Vehicle braking method and system, vehicle and medium

Abstract

The invention provides a vehicle braking method and system, a vehicle and a medium, and relates to the technical field of vehicle control. The method comprises the steps that in the execution process of the automatic emergency braking function, if it is monitored that the engine rotating speed of the vehicle is smaller than a preset rotating speed threshold value, an emergency power supply starting instruction is sent to a power management module of the vehicle, and the power management module conducts emergency braking based on the emergency power supply starting instruction; a power supply module of the vehicle is controlled to supply power to units related to execution of the automatic emergency braking function, so that the automatic emergency braking function continues to be executed; and when the vehicle speed of the vehicle is smaller than a preset vehicle speed threshold value, an emergency power supply quit instruction is sent to the power management module, so that the power management module controls the power supply module to power off units related to execution of the automatic emergency braking function according to a preset power-off sequence based on the emergency power supply quit instruction. In this way, it is ensured that the automatic emergency braking function is not interrupted under the engine flameout condition, the predicted speed reduction requirement is smoothly met, and the vehicle running safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle braking method and system, a vehicle and a medium. BACKGROUND

[0002] With the gradual coverage of global regulations on active safety systems of vehicles to all vehicle models, the Autonomous Emergency Braking (AEB) function integrity of manual transmission vehicles has become a key factor affecting vehicle safety compliance. Therefore, it is necessary to ensure that the manual transmission vehicle can complete the complete control loop from risk identification to vehicle stopping during the execution of the Autonomous Emergency Braking function, even if special conditions occur, to meet the safety operation and regulatory compliance requirements.

[0003] In the related art, when a potential collision is detected, the traditional manual transmission vehicle will actively apply braking force through the Autonomous Emergency Braking function to slow down or stop the vehicle. However, unlike automatic transmission vehicles, the driver may not be able to maintain the braking assist force during the AEB trigger period of the manual transmission vehicle, such as rapid decay of the braking assist force during the AEB execution, interruption of the originally sustained braking assist force output, resulting in AEB interruption and inability to continue to execute the deceleration request, thereby failing to meet the expected speed reduction requirement (such as reducing the vehicle speed to zero).

[0004] In view of the above-mentioned defects, the traditional manual transmission vehicle cannot guarantee the effective execution of AEB after the engine is turned off, which poses a safety hazard to vehicle travel. SUMMARY

[0005] The embodiments of the present application provide a vehicle braking method, system, vehicle and medium to solve the problem that if the driver does not cooperate (such as not stepping on the clutch in time) or the vehicle's own working condition changes (such as low-speed driving triggering engine shutdown) during the AEB trigger period of the manual transmission vehicle, the engine stops running, the engine no longer provides power, and the vehicle may enter a power-off state, at which time the braking assist force rapidly decays, the originally sustained braking assist force output is interrupted, resulting in AEB interruption and inability to continue to execute the deceleration request, thereby failing to meet the expected speed reduction requirement.

[0006] In a first aspect, the embodiments of the present application provide a vehicle braking method applied to a manual transmission vehicle, the method comprising: During the execution of the Autonomous Emergency Braking function, if it is monitored that the engine speed of the vehicle is less than a preset speed threshold, an emergency power supply start instruction is sent to a power management module of the vehicle, so that the power management module controls a power supply module of the vehicle to maintain power supply to units related to the execution of the Autonomous Emergency Braking function based on the emergency power supply start instruction, so that the Autonomous Emergency Braking function continues to execute. when the vehicle speed is less than a preset vehicle speed threshold, sending an emergency power supply exit instruction to the power management module, so that the power management module controls the power supply module to power down the units related to the automatic emergency braking function execution according to a preset power down sequence based on the emergency power supply exit instruction.

[0007] Based on the above technical content, the embodiments of the present application send an emergency power supply start instruction to the power management module when the engine speed of the vehicle is less than a preset speed threshold during the execution of the automatic emergency braking function, so that the power management module controls the power supply module to maintain power supply to the units related to the execution of the automatic emergency braking function, avoiding power supply interruption caused by engine stall, and ensuring that the automatic emergency braking function does not interrupt; then when the vehicle speed is less than a preset vehicle speed threshold, an emergency power supply exit instruction is sent to the power management module, so that the power management module controls the power supply module to power down the related units according to a preset power down sequence, ensuring the orderliness of power supply control; in this way, the complete logic of starting emergency power supply, then maintaining the execution of the automatic emergency braking function, and finally orderly exiting the power supply is formed, so that the automatic emergency braking function can continue to start after the engine stalls, and the automatic emergency braking function can continue to execute until the vehicle meets the safe speed reduction target (such as stopping or low-speed safe state), and subsequent power supply control does not cause new risks, thereby effectively solving the problem of brake assist force decay and automatic emergency braking function interruption during the execution of the automatic emergency braking function in manual transmission vehicles.

[0008] In a possible implementation, the method further includes: During the execution of the automatic emergency braking function, if it is monitored that the engine speed decreases by a preset amplitude within a preset time length, a pressure maintenance warning signal is sent to the power management module, so that the power management module controls the power supply module to enter an emergency power supply pre-enabled state based on the pressure maintenance warning signal.

[0009] In the embodiments of the present application, during the execution of the automatic emergency braking function, if it is monitored that the engine speed decreases by a preset amplitude within a preset time length, a pressure maintenance warning signal is sent to the power management module, so that the power management module controls the power supply module to enter an emergency power supply pre-enabled state based on the signal, making preparations for the case where the engine speed is less than a preset speed threshold in advance, avoiding power supply interruption of the units related to the execution of the automatic emergency braking function caused by response delay of the power supply module, further ensuring that the automatic emergency braking function can be continuously and stably executed under special working conditions, ensuring that the vehicle can meet the expected speed reduction requirement, and meeting the safety operation and regulatory compliance requirements In a possible implementation, if it is monitored that the engine speed of the vehicle is less than a preset speed threshold, an emergency power supply starting instruction is sent to a power management module of the vehicle, including: If it is monitored that the engine speed of the vehicle is less than the preset speed threshold, a unit related to automatic emergency braking function execution is determined as a first power supply target; wherein the first power supply target has the highest power supply priority; Based on the first power supply target, an emergency power supply starting instruction is sent to the power management module of the vehicle.

[0010] Here, by determining the unit related to automatic emergency braking function execution as the first power supply target with the highest power supply priority when it is monitored that the engine speed of the vehicle is less than the preset speed threshold, and then sending the emergency power supply starting instruction to the power management module based on the first power supply target, the power management module can subsequently control the power supply module to preferentially maintain power supply for the unit related to automatic emergency braking function, so as to avoid that non-critical units occupy power supply resources and cause insufficient or interruption of power supply for automatic emergency braking function, ensure that the automatic emergency braking function can stably continue to execute after triggering emergency power supply when the engine speed is small, and further ensure that the vehicle can complete the expected speed reduction requirement and meet the safety operation and regulation compliance requirements.

