0058] Lx = max(X) - min(X),
[0059] Ly = max(Y) - min(Y).
[0060] where X = {XB1, XC1, XD1, XE1, XB2, XC2, XD2, XE2} and Y = {YB1, YC1, YD1, YE1, YB2, YC2, YD2, YE2}, where Xij (j = 1, 2) and Yij are the coordinate values of the projection points of the four vertices of the two vehicles on the X and Y axes, respectively.
[0061] Llx = max(X1) - min(X1),
[0062] Lly = max(Y1) - min(Y1),
[0063] L2x = max(X2) - min(X2),
[0064] L2y = max(Y2) - min(Y2).
[0065] where X1 = {XB1, XC1, XD1, XE1}, Y1 = {YB1, YC1, YD1, YE1}, X2 = {XB2, XC2, XD2, XE2}, and Y2 = {YB2, YC2, YD2, YE2}
[0066] When Sx > 0 or Sy > 0 is satisfied, the two vehicles analyzed at the intersection are safe.
[0067] At the road intersection, the motion of the vehicle mainly includes straight, right turn, and left turn, and this paper mainly considers the case where both vehicles are straight at the intersection and the motion direction is perpendicular. When the two vehicles are straight at the intersection, the position of the vehicle in the coordinate is represented by the motion parameters of the vehicle, and for the ego vehicle, we have:
[0068] XA(t) = XA0 + VAXt + 0.5 * aAXt2
[0069] YA(t) = YA0 + VAYt + 0.5 * aAYt2
[0070] Where: (XA(t), YA(t)) is the car's GPS positioning point coordinate at time t, (XA0, YA0) is the car's coordinate at initial time, VAX and VAY are the car's speed components in X and Y axes respectively, aAX and aAY are the car's acceleration components in X and Y axes respectively.
[0071] For the environment car, we have:
[0072] XF(t) = XF0 + VFXt + 0.5 * aFXt2 (1)
[0073] YF(t) = YF0 + VFYt + 0.5 * aFYt2 (2)
[0074] After adding the data processing delay Tdel, we have:
[0075] XF0'(t) = XF0 + VFXTdel (3)
[0076] YF0'(t) = YF0 + VFYTdel (4)
[0077] XF'(t) = XF0 + VFX(t + Tdel) + 0.5 * aFXt2 (5)
[0078] YF'(t) = YF0 + VFY(t + Tdel) + 0.5 * aFYt2 (6)
[0079] Where: F is the environment car's GPS positioning point, formula (1) and formula (2) (XF(t), YF(t)) are the environment car's coordinates obtained by the car at time t, where aFX and aFY are the car's acceleration components in X and Y axes respectively, formula, VFX and VFY are the car's speed components in X and Y axes respectively.
[0080] (3) and formula (4) (X'F0, Y'F0) are the environment car's coordinates after adding the communication delay. XF0, YF0 are the environment car's coordinates obtained by the car at initial time, Tdel is the communication delay, VFX and VFY are the car's speed components in X and Y axes respectively.
[0081] Formula (5) and formula (6) (XF'(t), YF'(t)) are the corrected environment car's coordinates at time t.
[0082] The condition for the two cars to be in collision danger is SX < 0 and SY < 0. When the two cars are in conflict at the intersection, the conflict position of the two cars is stationary for the running direction of the car, i.e. when the car is in front of the car, it is a stationary object, when the car is at a minimum safety distance Ds from the conflict area (Ds = V2 / 2*a; where V is the car's speed and a is the maximum braking force the car can generate) the car needs to brake urgently to avoid collision with the environment car.
[0083] The technical scheme provided by the embodiment of the present application comprises the following steps: obtaining data processing delay, determining coordinate data of four target vehicle vertices of a target vehicle according to the data processing delay, and taking a rectangular region surrounded by the four target vehicle vertices as a target safety region; determining coordinate data of four reference vehicle vertices of a reference vehicle according to the data processing delay, and taking a rectangular region surrounded by the four reference vehicle vertices as a reference safety region; establishing a preset coordinate system about the target vehicle and the reference vehicle, and mapping the reference safety region and the target safety region in the preset coordinate system; determining lateral distance data and longitudinal distance data of the reference safety region and the target safety region in the preset coordinate system; and sending an emergency braking instruction to a braking device of the target vehicle in the case that both the lateral distance data and the longitudinal distance data are not greater than zero. The technical scheme of the embodiment of the present application solves the problem that communication delay exists in determining the position relationship between vehicles in the prior art, and the problem that the timing of emergency braking is easily affected. The data processing delay can be introduced into the analysis of the timing of emergency braking, the accuracy of determining the timing of emergency braking is improved, and the driving safety of the vehicle is improved.
