Vehicle brake control method, device, system, medium, controller, product and vehicle

Abstract

The application relates to a vehicle braking control method and device, system, medium, controller, product and vehicle. The control method comprises controlling vehicle braking according to first voice information. The first voice information contains a preset keyword, and the voiceprint feature of the first voice information matches a preset voiceprint feature. Through the technical scheme, the vehicle braking can be controlled according to the first voice information. The first voice information contains a preset keyword, and the voiceprint feature of the first voice information matches a preset voiceprint feature. On the one hand, the manual braking operation of the driver can not be relied on, and effective braking of the vehicle can be realized even when the driver cannot perform the manual braking operation, thereby improving the driving safety. On the other hand, the voiceprint matching premise is limited, that is, only the person who has recorded the voiceprint can start the emergency braking, thereby ensuring the accuracy of the braking and effectively avoiding the misoperation.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle braking control method, device, system, medium, controller, product, and vehicle. Background Technology

[0002] During vehicle operation, there may be situations where the driver is unable to manually apply the brakes, leading to a decrease in vehicle driving safety.

[0003] How to achieve effective vehicle braking without relying on the driver's manual braking operation is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a vehicle braking control method that can achieve effective vehicle braking without relying on the driver's manual braking operation.

[0005] To achieve the above objectives, according to a first aspect of this application, a vehicle braking control method is provided, comprising:

[0006] Based on the first voice message, control the vehicle to brake;

[0007] The first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

[0008] Optionally, the method further includes:

[0009] If the similarity between the voiceprint features of the first voice information and the preset voiceprint features is greater than or equal to a first threshold, it is determined that the voiceprint features of the first voice information match the preset voiceprint features.

[0010] Optionally, the method further includes:

[0011] Obtain second voice information from inside the vehicle;

[0012] The location of the sound source of the second speech information is determined based on the sound source parameters of the second speech information.

[0013] If the source of the second voice information is the passenger seat, the first voice information from the passenger seat is obtained.

[0014] Optionally, the sound source parameters include at least one of the azimuth angle, pitch angle, and distance of the sound source point relative to the voice acquisition device;

[0015] The voice acquisition device is used to acquire voice information.

[0016] Optionally, the method further includes:

[0017] If the first voice information contains the preset keywords, the voiceprint features of the first voice information are compared with the preset voiceprint features to determine whether the voiceprint features of the first voice information match the preset voiceprint features.

[0018] Optionally, the method further includes:

[0019] If the first voice information contains the preset keyword and the frequency of the preset keyword exceeds the second threshold, the voiceprint features of the first voice information are compared with the preset voiceprint features.

[0020] Optionally, the method further includes:

[0021] If the first voice information inside the vehicle contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features, the emotional state of the speaker is determined based on the acoustic parameters of the first voice information.

[0022] Optionally, the acoustic parameters include at least one of the following: speech information frequency, decibel value, speech rate, pitch, and tone.

[0023] Optionally, determining the speaker's emotional state based on the acoustic parameters of the first speech information includes:

[0024] The emotion score of the first voice information is determined based on the acoustic parameters of the first voice information.

[0025] The emotional state of the speaker is determined based on the score range of the emotion score.

[0026] Different emotional states correspond to different score ranges.

[0027] Optionally, the method further includes:

[0028] Control the vehicle's braking based on the speaker's emotional state;

[0029] The emotional state of the speaker is a preset emotional state.

[0030] Optionally, the method further includes:

[0031] The vehicle braking is controlled based on the emotional state of the speaker and the position information of the passengers.

[0032] The emotional state of the speaker is a preset emotional state.

[0033] According to a second aspect of this application, a vehicle braking control device is provided, comprising:

[0034] The control module is used to control the vehicle braking based on the first voice information;

[0035] The first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

[0036] Optionally, the device further includes:

[0037] The voiceprint recognition module is used to determine that the voiceprint features of the first voice information match the preset voiceprint features when the similarity between the voiceprint features of the first voice information and the preset voiceprint features is greater than or equal to a first threshold.

[0038] Optionally, the device further includes:

[0039] The sound source localization module is used to acquire second voice information inside the vehicle and determine the location of the sound source of the second voice information based on the sound source parameters of the second voice information.