[0011] In a possible implementation, the method further includes: According to the self-vehicle information of the vehicle and the information of the target within the preset range of the vehicle, it is determined whether there is a collision risk; When it is determined that there is a collision risk, the vehicle is controlled to execute the automatic emergency braking function.

[0012] Here, by determining whether there is a collision risk according to the self-vehicle information of the vehicle and the information of the target within the preset range of the vehicle, and then controlling the vehicle to execute the automatic emergency braking function when it is determined that there is a collision risk, the automatic emergency braking function can be accurately triggered based on the actual self-vehicle state and the surrounding target situation, so as to avoid the situation of misstarting when there is no risk or not starting when there is a risk, provide an accurate triggering premise for subsequent automatic emergency braking function execution (including starting emergency power supply when the engine speed meets the standard, orderly power-off when the vehicle speed meets the standard, etc.), ensure that the automatic emergency braking function is started only when necessary to cope with the collision risk, further ensure the driving safety of the vehicle, and meet the safety operation and regulation compliance requirements.

[0013] In a possible implementation, the method further includes: During the execution of the automatic emergency braking function, if the power supply module is abnormal, a restriction instruction is sent to the power management module, so that the power management module controls the power supply module to limit the power supply current of the unit related to the execution of the automatic emergency braking function to a preset current range; After the power supply current of the unit related to the automatic emergency braking function execution is limited to the preset current range, the deceleration during the automatic emergency braking function execution is controlled to reduce to a target deceleration.

[0014] Here, during the automatic emergency braking function execution, if the power supply module is abnormal, a limiting instruction is first sent to the power management module, so that the power management module controls the power supply module to limit the power supply current of the unit related to the automatic emergency braking function execution to a preset current range, and then controls the deceleration during the automatic emergency braking function execution to reduce to a target deceleration after the power supply current meets the standard, which can not only avoid the power supply module abnormality leading to the power supply loss of control of the related unit, but also ensure the automatic emergency braking function to be still stably executed under the power supply limited scenario by adjusting the deceleration, rather than being directly interrupted, thereby ensuring that the vehicle can still gradually realize deceleration under the special power supply working condition, reducing the risk of braking function failure caused by power supply abnormality, and meeting the vehicle safe operation requirement.

[0015] In a possible implementation, the method further includes: During the automatic emergency braking function execution, if the power supply module is abnormal, the power management module is abnormal, or the unit related to the automatic emergency braking function execution is in abnormal communication, a corresponding abnormality prompt is performed.

[0016] Here, during the automatic emergency braking function execution, for the cases of power supply module abnormality, power management module abnormality, or unit related to the automatic emergency braking function execution abnormal communication, a corresponding abnormality prompt is performed, which can timely feedback the system abnormality state, provide a basis for subsequent processing of the abnormality, avoid the automatic emergency braking function execution being affected due to the abnormality not being perceived, thereby ensuring the automatic emergency braking function to be as stably executed as possible under the special working condition, reducing the risk of braking function failure caused by the abnormality, ensuring that the vehicle can complete the expected deceleration requirement as much as possible, and meeting the safe operation and regulation compliance requirement.

[0017] In a possible implementation, the unit related to the automatic emergency braking function execution includes a perception module; and the method further includes: During the automatic emergency braking function execution, if the perception module is abnormal, the deceleration during the automatic emergency braking function execution is maintained until the vehicle speed is less than the preset vehicle speed threshold.

[0018] Here, during the execution of the automatic emergency braking function, when the perception module is abnormal, by maintaining the deceleration during the execution of the automatic emergency braking function until the vehicle speed is less than the preset vehicle speed threshold, the automatic emergency braking function can be prevented from being interrupted or the deceleration being changed due to the abnormality of the perception module, and the automatic emergency braking function can be continuously executed to achieve vehicle deceleration, so that the vehicle can meet the expected deceleration requirement, and the safety hidden danger caused by the abnormality of the perception module is reduced, and the vehicle safety operation and regulation compliance requirements are met.

[0019] In a second aspect, the embodiments of the present application provide a vehicle braking system applied to a manual transmission vehicle, the system comprising: an automatic emergency braking module, a power management module, and a power supply module: The automatic emergency braking module is configured to send an emergency power supply start instruction to the power management module if the engine speed of the vehicle is less than a preset speed threshold during the execution of the automatic emergency braking function. The power management module is configured to control the power supply module to maintain power supply to units related to the execution of the automatic emergency braking function based on the emergency power supply start instruction, so that the automatic emergency braking function continues to execute. The automatic emergency braking module is further configured to send an emergency power supply exit instruction to the power management module when the vehicle speed is less than a preset speed threshold. The power management module is configured to control the power supply module to power down the units related to the execution of the automatic emergency braking function in a preset power-down sequence based on the emergency power supply exit instruction.

[0020] In a third aspect, the embodiments of the present application provide a vehicle braking device applied to a manual transmission vehicle, the device comprising: The first processing module is configured to send an emergency power supply start instruction to the power management module of the vehicle if the engine speed of the vehicle is less than a preset speed threshold during the execution of the automatic emergency braking function, so that the power management module controls the power supply module of the vehicle to maintain power supply to units related to the execution of the automatic emergency braking function based on the emergency power supply start instruction, and the automatic emergency braking function continues to execute. The second processing module is configured to send an emergency power supply exit instruction to the power management module when the vehicle speed is less than a preset speed threshold, so that the power management module controls the power supply module to power down the units related to the execution of the automatic emergency braking function in a preset power-down sequence based on the emergency power supply exit instruction.

[0021] In a fourth aspect, the embodiments of the present application provide a manual transmission vehicle comprising the vehicle braking system of the second aspect.

[0022] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the vehicle braking method according to any one of the first aspect.

[0023] It can be understood that the beneficial effects of the second aspect to the fifth aspect described above can be referred to the related description in the first aspect, which will not be repeated here.

[0024] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0026] Figure 1 is a structural schematic diagram of a vehicle braking system provided by an embodiment of the present application; Figure 2 is a flowchart of a vehicle braking method provided by an embodiment of the present application; Figure 3 is a flowchart of a vehicle braking method provided by another embodiment of the present application; Figure 4 is a control timing diagram of a vehicle braking method provided by an embodiment of the present application; Figure 5 is a structural schematic diagram of a vehicle braking device provided by an embodiment of the present application; Figure 6 is a structural schematic diagram of a manual transmission vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] The present application will be described in more detail with specific embodiments. The following embodiments will help those skilled in the art to further understand the role of the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made. These all belong to the protection scope of the present application.

[0028] It should be understood that the term "include" as used in the specification and the appended claims indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0029] It should also be understood that the term "and / or" as used in the specification and the appended claims indicates any combination of one or more of the associated listed items and all possible combinations thereof.

[0030] In the description of the application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0031] In the description of the application, the reference "one embodiment" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in further some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0032] In addition, "a plurality of" mentioned in the embodiments of the application should be interpreted as two or more.