[0084] Figure 5 Fig. 1 is a structural schematic diagram of a vehicle braking management device provided by the embodiment of the present application. The embodiment of the present application can be applied to a scene in which a target vehicle is controlled to perform emergency braking when passing through an intersection. The device can be realized by software and / or hardware, and integrated in a computer device with application development function.
[0085] As shown in Fig. 1, the vehicle braking management device comprises a safety region determination module 310, a safety distance determination module 320, and an emergency braking control module 330. Figure 5
[0086] The safety region determination module 310 is configured to obtain data processing delay, and determine a target safety region of a target vehicle and a reference safety region of a reference vehicle according to the data processing delay. The data processing delay is used to represent the delay time of determining the position data between two vehicles. The safety distance determination module 320 is configured to determine safety distance data between the target vehicle and the reference vehicle according to the reference safety region and the target safety region. The emergency braking control module 330 is configured to send an emergency braking instruction to a braking device of the target vehicle in the case that the safety distance data satisfies a preset braking condition.
[0087] The technical scheme provided by the embodiment of the present application comprises the following steps: obtaining a data processing delay, determining a target safety area of a target vehicle and a reference safety area of a reference vehicle according to the data processing delay, wherein the data processing delay is used to represent a delay time of determining position data between two vehicles; determining safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; and sending an emergency braking instruction to a braking device of the target vehicle in the case that the safety distance data meets a preset braking condition. The technical scheme of the embodiment of the present application solves the problem that communication delay exists when determining the position relationship between vehicles in the prior art, and the problem that the timing of emergency braking is easily affected. The data processing delay can be introduced into the analysis of the timing of emergency braking, the accuracy of determining the timing of emergency braking is improved, and the vehicle driving safety is improved.
[0088] In an optional implementation, the safety area determination module 310 is specifically configured to: determine coordinate data of four target vehicle vertices of the target vehicle, and take a rectangular area surrounded by the four target vehicle vertices as the target safety area; and determine coordinate data of four reference vehicle vertices of the reference vehicle according to the data processing delay, and take a rectangular area surrounded by the four reference vehicle vertices as the reference safety area.
[0089] In an optional implementation, the safety distance data comprises lateral distance data and longitudinal distance data, and the safety distance determination module 320 is specifically configured to: establish a preset coordinate system about the target vehicle and the reference vehicle, and map the reference safety area and the target safety area in the preset coordinate system; and determine the lateral distance data and the longitudinal distance data of the reference safety area and the target safety area in the preset coordinate system.
[0090] In an optional implementation, the safety distance determination module 320 comprises a distance data determination unit, which is configured to: determine a lateral maximum distance value and a longitudinal maximum distance value of the target vehicle and the reference vehicle; determine a lateral vehicle body length and a longitudinal vehicle body length of the target vehicle in the preset coordinate system, and a lateral vehicle body length and a longitudinal vehicle body length of the reference vehicle in the preset coordinate system; determine the lateral distance data according to the lateral maximum distance value, the lateral vehicle body length of the target vehicle and the lateral vehicle body length of the reference vehicle, and determine the longitudinal distance data according to the longitudinal maximum distance value, the longitudinal vehicle body length of the target vehicle and the longitudinal vehicle body length of the reference vehicle.
[0091] In an optional implementation, the distance data determining unit comprises: a maximum distance determining sub-unit, configured to: acquire vehicle vertex horizontal coordinate data of the target vehicle and the reference vehicle respectively, and take a difference between a maximum value and a minimum value in the vehicle vertex horizontal coordinate data as the horizontal maximum distance value; acquire vehicle vertex vertical coordinate data of the target vehicle and the reference vehicle respectively, and take a difference between a maximum value and a minimum value in the vehicle vertex vertical coordinate data as the vertical maximum distance value.