[0040] The speech recognition module is used to acquire the first speech information from the passenger seat when the source of the second speech information is the passenger seat.

[0041] Optionally, the voiceprint recognition module is further used for:

[0042] If the first voice information contains the preset keywords, the voiceprint features of the first voice information are compared with the preset voiceprint features to determine whether the voiceprint features of the first voice information match the preset voiceprint features.

[0043] Optionally, the voiceprint recognition module is further used for:

[0044] If the first voice information contains the preset keyword and the frequency of the preset keyword exceeds the second threshold, the voiceprint features of the first voice information are compared with the preset voiceprint features.

[0045] Optionally, the device further includes:

[0046] An emotion recognition module is used to determine the emotional state of the speaker based on the acoustic parameters of the first speech information when the first speech information contains preset keywords and the voiceprint features of the first speech information match the preset voiceprint features.

[0047] Optionally, the emotion recognition module is further used for:

[0048] The emotion score of the first voice information is determined based on the acoustic parameters of the first voice information.

[0049] The emotional state of the speaker is determined based on the score range of the emotion score.

[0050] Different emotional states correspond to different score ranges.

[0051] Optionally, the control module is further configured to:

[0052] Control the vehicle's braking based on the speaker's emotional state;

[0053] The emotional state of the speaker is a preset emotional state.

[0054] Optionally, the control module is further configured to:

[0055] The vehicle braking is controlled based on the emotional state of the speaker and the position information of the passengers.

[0056] The emotional state of the speaker is a preset emotional state.

[0057] According to a third aspect of this application, a vehicle braking control system is provided, comprising:

[0058] The control device described above;

[0059] A braking device for performing braking operations under the control of the vehicle braking control device.

[0060] Optionally, the braking device includes:

[0061] The first braking module is used to perform braking operations under the control of the vehicle braking control device;

[0062] The second braking module is used to perform braking operations under the control of the vehicle braking control device;

[0063] The first braking module and the second braking module are different.

[0064] Optionally, the vehicle braking control device is further configured to generate a braking command based on the first voice information and send it to the braking device;

[0065] The braking device is also used to perform the braking operation according to the braking command.

[0066] Optionally, the first braking module includes:

[0067] The first control unit is used to generate a first boost signal and a first adjustment command based on the braking command and preset pedal parameters.

[0068] The motor assist unit is used to control the operating parameters of the first motor according to the magnitude and speed of the first boost signal;

[0069] An electronic stability unit is used to adjust the braking pressure of the vehicle according to the first adjustment command;

[0070] The values ​​of the pedal parameters are positively correlated with the values ​​of the braking pressure and the values ​​of the pedal parameters are positively correlated with the magnitude of the first boost signal.

[0071] Optionally, the first braking module is further configured to:

[0072] The braking operation is performed based on the passenger seat location information and the braking command.

[0073] Optionally, the first control unit is also used for:

[0074] When the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the first pedal parameters;

[0075] When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the second pedal parameters;

[0076] When the passenger seats include the first row of passenger seats and the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the third pedal parameters.

[0077] Wherein, the value of the first pedal parameter is greater than the value of the second pedal parameter, and the value of the third pedal parameter is greater than or equal to the value of the first pedal parameter.

[0078] Optionally, the second braking module includes:

[0079] The second control unit is used to receive the braking command forwarded by the first control unit, and generate a second boost signal according to the braking command and preset pedal parameters;

[0080] The motor drive unit is used to control the operating parameters of the second motor according to the magnitude and speed of the second boost signal;

[0081] The values ​​of the pedal parameters are positively correlated with the magnitude of the second boost signal.

[0082] Optionally, the second braking module is further configured to:

[0083] The braking operation is performed based on the passenger seat location information and the braking command.

[0084] Optionally, the second control unit is also used for:

[0085] When the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the fourth pedal parameters;

[0086] When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the fifth pedal parameters;

[0087] When the passenger seats include the first row of passenger seats and the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the sixth pedal parameters.

[0088] Wherein, the value of the fourth pedal parameter is greater than the value of the fifth pedal parameter, and the value of the sixth pedal parameter is greater than or equal to the value of the fourth pedal parameter.