[0033] First, the terms involved in the embodiments of the application are explained: Automatic emergency braking function: refers to a function that, during the driving of a manual transmission vehicle, collision risk can be judged based on vehicle ego information and target information within a preset range, and if there is a collision risk, the vehicle is controlled to perform braking to make the vehicle speed meet a preset speed threshold.

[0034] Power management module: refers to a module that, when the automatic emergency braking function of a manual transmission vehicle is executed, can receive relevant instructions, control the power supply module to maintain power supply or sequentially power off the units related to the execution of the automatic emergency braking function, and can also handle power supply abnormalities.

[0035] The unit related to the execution of the automatic emergency braking function: a key component supporting the automatic emergency braking function of the manual transmission vehicle from triggering to completing deceleration, and requiring the power management module to coordinate power supply, specifically including the vehicle information module, the sensing module, the automatic emergency braking module, and the electronic stability program (ESP) module.

[0036] The power supply module: a core component providing power support for the unit related to the execution of the automatic emergency braking function, a key power source guaranteeing the continuous execution of the automatic emergency braking function after the manual transmission vehicle is turned off, specifically including the main power module and the direct current-direct current converter (DC-DC) module.

[0037] The applicant finds that if the driver does not step on the clutch in time during the triggering of the automatic emergency braking function of the manual transmission vehicle or the vehicle is automatically turned off due to low-speed driving, the engine will no longer provide power, and the vehicle may enter a power-off state, at which time the brake assist force rapidly decays, resulting in the interruption of the automatic emergency braking function and the failure to continue to execute the deceleration request, so that the expected deceleration requirement of the function cannot be met. Therefore, it is necessary to consider a new method for brake control of the manual transmission vehicle.

[0038] In order to prevent the manual transmission vehicle from being automatically turned off due to low-speed driving during the triggering of the automatic emergency braking function, resulting in the interruption of the automatic emergency braking function and the failure to continue to execute the deceleration request, so that the expected deceleration requirement of the function cannot be met, in the embodiments of the present application, a trigger condition is monitored during the execution of the automatic emergency braking function, that is, the engine speed of the vehicle is less than a preset speed threshold, an emergency power supply start instruction is sent to the power management module, the power management module controls the power supply module to maintain power supply to the unit related to the execution of the automatic emergency braking function, the power supply interruption caused by engine shutdown is avoided, and the automatic emergency braking function is ensured not to be interrupted; then when the vehicle speed is less than a preset speed threshold, an emergency power supply exit instruction is sent to the power management module, the power management module controls the power supply module to power down the related unit according to a preset power-down sequence, and the orderliness of power supply control is guaranteed; in this way, the complete logic of starting emergency power supply, maintaining the execution of the automatic emergency braking function, and orderly exiting the power supply is formed, so that the automatic emergency braking function can continue to start after the engine is turned off, the automatic emergency braking function can be continuously executed until the vehicle meets the safe deceleration target (such as stopping or low-speed safe state), and subsequent power supply control does not cause new risks, thereby effectively solving the problem of brake assist force decay and the interruption of the automatic emergency braking function and the failure to complete the deceleration requirement of the manual transmission vehicle during the execution of the automatic emergency braking function.

[0039] Referring first to Figure 1 , Figure 1 A schematic diagram of a structure of a vehicle braking system according to an embodiment of the application is shown schematically, which is applied to a manual transmission vehicle, and the system involves devices including a power supply module, a power management module 103 and an automatic emergency braking module 105. The power supply module includes a main power module 101 and a voltage conversion module 102.

[0040] In addition, the above system further includes a vehicle information module 104, a perception module 106 and an electronic stability program module 107.

[0041] The main power module 101 is connected to the power management module 103 through the voltage conversion module 102, and the power management module 103 is further connected to the vehicle information module 104, the automatic emergency braking module 105, the perception module 106 and the electronic stability program module 107, respectively, and the automatic emergency braking module 105 is connected to the vehicle information module 104, the perception module 106 and the electronic stability program module 107, respectively.

[0042] The main power module 101 is used to provide stable basic power source for the whole vehicle low-voltage electrical equipment, i.e. the units related to the execution of the automatic emergency braking function, such as the vehicle information module 104, the perception module 106, the automatic emergency braking module 105 and the electronic stability program module 107, etc., and the output voltage is usually 12V, which can meet the basic power demand of the daily work of the above key units. At the same time, considering the special working condition that the engine may be off during the execution of the automatic emergency braking function of the manual transmission vehicle, the main power module 101 is directly connected to the voltage conversion module 102, so that even if the engine is off and the regular power supply is interrupted, the main power module 101 can still transmit electric energy to the voltage conversion module 102 through the direct connection channel, and after the voltage conversion module 102 stabilizes the voltage, it continues to supply power to the units related to the execution of the automatic emergency braking function, so as to ensure that the automatic emergency braking function does not interrupt after the engine is off, and to ensure that the vehicle can complete the expected speed reduction requirement.

[0043] The voltage conversion module 102 is used to accurately stabilize the voltage output by the main power module 101, and to adaptively convert it into the standard voltage required for the normal work of the vehicle information module 104, the perception module 106, the automatic emergency braking module 105 and the electronic stability program module 107, that is, to adapt the necessary voltage level according to the actual power demand, and to provide power input meeting the work requirements for these key units.

[0044] The function implementation of the voltage conversion module 102 focuses on the special working condition requirements in the automatic emergency braking function execution process: on the one hand, it has stable output capability. When the engine is off due to the driver not stepping on the clutch in time or low-speed driving, causing voltage fluctuation in the vehicle power supply system, the voltage conversion module 102 can quickly adjust the output voltage and always maintain it in the stable voltage range required by the key unit, avoiding abnormal work or interruption of the unit related to the automatic emergency braking function execution due to unstable voltage; on the other hand, it has efficient load response capability. When the automatic emergency braking function triggers instantaneous braking, the automatic emergency braking module 105 will generate peak current demand. The voltage conversion module 102 can quickly respond to this instantaneous load change and provide sufficient current in time to ensure that the electronic stability program module can normally receive the brake command from the automatic emergency braking module 105 and execute the brake, and the sensing module 106 can continuously transmit sensing data, so as to ensure that the automatic emergency braking function can still play a stable role in the instantaneous high load scene, help the vehicle complete the expected speed reduction requirement, and meet the safety operation and regulatory compliance requirements.

[0045] Among them, the power management module 103 is mainly used for power supply priority management and failure protection. When the vehicle is in a low power situation, the power management module 103 will accurately identify and establish the units related to the automatic emergency braking function execution as the first level power supply target, and allocate power resources to the units related to the automatic emergency braking function execution by priority, avoid non-critical load occupation of power to cause insufficient power supply or interruption of units related to the automatic emergency braking function execution, and ensure that the automatic emergency braking function can still work normally in a low power scene. In terms of failure protection, the power management module 103 has real-time monitoring capability and can accurately detect abnormal faults such as overcurrent, short circuit and overtemperature in the power supply circuit. Once a fault is found, it can quickly trigger the protection mechanism and cut off the fault branch in time to prevent the fault from spreading to affect other key units, and avoid damaging the key module due to circuit abnormalities, thereby protecting the safety of the power supply module and the units related to the automatic emergency braking function execution.