[0092] In an optional implementation, the emergency braking control module 330 is specifically configured to: in the case that both the horizontal distance data and the vertical distance data are not greater than zero, send an emergency braking instruction to a braking device of the target vehicle.
[0093] In an optional implementation, the vehicle braking management device further comprises: a processing delay determining module, configured to: send preset simulation data from a first vehicle to a second vehicle, and receive feedback data returned by the second vehicle in response to the preset simulation data; determine a total delay according to a receiving time of the feedback data and a sending time of the preset simulation data, and take half of the total delay as the data processing delay.
[0094] The vehicle braking management device provided by the embodiments of the present application can execute the vehicle braking management method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.
[0095] Figure 6 A structural schematic diagram of a computer device provided by the embodiments of the present application is shown. Figure 6 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present application is shown. Figure 6 The computer device 12 shown is merely an example, and should not bring any limitation to the functions and use range of the embodiments of the present application. The computer device 12 can be any terminal device with computing capability, and can be configured in a vehicle braking management device.
[0096] As shown in Figure 6 The computer device 12 is shown in the form of a general-purpose computing device. The components of the computer device 12 can include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components, including the system memory 28 and the processing unit 16.
[0097] Bus 18 can be one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus architectures including a Industrial Standard Architecture (ISA), Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
[0098] Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is located either internally or externally to computer device 12, including both volatile and nonvolatile media, removable and non-removable media.
[0099] System memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. Computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (e.g., a "hard drive"). Figure 6 not shown in FIG. 1, a magnetic hard disk drive for reading from and writing to non-removable, non-volatile magnetic media (e.g., a "hard drive"). Figure 6 In these instances, each drive can be connected to bus 18 by one or more data media interfaces. System memory 28 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.
[0100] Program / utility 40, having a set (at least one) of program modules 42, can be stored in, for example, system memory 28 by way of example, such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each or a combination thereof, which can include implementation of a network environment. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the application as described herein.
[0101] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 22. Still yet, computer device 12 can communicate with one or more networks, such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via network adapter 20. As Figure 6 illustrated, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be understood that although not shown, other hardware and / or software components could be used in conjunction with computer device 12. These include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc. Figure 6
[0102] Processing unit 16 performs various function applications and data processing by running programs stored in system memory 28, such as implementing a vehicle braking management method provided by embodiments of the present application, which includes:
[0103] obtaining a data processing delay, determining a target safety region of a target vehicle and a reference safety region of a reference vehicle according to the data processing delay, wherein the data processing delay is used to represent a delay time for determining position data between two vehicles; determining safety distance data between the target vehicle and the reference vehicle according to the reference safety region and the target safety region; and sending an emergency braking instruction to a braking device of the target vehicle in a case that the safety distance data satisfies a preset braking condition.
[0104] The embodiments provide a computer readable storage medium, which stores a computer program, the program being executed by a processor to implement a vehicle braking management method provided by any embodiments of the present application, including:
[0105] obtaining a data processing delay, determining a target safety region of a target vehicle and a reference safety region of a reference vehicle according to the data processing delay, wherein the data processing delay is used to represent a delay time for determining position data between two vehicles; determining safety distance data between the target vehicle and the reference vehicle according to the reference safety region and the target safety region; and sending an emergency braking instruction to a braking device of the target vehicle in a case that the safety distance data satisfies a preset braking condition.
[0106] The computer storage medium of the embodiments of the present application can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device.
[0107] The computer-readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave, in which computer-readable program code is embodied. Such propagated data signals can take a wide variety of forms, including but not limited to electro-magnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium that is not a storage medium, that is, that is not a tangible medium, and that can communicate, propagate or transport programming for use by or in connection with an instruction execution system, apparatus or device.
[0108] The program code embodied on the computer-readable media can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the above.
[0109] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object-oriented programming language such as C, Java, Smalltalk, C++, C# or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, application specific circuitry, or field programmable gate array (FPGA) circuitry can execute the computer program code.