[0089] Optionally, the pedal parameters include:

[0090] At least one of the absolute value of the pedal displacement and the rate of pedal movement.

[0091] Optionally, the system further includes:

[0092] A display device, connected to the braking device, is used to display prompt information.

[0093] According to a fourth aspect of this application, a computer-readable storage medium is provided that stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0094] According to a fifth aspect of this application, a controller is provided that stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0095] According to a sixth aspect of this application, a computer program product is provided, comprising a computer program or instructions that, when executed by a processor, implement the steps of the above-described method.

[0096] According to a seventh aspect of this application, a vehicle is provided, comprising a control device as described above, a system as described above, or a controller as described above.

[0097] In summary, the embodiments of this application provide a vehicle braking control method, including:

[0098] Based on the first voice information, the vehicle braking is controlled; wherein the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features. Through the above technical solution, the vehicle braking can be controlled based on the first voice information, wherein the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features. On the one hand, it can achieve effective braking of the vehicle without relying on the driver's manual braking operation, even when the driver cannot perform manual braking operation, thus improving driving safety. On the other hand, it limits the prerequisite for voiceprint matching, that is, only people who have registered their voiceprints can initiate emergency braking, ensuring the accuracy of braking and effectively avoiding misoperation.

[0099] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0100] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0101] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0102] Figure 1 This is a flowchart of the steps of a control method provided in an exemplary embodiment of this application;

[0103] Figure 2 This is a flowchart of another control method provided in an exemplary embodiment of this application;

[0104] Figure 3 This is a flowchart of another control method provided in an exemplary embodiment of this application;

[0105] Figure 4 This is a flowchart of another control method provided in an exemplary embodiment of this application;

[0106] Figure 5 This is a flowchart of another control method provided in an exemplary embodiment of this application;

[0107] Figure 6 This is a flowchart of another control method provided in an exemplary embodiment of this application;

[0108] Figure 7This is a flowchart of another control method provided in an exemplary embodiment of this application;

[0109] Figure 8 This is a schematic diagram of the architecture of a vehicle braking control system provided in an exemplary embodiment of this application;

[0110] Figure 9 This is a schematic diagram of the architecture of the control device provided in an exemplary embodiment of this application;

[0111] Figure 10 This is a schematic diagram of the architecture of the braking device provided in an exemplary embodiment of this application;

[0112] Figure 11 This is a schematic diagram showing the control device, braking device, and display device provided in an exemplary embodiment of this application connected via a CAN bus;

[0113] Figure 12 This is a schematic diagram of the overall structure of the vehicle provided in an exemplary embodiment of this application.

[0114] Explanation of reference numerals in the attached figures:

[0115] 1. Vehicle braking control system;

[0116] 70. Control device;

[0117] 710. Control module; 720. Voiceprint recognition module; 730. Sound source localization module; 740. Speech recognition module;

[0118] 750. Emotion Recognition Module;

[0119] 80. Braking device; 810. First braking module;

[0120] 811. First control unit; 812. Motor assist unit; 813. Electronic stabilization unit;

[0121] 820. Second braking module;

[0122] 821. Second control unit; 822. Motor drive unit; 90. Display device;

[0123] I. Vehicles. Detailed Implementation

[0124] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0125] According to a first aspect of this application, embodiments of this application provide a vehicle braking control method.

[0126] Reference Figure 1 As shown, Figure 1 This is a schematic diagram illustrating the main steps of a vehicle braking control method provided in an embodiment of this application. The vehicle braking control method may include the following steps:

[0127] S100: Control the vehicle braking according to the first voice information; wherein the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

[0128] The above technical solution enables vehicle braking based on first voice information, wherein the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features. On one hand, it eliminates the need for manual braking by the driver, achieving effective braking even when the driver is unable to perform manual braking, thus improving driving safety. On the other hand, it limits the prerequisite for voiceprint matching, ensuring that only those who have registered their voiceprints can initiate emergency braking, guaranteeing braking accuracy and effectively preventing misoperation.

[0129] That is, in the control method of this application embodiment, the voiceprint feature of the first voice information and the preset voiceprint matching means that the speaker who sends the first voice information is a designated person. Only when the speaker who sends the first voice information is a designated person will the vehicle brake be controlled, and the vehicle's braking system will perform the braking operation. The operation is convenient, simple and intuitive. The braking operation can be achieved by simply using voice commands, without the need for additional physical operations, which reduces the operational burden on the co-driver and passengers in emergency situations.