[0046] The self-vehicle information module 104 is used to collect the state information of the vehicle itself in real time and send it to the automatic emergency braking module, providing accurate data basis for the automatic emergency braking function execution and emergency power supply start. The specific function implementation focuses on the transmission of two key information: on the one hand, the self-vehicle information module 104 will receive the signals collected by the wheel speed sensor, and after calculation and processing, it will send the current vehicle speed information of the self-vehicle in real time. This information is not only the core basis for the automatic emergency braking module to judge whether to maintain braking and when to exit the emergency power supply, but also provides data basis for speed closed-loop control during the execution of the automatic emergency braking function; on the other hand, the self-vehicle information module 104 collects engine revolution per minute (RPM) information in real time through the built-in engine revolution per minute (RPM) submodule and sends it to the automatic emergency braking module. When the engine revolution per minute (RPM) drops below the preset revolution per minute (RPM) threshold during the execution of the automatic emergency braking function (such as the engine stall scenario), the power management module 103 can trigger the emergency power supply to start, ensuring that the units related to the execution of the automatic emergency braking function are continuously powered to maintain braking, avoiding the interruption of the automatic emergency braking function due to engine stall, and ultimately assisting the automatic emergency braking function to complete the complete control closed loop from risk identification to vehicle stabilization.

[0047] The perception module 106 is used to provide accurate collision risk perception data for the automatic emergency braking module, and its key components include millimeter wave radar, front camera and other components. To deal with the engine stall condition that may occur during the execution of the automatic emergency braking function of the manual transmission vehicle, the perception module 106 has the ability to run continuously in the engine stall state. Even if the engine stalls, it can still work stably and continuously scan the environment in front of the vehicle to complete the detection, identification and distance calculation of the target (such as the vehicle in front, pedestrians, obstacles, etc.), providing real-time and accurate environmental data basis for the automatic emergency braking module to judge the collision risk; at the same time, the perception module 106 and the automatic emergency braking module establish a low-delay communication mechanism, and the perception module 106 strictly controls the running period to be short, such as 50ms, which can quickly transmit the detected target information (such as target speed, relative position, distance, etc.) to the automatic emergency braking module, ensuring that the automatic emergency braking module can make decisions based on the latest perception data in time, avoiding misjudgment of collision risk or not responding in time due to communication delay.

[0048] The automatic emergency braking module 105 is the core decision unit of the automatic emergency braking function of the manual transmission vehicle, and undertakes the key responsibilities of collision risk judgment, braking instruction issuance and emergency power supply coordination in special conditions. It is the control center that ensures the smooth execution of the automatic emergency braking function in the engine stall scenario.

[0049] The automatic emergency braking module 105 receives in real time the target information within the preset range of the vehicle transmitted by the perception module 106, including the target lateral and longitudinal speed, acceleration, relative position between the ego vehicle and the target, and the like, and receives the vehicle speed, engine speed and the like of the ego vehicle transmitted by the ego vehicle information module 104; based on these data, the automatic emergency braking module 105 can calculate the target collision time (TTC) to evaluate the collision risk, and when it is determined that there is a collision risk and the automatic emergency braking function needs to be started, a braking instruction is immediately sent to the electronic stability program module 107, so that the electronic stability program module 107 responds to the instruction and performs braking. In addition, in the above process, the transmission cycle of the automatic emergency braking module 105 is still short, such as 50 ms, to ensure low delay.

[0050] The electronic stability program module 107 is the core execution unit of the automatic emergency braking function of the manual transmission vehicle, and undertakes the key responsibility of converting the braking decision of the automatic emergency braking module into actual braking action and ensuring the continuous deceleration of the vehicle under special working conditions, so as to ensure the realization of the automatic emergency braking function from execution to vehicle stable stop.

[0051] The specific function implementation focuses on two aspects. On the one hand, the electronic stability program module 107 receives the braking instruction issued by the automatic emergency braking module in real time, and the instruction contains key parameters such as deceleration and braking pressure demand; after receiving the braking instruction, the electronic stability program module 107 can quickly respond and perform braking, output the braking force according to the instruction requirement, and ensure that the vehicle starts to decelerate according to the deceleration logic preset by the automatic emergency braking module. On the other hand, in view of the engine stall working condition that may occur in the execution process of the automatic emergency braking function of the manual transmission vehicle, the electronic stability program module 107 can break through the conventional brake assist force decay limit caused by engine stall under the support of the power management module continuously supplying power, and continuously maintain the stability of the braking pressure. Even if the engine speed drops below the preset speed threshold, the electronic stability program module 107 can still maintain sufficient braking pressure to avoid deceleration interruption caused by pressure loss, until the vehicle speed is less than the preset speed threshold, and then cooperate with the orderly power-down process of the power management module to complete the end of the automatic emergency braking function, and ensure that the vehicle stops stably.

[0052] The vehicle braking method provided by the example embodiments of the present application will be described below in combination with the application scenario of Figure 1 The application scenario is only shown for the convenience of understanding the spirit and principles of the present application, and the embodiments of the present application are not limited in this respect. On the contrary, the embodiments of the present application can be applied to any applicable scenario.

[0053] It should be noted that the vehicle braking method provided in the exemplary embodiments of the present application is applied to a manual transmission vehicle, and can be executed on an automatic emergency braking module or an electronic control unit (ECU) integrated with the automatic emergency braking module.

[0054] Reference Figure 2 , Figure 2 is a flowchart of a vehicle braking method provided in an embodiment of the present application. As shown in Figure 2 , taking the automatic emergency braking module as the execution subject, the method in the embodiment of the present application can include: S201, in the process of executing the automatic emergency braking function, if it is monitored that the engine speed of the vehicle is less than a preset speed threshold, an emergency power supply starting instruction is sent to a power management module of the vehicle, so that the power management module controls a power supply module of the vehicle to maintain power supply to units related to the execution of the automatic emergency braking function based on the emergency power supply starting instruction, so that the automatic emergency braking function continues to be executed.

[0055] The preset speed threshold is a numerical value used to define the engine speed, for example, the preset speed threshold can be 50 rmp, which can be set according to actual braking requirements. If the engine speed of the vehicle is less than the preset speed threshold, it indicates that the engine speed of the vehicle is small, which usually means that the engine has approached to be off or has been off. At this time, the conventional engine power supply of the manual transmission vehicle will be interrupted. If it is not intervened in time, the vehicle may enter a power-off state, resulting in insufficient power supply to the units related to the execution of the automatic emergency braking function, and further causing brake assist to decay, the automatic emergency braking function to be interrupted, and the expected speed reduction requirement to be unable to be met. Conversely, if the engine speed of the vehicle is greater than or equal to the preset speed threshold, it indicates that the engine of the vehicle is in a normal operating state. At this time, the conventional engine power supply of the manual transmission vehicle can be stably maintained, and no corresponding measures need to be taken.