[0110] Those of ordinary skill in the art should understand that the modules or steps of the present application described above can be implemented by a general computing device, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices. Alternatively, the modules or steps can be implemented by computer-executable program codes, which can be stored in a storage device and executed by a computing device, or implemented by individual integrated circuit modules, or implemented by multiple modules or steps in a single integrated circuit module. Thus, the present application is not limited to any particular combination of hardware and software.
[0111] Note that the above merely describes the preferred embodiments of the present application and the principles of the applied technology. Those of ordinary skill in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made by those of ordinary skill in the art without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the appended claims.
Claims
1. A vehicle brake management method, characterized by, The method comprises the following steps: acquiring data processing delay, determining target safety area of target vehicle and reference safety area of reference vehicle according to the data processing delay; wherein, the data processing delay is used to represent the delay time of determining the position data between two vehicles; determining safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; sending emergency braking instruction to the braking device of the target vehicle in the case that the safety distance data meets preset braking condition.
2. The method of claim 1, wherein, The step of determining target safety area of target vehicle and reference safety area of reference vehicle according to the data processing delay comprises: determining coordinate data of four target vehicle vertices of the target vehicle, and taking the rectangular area surrounded by the four target vehicle vertices as the target safety area; determining coordinate data of four reference vehicle vertices of the reference vehicle according to the data processing delay, and taking the rectangular area surrounded by the four reference vehicle vertices as the reference safety area.
3. The method of claim 1, wherein, The safety distance data comprises lateral distance data and longitudinal distance data, and the step of determining safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area comprises: establishing preset coordinate system about the target vehicle and the reference vehicle, and mapping the reference safety area and the target safety area in the preset coordinate system; determining lateral distance data and longitudinal distance data of the reference safety area and the target safety area in the preset coordinate system.
4. The method of claim 3, wherein, The step of determining lateral distance data and longitudinal distance data of the reference safety area and the target safety area in the preset coordinate system comprises: determining lateral maximum distance value and longitudinal maximum distance value of the target vehicle and the reference vehicle; determining lateral body length and longitudinal body length of the target vehicle in the preset coordinate system, and lateral body length and longitudinal body length of the reference vehicle in the preset coordinate system; determining the lateral distance data according to the lateral maximum distance value, the lateral body length of the target vehicle and the lateral body length of the reference vehicle, and determining the longitudinal distance data according to the longitudinal maximum distance value, the longitudinal body length of the target vehicle and the longitudinal body length of the reference vehicle.
5. The method according to claim 4, wherein the step of determining lateral maximum distance value and longitudinal maximum distance value of the target vehicle and the reference vehicle comprises: respectively acquiring vehicle vertex horizontal coordinate data of the target vehicle and the reference vehicle, and taking the difference between the maximum value and the minimum value in the vehicle vertex horizontal coordinate data as the lateral maximum distance value; respectively acquiring vehicle vertex vertical coordinate data of the target vehicle and the reference vehicle, and taking the difference between the maximum value and the minimum value in the vehicle vertex vertical coordinate data as the longitudinal maximum distance value.
6. The method of claim 3, wherein, The step of sending emergency braking instruction to the braking device of the target vehicle in the case that the safety distance data meets preset braking condition comprises: sending emergency braking instruction to the braking device of the target vehicle in the case that the lateral distance data and the longitudinal distance data are both not greater than zero.
7. The method of claim 1, wherein, determining the data processing delay comprises: sending preset simulation data from the first vehicle to the second vehicle, and receiving feedback data returned by the second vehicle in response to the preset simulation data; determining a total delay according to a receiving time of the feedback data and a sending time of the preset simulation data, and taking half of the total delay as the data processing delay.
8. A vehicle brake management apparatus characterized by, The apparatus comprises: a safety area determination module configured to obtain a data processing delay, and determine a target safety area of a target vehicle and a reference safety area of a reference vehicle according to the data processing delay, wherein the data processing delay is used to represent a delay time for determining position data between the two vehicles; a safety distance determination module configured to determine safety distance data between the target vehicle and the reference vehicle according to the reference safety area and the target safety area; an emergency braking control module configured to send an emergency braking instruction to a braking device of the target vehicle when the safety distance data meets a preset braking condition.
9. A computer device, comprising: The computer device comprises: one or more processors; a memory configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle braking management method according to any one of claims 1-7.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the vehicle braking management method according to any one of claims 1-7.