[0130] If the first voice message contains preset keywords, but the voiceprint characteristics of the first voice message do not match the preset voiceprint characteristics, the vehicle braking will not be controlled, and the vehicle braking system will not perform braking operation. That is, even if a speaker in the car says a sentence containing preset keywords, but the speaker is not the designated person, the vehicle braking will not be controlled. This improves the accuracy of vehicle braking and reduces the possibility of misoperation, especially avoiding the situation where minors make a mistake by uttering the first voice message containing preset keywords while playing in the car.

[0131] Furthermore, by using voice information recognition, the braking response speed and accuracy can be improved, and the cost of adding hardware structures to the vehicle can be reduced. This control method is suitable for a variety of driving scenarios.

[0132] The preset keywords for the first voice information in this embodiment may include words such as brake, stop, slow down, etc. The keyword settings are set according to the actual use and are not limited here.

[0133] It should be noted that, based on people's language habits, preset keywords are more convenient for voice control when the field contains the word "brake".

[0134] The first voice information in this embodiment can be either voice information inside the vehicle or voice information outside the vehicle.

[0135] When the first voice message is from outside the vehicle, this scenario can be applied when the driver is learning to drive and the instructor is outside the vehicle. When the driver is unable to perform manual braking, the instructor can control the vehicle's braking effect through voice control from outside the vehicle.

[0136] Of course, if the first voice message is from inside the vehicle, the vehicle braking can be controlled more promptly via voice information.

[0137] In some embodiments, reference Figure 2 The method in this application also includes the following steps:

[0138] S010: If the similarity between the voiceprint features of the first voice information and the preset voiceprint features is greater than or equal to the first threshold, determine that the voiceprint features of the first voice information match the preset voiceprint features.

[0139] When the first voice information is identified to include the word "brake", the voiceprint features of the identified first voice information are compared with preset voiceprint features. If the similarity after comparison is greater than or equal to the first threshold, it is determined that the voiceprint features of the first voice information match the preset voiceprint features. If it is confirmed that the voiceprint features of the first voice information match the preset voiceprint features, it is determined that the speaker of the first voice information is the designated speaker, so as to control the vehicle braking.

[0140] Optionally, the first threshold of this application can be set to greater than 70%. When the similarity is greater than or equal to 70%, it is determined that the voiceprint features of the first voice information match the preset voiceprint features. Of course, in practical applications, the first threshold can also be set to other values, such as 60%, 80%, etc., and this application embodiment does not limit this.

[0141] Optionally, S010 is executed before S100.

[0142] In the embodiments of this application, the similarity between the voiceprint features of the first speech information and the preset voiceprint features can be calculated by using cosine similarity, Euclidean distance, etc.

[0143] In some embodiments, reference Figure 3 The method also includes the following steps:

[0144] S020: Obtain second voice information from inside the vehicle;

[0145] S030: Determine the location of the sound source of the second speech information based on the sound source parameters of the second speech information;

[0146] S040: If the source of the second voice information is the passenger seat, acquire the first voice information from the passenger seat.

[0147] The second voice information inside the vehicle refers to the voice information emitted by all speakers inside the vehicle. The sound source location refers to the location where the second voice information is emitted. The passenger seat refers to the non-driver's seat, such as the front passenger seat or the rear passenger seat. In the case of a vehicle with three or more rows of passenger seats, the passenger seat includes multiple rows of passenger seats.

[0148] Optionally, step S020 can be executed before step S010, and steps S030 and S040 are executed sequentially after step S020 and before step S010. After obtaining the second voice information of the vehicle and determining the sound source location of the second voice information according to the sound source parameters of the second voice information, if the sound source location of the second voice information is the passenger seat, the first voice information from the passenger seat is obtained, and then step S100 is executed.

[0149] It should be noted that the first voice information and the second voice information are voice information from the same passenger seat in the vehicle. Furthermore, the first voice information and the second voice information can be voice information from the same speaker in the same passenger seat.