[0056] The emergency power supply starting instruction is an instruction for instructing the power management module to control the power supply module to continue to supply power to the units related to the execution of the automatic emergency braking function when it is monitored that the engine speed is less than the preset speed threshold in the process of executing the automatic emergency braking function. The emergency power supply starting instruction breaks through the limitation of the conventional power supply interruption after the engine of the manual transmission vehicle is off, and prompts the power management module to take corresponding measures to control the power supply module to work, so as to further cope with the power demand of the units related to the execution of the automatic emergency braking function.

[0057] Thus, for the problem that the engine speed of the manual transmission vehicle may be less than the preset speed threshold (close to or has been extinguished) during the execution of the automatic emergency braking function, the emergency power supply start instruction is triggered and transmitted to the power management module, prompting the power management module to control the power supply module to continuously supply power to the units related to the execution of the automatic emergency braking function, effectively avoiding the risk of brake assist force attenuation and automatic emergency braking function interruption caused by the interruption of regular power supply after the engine is extinguished, ensuring that the automatic emergency braking function can continue to execute until the expected speed reduction requirement is met, and ensuring the safety of vehicle driving.

[0058] S202, when the vehicle speed is less than the preset speed threshold, an emergency power supply exit instruction is sent to the power management module, so that the power management module controls the power supply module to power down the units related to the execution of the automatic emergency braking function according to the preset power down sequence based on the emergency power supply exit instruction.

[0059] The preset speed threshold is a numerical value used to define the speed, for example: the preset speed threshold can be 1 km / h, which can be set according to actual braking requirements. If the vehicle speed is less than the preset speed threshold, it indicates that the vehicle speed is small and the vehicle has approached a stable state or a completely stable state, at which time the core target of the automatic emergency braking function has been achieved, and there is no need to maintain emergency power supply to the units related to the execution of the automatic emergency braking function; on the contrary, if the vehicle speed is greater than or equal to the preset speed threshold, it indicates that the vehicle speed is large and the vehicle is still in a state that needs to be continuously braked to reduce speed, and the core target of the automatic emergency braking function has not been achieved, at which time the emergency power supply to the units related to the execution of the automatic emergency braking function needs to be continued to ensure that the units related to the execution of the automatic emergency braking function can work normally.

[0060] The emergency power supply exit instruction is an instruction for monitoring that the vehicle speed is less than the preset speed threshold during the execution of the automatic emergency braking function, instructing the power management module to control the power supply module to gradually power down the units related to the execution of the automatic emergency braking function according to the preset power down sequence. The emergency power supply exit instruction instructs the orderly power down of the units related to the execution of the automatic emergency braking function, realizes the reasonable control of power supply resources, avoids the consumption of power redundancy caused by continuous emergency power supply, and prevents the long-term power-on of the units related to the execution of the automatic emergency braking function from affecting the hardware life; at the same time, the preset power down sequence can ensure that the units related to the execution of the automatic emergency braking function are gradually stopped in a safe state, avoiding data loss or function abnormalities caused by sudden power-off.

[0061] Exemplarily, the units related to the automatic emergency braking function execution include a vehicle information module, an automatic emergency braking module, and an electronic stability program module, and the preset power-off sequence can be: the automatic emergency braking module, the vehicle information module, and the electronic stability program module are sequentially powered off. In this regard, as the decision core of the automatic emergency braking module, the automatic emergency braking module is preferentially powered off, which can terminate the output of the braking instruction to the electronic stability program module in time, and avoid subsequent meaningless instruction transmission. The vehicle information module is powered off subsequently, which can prevent abnormal data from being generated due to interruption in data acquisition before power-off, and avoid data disorder or residual interference on the subsequent initialization of the electrical system of the vehicle. The electronic stability program module, as the braking execution core of the automatic emergency braking function, is powered off last, which can ensure that the necessary braking pressure is maintained after the vehicle approaches a stable stop, avoid the sudden loss of braking pressure caused by the early power-off of the electronic stability program module, prevent the risk of vehicle sliding or braking failure before the vehicle stops stably, and ensure the braking safety in the ending stage of the automatic emergency braking function.

[0062] In this way, by sending the emergency power supply exit instruction and triggering the power-off operation in the preset sequence, on the one hand, the redundant power supply to the units related to the automatic emergency braking function execution is accurately terminated, the vehicle electrical energy loss is reduced, and potential damage to the related hardware caused by long-term power-on is avoided; on the other hand, the preset power-off sequence can ensure that the units related to the automatic emergency braking function execution stop working in an orderly manner, prevent problems such as data transmission interruption and module function abnormality caused by sudden power-off, ensure the coherence and controllability of the process from braking execution to system ending of the automatic emergency braking function, and clear the power supply link interference for subsequent regular power-on, power system restart, and other operations of the vehicle, thereby maintaining the stable operation of the electrical system of the vehicle.

[0063] In the embodiment of the present application, during the execution of the automatic emergency braking function, the emergency power supply start instruction is sent to the power management module when it is monitored that the engine speed of the vehicle is less than a preset speed threshold, so that the power management module controls the power supply module to maintain the power supply to the units related to the automatic emergency braking function execution, avoids the power supply interruption caused by engine stall, and ensures that the automatic emergency braking function does not interrupt; then, the emergency power supply exit instruction is sent to the power management module when it is monitored that the vehicle speed is less than a preset speed threshold, so that the power management module controls the power supply module to power off the related units in the preset power-off sequence, and ensures the orderliness of power supply control; in this way, the complete logic of starting emergency power supply, maintaining the execution of the automatic emergency braking function, and orderly exiting the power supply is formed, which effectively solves the problems of brake assist force decay and automatic emergency braking function interruption that may occur during the execution of the automatic emergency braking function of the manual transmission vehicle due to engine stall.

[0064] In addition, Figure 3 is a flowchart of a vehicle braking method provided by another embodiment of the present application, as shown in Figure 3 the method comprises: S301, determine whether there is a collision risk according to the ego information of the vehicle and the information of the target within the preset range of the vehicle.

[0065] The ego information of the vehicle includes vehicle speed, engine speed and the like obtained by the ego information module. The information of the target within the preset range of the vehicle includes lateral and longitudinal speed of the target within the preset range of the vehicle, lateral and longitudinal acceleration of the target, relative position information of the target and the ego vehicle, distance information of the target and the ego vehicle and the like obtained by the perception module. Exemplarily, the perception module can transmit these real-time collected target information to the automatic emergency braking module at an operation period of 50 ms, to provide accurate data basis for calculating target collision time and evaluating collision risk, and to ensure timeliness and accuracy of collision risk judgment.

[0066] It should be noted that the target collision time is an estimated time required for the ego vehicle and the target to collide from the current state. Here, the target collision time calculated according to the ego information of the vehicle and the information of the target within the preset range of the vehicle is taken as a risk evaluation index, and a preset collision time safety threshold (such as a target collision time safety range corresponding to different vehicle speeds) is comprehensively judged. If the calculated target collision time is less than or equal to the preset collision time safety threshold, it indicates that the ego vehicle and the target have a collision risk, and the risk degree has reached the level that needs to be intervened. If the target collision time is greater than the preset collision time safety threshold, it is determined that there is no collision risk at present, and no targeted intervention is needed, so as to ensure the accuracy and timeliness of the collision risk judgment, and to provide a scientific basis for whether to take intervention measures such as triggering the automatic emergency braking function.

[0067] S302, when it is determined that there is a collision risk, control the vehicle to execute the automatic emergency braking function.

[0068] Here, when it is determined that the ego vehicle and the target within the preset range have a collision risk and the risk reaches the level that needs to be intervened by comparing the target collision time with the preset collision time safety threshold, the automatic emergency braking function of the vehicle needs to be immediately controlled. For this, the automatic emergency braking module sends a braking instruction to the electronic stability program module, and the ego information module continuously transmits real-time vehicle speed, engine speed and the like of the ego vehicle to the automatic emergency braking module, and the perception module feeds back dynamic information such as lateral and longitudinal speed and relative distance of the target, so as to ensure that the electronic stability program module can accurately apply braking force according to these real-time data, so that the vehicle starts to decelerate or take risk avoidance operation, thereby coping with the determined collision risk by starting the automatic emergency braking function, laying an initial braking foundation for continuous execution of the automatic emergency braking function in the subsequent engine stall scene, and ensuring driving safety.

[0069] S303, in the automatic emergency braking function execution process, if the engine speed in the preset time length is monitored to reach the preset amplitude, a pressure maintaining early warning signal is sent to the power management module, so that the power management module controls the power supply module to enter an emergency power supply pre-enabled state based on the pressure maintaining early warning signal.

[0070] The pressure maintaining early warning signal is a pre-warning signal for triggering the power supply module to enter an emergency power supply pre-enabled state (i.e. emergency power supply preparation state) in advance. In the case that the engine speed drops significantly (the amplitude of the drop in the preset time length reaches the preset amplitude), indicating that the vehicle may soon stall, the power management module is instructed to prepare for emergency power supply in advance, ensuring that if the engine stalls later, the power supply module can quickly start emergency power supply to maintain the braking pressure for the units related to the execution of the automatic emergency braking function, avoiding the risk of brake failure due to power supply interruption. Exemplarily, the preset amplitude can be 800rmp, and the preset time length can be 1-3 seconds, which can be set according to actual braking requirements, which is not limited here.

[0071] It should be noted that in the related art, the engine and the transmission system of the manual transmission vehicle are rigidly connected through the clutch. When the automatic emergency braking function triggers braking, the deceleration of the vehicle will generate a reverse drag torque on the engine, i.e. the drag effect; if the driver does not timely step on the clutch to disconnect the power connection, the engine needs to simultaneously resist the braking drag force and its own operating resistance, and the load increases sharply. When the load exceeds the minimum stable speed of the engine, the engine will stall.

[0072] When the automatic emergency braking module obtains the engine speed data in real time through the vehicle information module and monitors that the engine speed drops in the preset time length due to the drag effect to reach the preset amplitude, it indicates that the engine load has increased significantly, and there is a risk of imminent stall. In this critical state, the automatic emergency braking module will immediately send a pressure maintaining early warning signal to the power management module to inform the power management module that the engine speed is abnormally low and that emergency power supply needs to be prepared in advance.

[0073] When the power management module receives the pressure maintenance early warning signal, it will quickly trigger the power supply preparation mechanism and send a control request to the voltage conversion module in the power supply module, instructing it to enter an emergency power supply pre-enabled state. The voltage conversion module in this state will complete internal circuit current rise, voltage stabilization parameter calibration and other preparation work in advance, and establish an efficient power supply link with the main power module in the power supply module. For example, when the power of the main power module reaches the power threshold, the voltage conversion module uses its remaining power as a reserve power resource for subsequent emergency power supply, ensuring that the engine speed is less than the preset speed threshold, and the main power module output can be immediately received through the high-efficiency link, and quickly stabilized to the working voltage required by the unit related to the execution of the automatic emergency braking function, to avoid power supply response delay when the engine stalls.

[0074] In this way, the power supply module can complete emergency power supply preparation in advance, ensuring that once the engine speed is less than the preset speed threshold, stable power can be quickly provided to the unit related to the execution of the automatic emergency braking function, maintaining uninterrupted communication of the braking pressure and the system, and ultimately ensuring that the automatic emergency braking function can still be continuously executed after the engine stalls until the vehicle is smoothly stopped.

[0075] S304、In the process of executing the automatic emergency braking function, if it is monitored that the engine speed of the vehicle is less than the preset speed threshold, the unit related to the execution of the automatic emergency braking function is determined as a first power supply target; wherein the first power supply target has the highest power supply priority.

[0076] The first power supply target is set as the order of obtaining power distribution first, and the non-critical load is arranged in the subsequent, or even delayed or cut off power supply.

[0077] In the process of executing the automatic emergency braking function of the manual transmission vehicle, when the engine stalls due to the driver not stepping on the clutch in time, the conventional power supply fails, and then the engine speed of the vehicle is less than the preset speed threshold, the automatic emergency braking module (or the power management module) can set the unit related to the execution of the automatic emergency braking function as the first power supply target with the highest power supply priority based on the power supply priority management function, to ensure that the power output by the power supply module is preferentially distributed to these critical units, and other non-critical loads are delayed or cut off power supply, preventing non-critical loads from occupying power resources and causing power supply shortage of the unit related to the execution of the automatic emergency braking function, thereby ensuring that the automatic emergency braking function can still be stably executed after the engine stalls, until the vehicle speed reduction target is completed.

[0078] S305, based on the first power supply target, sending an emergency power supply start instruction to the power management module of the vehicle, so that the power management module controls the power supply module of the vehicle to maintain power supply for the units related to the execution of the automatic emergency braking function based on the emergency power supply start instruction, so that the automatic emergency braking function continues to execute.

[0079] On the basis of the identified first power supply target, an emergency power supply start instruction is sent to the power management module of the vehicle, indicating that stable power supply is maintained for the first power supply target in priority, so that the power management module regulates and controls the power supply module according to the instruction requirement. On the one hand, the main power supply module in the power supply module stably outputs electric energy through the voltage conversion module, and on the other hand, according to the priority of the first power supply target, the units related to the execution of the automatic emergency braking function are continuously supplied with power meeting the working requirements, so as to ensure the normal operation of these units supporting the automatic emergency braking function, and enable the automatic emergency braking function to continue to execute the braking operation in the case of engine stall and failure of conventional power supply.

[0080] In addition, in order to ensure that the automatic emergency braking function has a complete triggering process, it is necessary to continuously guarantee the power supply and communication link of the first power supply target. The power supply time can be set to 3 seconds or more. The time can be flexibly adjusted according to the braking performance, deceleration requirement and other actual scenes of different vehicle models, so as to avoid the sudden loss of braking pressure and the disconnection of communication link due to the too early interruption of power supply. Through this control, it can be ensured that the electronic stability program module is always in the power-on state and continuously responds to the braking instruction issued by the automatic emergency braking module, so as to avoid the invalid scene that the braking instruction has been issued but the electronic stability program module is powered off. Moreover, it can also ensure that the self-vehicle information module stably transmits related data, and finally realize the complete closed loop of the automatic emergency braking function from the engine stall to the stable stop of the vehicle, so as to meet the demand of the vehicle for the completeness of the automatic emergency braking function.