[0150] Furthermore, the second voice information is a prerequisite for the first voice information. The first voice information will only be obtained when it is determined that the second voice information comes from a non-driver's seat. The second voice information may or may not contain preset keywords.

[0151] When the first voice information is voice information from outside the vehicle, the second voice information is also voice information from outside the vehicle.

[0152] The above steps S020, S030 and S040 can prevent the voice information issued by non-passenger personnel from containing preset keywords. At the same time, if the similarity between the voiceprint feature of the non-passenger personnel and the preset voiceprint feature is greater than the first threshold, the vehicle's braking device 80 will be erroneously operated. On this basis, the rationality of the control method is further improved, ensuring the accuracy of the braking device 80 when braking.

[0153] In this process, based on the mobility of drivers and passengers, in order to ensure that the regular driver can still use voice to brake the vehicle when sitting in the passenger seat, the voiceprint characteristics of the regular driver are recorded. When the regular driver sits in the driver's seat and issues voice information containing preset keywords, step S010 is executed. It is determined that this voice information is issued from the driver's seat, not the passenger seat. Therefore, step S020 is not executed, and no further voice information is obtained. Step S100 is also not executed, which further improves the overall rationality of the control method and ensures the accuracy of the braking device 80 when braking.

[0154] In some embodiments, the sound source parameters of the second voice information include at least one of the azimuth angle, pitch angle, and distance of the sound source point relative to the voice acquisition device; wherein the voice acquisition device is used to acquire voice information.

[0155] It should be noted that the voice acquisition device in this application can be a microphone array, which includes multiple microphones in different positions. These multiple microphones in different positions can collect first voice information and second voice information, and if it is confirmed that the source of the second voice information is the passenger seat, the multiple microphones in different positions can continue to collect the first voice information from the passenger seat.

[0156] The microphone array of this application can also process the sound source parameters of the sound information after collecting the first and second voice information. The sound source location of the second voice information can be determined by using the sound source parameters, including at least one of the azimuth angle, pitch angle and distance of the sound source point relative to the voice acquisition device.

[0157] It is understandable that the core principle of a microphone array is beamforming, which means that by controlling the signal phase and amplitude of multiple microphones, the array can enhance the sound source signal from a specific direction while suppressing noise signals from other directions, thus accurately collecting the first voice information from the passenger seat.

[0158] The voice collection device of this application can be integrated into a vehicle, such as into the A-pillar or the roof of the vehicle, and the specific location is not limited.

[0159] In some embodiments, reference Figure 3 The control method also includes the following steps:

[0160] S050: When the first voice information contains preset keywords, the voiceprint features of the first voice information are compared with the preset voiceprint features to determine whether the voiceprint features of the first voice information match the preset voiceprint features.

[0161] For example, the process of comparing the voiceprint features of the first voice information to be identified with preset voiceprint features can be achieved by extracting and analyzing the speaker's unique voice features and comparing them with voiceprint models stored in the database. Voiceprint features may include features such as frequency components and shape changes of the first voice information. Based on a deep learning model, feature extraction and pattern recognition are performed on the first voice information. If the similarity between the current speaker's voice features and the voiceprint model reaches a preset threshold, then the current speaker is determined to be the specified speaker, and the match is successful.

[0162] Voiceprint recognition is a technology that can identify voices. It mainly analyzes the multilingual signal characteristics of voices to achieve targeted identification of individual voice characteristics. Because each person's pronunciation frequency is different, their voiceprints are unique, distinctive, unreplicable, and identifiable.

[0163] Among them, the preset voiceprint feature refers to the voice sample recorded in advance by a designated person (the person recording the voiceprint should have the ability to observe road conditions and make correct judgments and reactions in emergency situations; the voice sample can be a text read aloud or a natural speaking voice) and its features are stored in the database to uniquely represent the speaker's voice identity.

[0164] It should be noted that the deep learning model used for voiceprint recognition in this application is a commonly used deep learning model in the prior art. The embodiments of this application are applications of it, and its logic and algorithms will not be described in detail here.

[0165] Optionally, step S050 is performed before step S010 and after step S040.

[0166] In some embodiments, reference Figure 6 The method also includes the following steps:

[0167] S060: If the first voice information contains preset keywords and the frequency of the preset keywords exceeds the second threshold, the voiceprint features of the first voice information are compared with the preset voiceprint features.