[0081] S306, when the vehicle speed is less than a preset speed threshold, sending an emergency power supply exit instruction to the power management module, so that the power management module controls the power supply module to power off the units related to the execution of the automatic emergency braking function according to a preset power-off sequence.

[0082] Here, the implementation mode of S304 is described in detail in the related description of the embodiment, which will not be repeated here. Figure 2

[0083] Figure 4 is a control timing diagram of the vehicle braking method provided by an embodiment of the present application. Referring to Figure 4 , ​It can be known that the automatic emergency braking module 105 predicts the collision risk according to the sensing data of the sensing module 106, and sends a braking request to the electronic stability program module 107 when predicting the collision risk, so that the electronic stability program module 107 performs braking, and then during the execution of the automatic emergency braking function, the vehicle information module 104 monitors the engine speed / vehicle speed, and sends a pressure maintaining warning signal when determining that the engine speed has a large drop within a preset time length, so that the power management module 103 controls the voltage conversion module 102 to enter an emergency power supply pre-enabled state; when the automatic emergency braking module 105 determines that the engine speed is less than a preset speed threshold through the vehicle information module 104, a first power supply target is determined and an emergency power supply start instruction is sent to the power management module 103, and then the electronic stability program module 107 is ready for brake pressure establishment and maintains braking, performs vehicle speed closed-loop control until the vehicle speed drops to 0, and then the automatic emergency braking module 105 sends an emergency power supply exit instruction to the power management module 103 through the vehicle information module 104 when determining that the vehicle speed is less than a preset vehicle speed threshold, so that the units related to the execution of the automatic emergency braking function are powered off.

[0084] In some embodiments, the method further comprises: Step one, during the execution of the automatic emergency braking function, if the power supply module is abnormal, a limiting instruction is sent to the power management module, so that the power management module controls the power supply module to limit the power supply current of the units related to the execution of the automatic emergency braking function to a preset current range.

[0085] The limiting instruction is an instruction for indicating that the power supply current of the units related to the execution of the automatic emergency braking function is limited to a safe range. Exemplarily, the preset current range is a safe range of the power supply current, and the embodiment of the present disclosure sets it to a current range with a smaller value, for example, the preset current range can be 0A to 3A. By setting in this way, there are two purposes. If the voltage conversion module in the power supply module is abnormal, on the one hand, to avoid the output current being too large to damage the units related to the execution of the automatic emergency braking function when the main power module is directly supplied without the voltage conversion module for voltage stabilization and current limiting, preventing hardware failure from causing the automatic emergency braking function to completely fail, and on the other hand, by limiting the current, the main power module can be maintained within a safe discharge range, avoiding the main power module from being shortened in service life or even having a safety hazard due to excessive discharge or large current discharge. In view of the above, the embodiment of the present disclosure limits the power supply current value of the power supply module to a small value close to 0, which can effectively avoid the related risk hazards.

[0086] In this way, when the power supply module is abnormal during the execution of the automatic emergency braking function, the power management module triggers the control of the power supply current by sending a limiting instruction to limit the current supplied to the units related to the execution of the automatic emergency braking function within a preset current range, thereby avoiding the risk of abnormal current and maintaining the basic working ability of the units related to the execution of the automatic emergency braking function in the power supply abnormal scenario, so that the automatic emergency braking function can continue to be executed (rather than directly fail), which helps to complete the deceleration and risk avoidance of the vehicle or wait for the intervention of the driver to gain time, and balances the hardware safety protection and driving safety protection.

[0087] Step two, after limiting the power supply current of the units related to the execution of the automatic emergency braking function to the preset current range, the deceleration during the execution of the automatic emergency braking function is reduced to the target deceleration.

[0088] The target deceleration meets the requirements that the vehicle can effectively decelerate to avoid collision risk and the maximum execution capability of the electronic stability program module under limited power supply is not exceeded. For example, the deceleration during the execution of the automatic emergency braking function can be 7.84 m / s 2 ~9.8 m / s 2 , the target deceleration can be 2.94 m / s 2 ~4.9 m / s 2 , and the target deceleration can be 2.94 m / s

[0089] When the power supply current of the units related to the execution of the automatic emergency braking function is limited to the preset current range, the deceleration during the execution of the automatic emergency braking function is controlled. Since the power supply current is limited, the output power of the electronic stability program module can be limited by the current power supply level. If the original deceleration target is maintained, the braking execution can be unstable or the power supply can be overloaded. Therefore, according to the current limited power supply capability, the actual deceleration during the execution of the automatic emergency braking function is reduced to the target deceleration that matches the current power supply condition, so as to ensure that the automatic emergency braking function can still execute the braking operation in a stable and controllable manner under the condition of limited power supply current, avoid the braking failure or hardware failure caused by the mismatch between the deceleration and the power supply capability, and protect the driving safety and the function stability.

[0090] In some embodiments, the method further comprises: During the execution of the automatic emergency braking function, if the power supply module is abnormal, the power management module is abnormal, or the communication of the units related to the execution of the automatic emergency braking function is abnormal, a corresponding abnormality prompt is performed.

[0091] During the execution of the automatic emergency braking function, the operating state of the power supply module, the power management module and the units related to the execution of the automatic emergency braking function is monitored in real time. The working state of the power supply module is monitored to determine whether there is an abnormality such as output current fluctuation or voltage stabilization failure. The control state of the power management module is monitored to check whether it can normally receive instructions and perform current limiting and other power supply control operations. The communication state between the units related to the execution of the automatic emergency braking function is monitored to confirm whether there is interruption, delay or error in data transmission. When any of the above abnormalities is detected, the corresponding abnormality prompt mechanism is triggered immediately. The abnormality information can be transmitted to the driver through the vehicle human-machine interface, such as the instrument panel warning light, the central control screen text prompt or the sound alarm. On the one hand, the driver can be informed of the fault risk of the vehicle in time, and on the other hand, the driver can be guided to intervene in the vehicle control (such as taking over the brake and avoiding risks) to avoid safety hazards caused by the failure of the automatic emergency braking function due to abnormalities.

[0092] In some embodiments, the units related to the execution of the automatic emergency braking function include a perception module. The method further includes: during the execution of the automatic emergency braking function, if the perception module is abnormal, maintaining the deceleration during the execution of the automatic emergency braking function until the vehicle speed is less than the preset vehicle speed threshold.

[0093] During the execution of the automatic emergency braking function, the working state of the perception module related to the execution of the automatic emergency braking function is monitored in real time. If the perception module is found to be abnormal, such as millimeter wave radar signal interruption or front camera data transmission error, so that it cannot continue to obtain target dynamic information. At this time, in order to avoid the risk of insufficient braking or excessive braking caused by reckless adjustment of deceleration due to lack of perception data, the current deceleration during the execution of the automatic emergency braking function is not changed, but the deceleration is maintained to continue braking until the vehicle information module monitors that the real-time vehicle speed is less than the preset vehicle speed threshold, so as to ensure that the vehicle can gradually slow down to a safe state under the stable braking action. The uncertainty risk of adjusting the deceleration when the perception is abnormal is avoided, and the driving safety is ensured through continuous braking until the vehicle reaches a low-risk low-speed state.

[0094] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0095] Figure 5 is a structural schematic diagram of a vehicle braking device provided by an embodiment of the present application. As shown in Figure 5 The vehicle braking device 400 provided by the embodiment can include a first processing module 401 and a second processing module 402. The first processing module 401 is configured to, during execution of the automatic emergency braking function, if the engine speed of the vehicle is less than a preset speed threshold, send an emergency power supply start instruction to a power management module of the vehicle, so that the power management module controls the power supply module to maintain power supply to units related to execution of the automatic emergency braking function based on the emergency power supply start instruction, so that the automatic emergency braking function continues to execute. The second processing module 402 is configured to, when the vehicle speed is less than a preset speed threshold, send an emergency power supply exit instruction to the power management module, so that the power management module controls the power supply module to power down the units related to execution of the automatic emergency braking function according to a preset power down sequence based on the emergency power supply exit instruction.

[0096] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by them can be referred to the method embodiments part. Therefore, no further description is given here.

[0097] Figure 6 is a structural schematic diagram of a manual transmission vehicle provided by an embodiment of the present application. As shown in the figure, the manual transmission vehicle 600 of this embodiment includes the vehicle braking system 100 provided above. Figure 6

[0098] In some embodiments, the automatic emergency braking module in the vehicle braking system 100 is built-in with a processor and a memory. The memory stores a computer program that can run on the processor. The processor executes the computer program to implement the steps in any of the method embodiments described above.

[0099] For example, the computer program can be divided into one or more elements / units, which are stored in the memory and executed by the processor to complete the present application. The one or more elements / units can be a series of computer program instruction segments that can complete a specific function, which are used to describe the execution process of the computer program in the manual transmission vehicle 600.

[0100] Those skilled in the art can understand that, Figure 6 is only an example of a manual transmission vehicle and does not constitute a limitation on the vehicle. It can include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0101] ​The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0102] The memory can be an internal storage unit of the manual transmission vehicle, such as a hard disk or a memory of the vehicle, and can also be an external storage device of the vehicle, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory can also include both the internal storage unit and the external storage device of the manual transmission vehicle. The memory is used to store computer programs and other programs and data required by the manual transmission vehicle. The memory can also be used to temporarily store data that has been output or will be output.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and elements is exemplified, and in actual application, the above functions can be completed by different functional units and elements according to needs, that is, the internal structure of the device is divided into different functional units or elements to complete all or part of the above described functions. Each functional unit or element in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit or element are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and elements in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0104] An embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the vehicle braking method.

[0105] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0106] The integrated elements / units, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier wave signal, telecommunication signal and software distribution medium, etc.

[0107] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A vehicle braking method, characterized in that, Applied to manual transmission vehicles, the method includes: During the execution of the automatic emergency braking function, if the engine speed of the vehicle is detected to be lower than a preset speed threshold, an emergency power supply start command is sent to the power management module of the vehicle, so that the power management module controls the power supply module of the vehicle to maintain power supply to the units related to the execution of the automatic emergency braking function based on the emergency power supply start command, so that the automatic emergency braking function continues to be executed. When the vehicle speed is less than a preset speed threshold, an emergency power supply exit command is sent to the power management module, so that the power management module controls the power supply module to power down the units related to the automatic emergency braking function in a preset power-down sequence based on the emergency power supply exit command.

2. The vehicle braking method according to claim 1, characterized in that, The method further includes: During the execution of the automatic emergency braking function, if the engine speed is detected to decrease by a preset value within a preset time period, a pressure holding warning signal is sent to the power management module, so that the power management module controls the power supply module to enter the emergency power supply pre-enable state based on the pressure holding warning signal.

3. The vehicle braking method according to claim 1, characterized in that, If the vehicle's engine speed is detected to be lower than a preset speed threshold, an emergency power supply start command is sent to the vehicle's power management module, including: If the engine speed of the vehicle is detected to be lower than the preset speed threshold, the unit related to the execution of the automatic emergency braking function is identified as a primary power supply target; among which, the primary power supply target has the highest power supply priority. Based on the primary power supply target, an emergency power supply start command is sent to the vehicle's power management module.

4. The vehicle braking method according to any one of claims 1 to 3, characterized in that, The method further includes: Based on the vehicle's own information and the information of targets within the vehicle's preset range, determine whether there is a risk of collision; When a collision risk is determined, the vehicle is controlled to perform automatic emergency braking.

5. The vehicle braking method according to any one of claims 1 to 3, characterized in that, The method further includes: If the power supply module malfunctions during the execution of the automatic emergency braking function, a limiting command is sent to the power management module so that the power management module controls the power supply module to limit the power supply current to the units related to the execution of the automatic emergency braking function to a preset current range according to the limiting command. After limiting the power supply current of the unit related to the execution of the automatic emergency braking function to the preset current range, the deceleration during the execution of the automatic emergency braking function is controlled to be reduced to the target deceleration.

6. The vehicle braking method according to any one of claims 1 to 3, characterized in that, The method further includes: If the power supply module malfunctions, the power management module malfunctions, or the communication between the units related to the execution of the automatic emergency braking function malfunctions during the execution of the automatic emergency braking function, a corresponding error message will be displayed.

7. The vehicle braking method according to any one of claims 1 to 3, characterized in that, The units associated with the execution of the automatic emergency braking function include a sensing module; The method further includes: If the sensing module malfunctions during the execution of the automatic emergency braking function, the deceleration during the execution of the automatic emergency braking function will be maintained until the vehicle speed is less than the preset speed threshold.

8. A vehicle braking system, characterized in that, The system, applied to manual transmission vehicles, includes: Automatic emergency braking module, power management module and power supply module; Among them, the automatic emergency braking module is used to send an emergency power supply start command to the power management module if the engine speed of the vehicle is detected to be less than a preset speed threshold during the execution of the automatic emergency braking function. The power management module, based on the emergency power supply start command, controls the power supply module to maintain power supply to the units related to the execution of the automatic emergency braking function, so that the automatic emergency braking function can continue to be executed; The automatic emergency braking module is also used to send an emergency power supply exit command to the power management module when the vehicle speed is less than a preset speed threshold. The power management module, based on the emergency power supply exit command, controls the power supply module to power down the units related to the automatic emergency braking function in a preset power-down sequence.

9. A manual transmission vehicle, characterized in that, Includes the vehicle braking system as described in claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle braking method as described in any one of claims 1 to 7.

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