[0168] By setting a frequency threshold for preset keywords, invalid voiceprint comparison operations can be reduced, further improving response speed. This also prevents accidental triggering by irrelevant voice information, thereby enhancing system security and reliability.

[0169] The second threshold can be set twice, or it can be set three times. The specific number of times is not limited in this application, and the actual setting shall prevail.

[0170] In some embodiments, reference Figure 7 The method also includes the following steps:

[0171] S200: When the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features, determine the emotional state of the speaker based on the acoustic parameters of the first voice information.

[0172] This step can further determine the speaker's emotional state based on the acoustic parameters of the first voice information, and then determine whether the current driving situation is an emergency, i.e. whether it is necessary to control the vehicle braking, based on the emotional state, thus further improving the accuracy of vehicle braking.

[0173] Optionally, step S200 follows S100. If it is determined that the first voice information comes from the passenger seat, the speaker's emotional state is further confirmed to avoid repeated and redundant steps that could lead to poor timeliness.

[0174] For example, the emotional state of the speaker includes three states: excitement, calmness, and depression.

[0175] In some embodiments, acoustic parameters include at least one of speech information frequency, decibel value, speech rate, pitch, and tone.

[0176] Acoustic parameters include at least one of the following: speech information frequency, decibel value, speech rate, pitch, and tone.

[0177] Optionally, acoustic parameters may include speech information frequency, decibel value, speech rate, pitch, and tone.

[0178] In this application, the acoustic parameters of the first speech information are input into a trained emotion recognition model, and the acoustic parameters are processed accordingly to determine the emotional state of the speaker. The parameters for determining the emotional state of the speaker are diverse and highly accurate.

[0179] It should be noted that emotion recognition models are a technology that determines a user's emotional state by analyzing input data such as speech, facial expressions, and text. This application is an application of it, and its principles and data processing steps are not modified, so they will not be elaborated here.

[0180] In some embodiments, S200 includes the following sub-steps:

[0181] S210: Determine the emotion score of the first speech information based on the acoustic parameters of the first speech information;

[0182] S220: Determine the speaker's emotional state based on the score range of the emotion score.

[0183] Different emotional states correspond to different score ranges.

[0184] These two steps can better determine the speaker's emotional state. When the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features, the emotional state corresponds to different score ranges, which can more accurately determine the speaker's emotional state.

[0185] S210 and S220 are executed when the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

[0186] S210 and S220 can be executed sequentially.

[0187] For example, three emotional states can correspond to three score ranges. These three score ranges can be consecutive or discontinuous, but they should not overlap to avoid misjudgment.

[0188] Different values ​​of acoustic parameters can be mapped to different scores. For example, different speech frequencies correspond to different scores, different decibel values ​​correspond to different scores, etc. By performing statistical processing such as weighted summation, taking the maximum value, and taking the minimum value on the scores corresponding to at least one acoustic parameter, the emotion score of the first speech information can be obtained.

[0189] In some embodiments, reference Figure 4 or Figure 5 The method also includes the following steps:

[0190] S300: Control the vehicle braking according to the speaker's emotional state; wherein, the speaker's emotional state is a preset emotional state.

[0191] For example, the first emotional state is set to an excited state. When it is confirmed that the speaker's emotional state is excited, the vehicle is controlled to brake, that is, the vehicle's braking device 80 is controlled to perform braking operation.

[0192] In some embodiments, reference Figure 4 or Figure 5 The method also includes the following steps:

[0193] S400: Controls vehicle braking based on the speaker's emotional state and passenger position information;

[0194] Among them, the emotional state of the speaker is the preset emotional state.

[0195] Unlike S300, S400 also controls the vehicle's braking device 80 to perform braking operations with different values ​​of braking force based on the passenger seat position information.

[0196] Different passenger positions will cause the vehicle's braking system to generate different braking forces.

[0197] It should be noted that the position information of the passenger seats is sent to the vehicle's braking device 80. Different positions of the passenger seats will cause the vehicle's braking device 80 to generate different values ​​of braking force. This is mainly because the rear passengers do not have a wider field of vision than the front passenger, so different braking measures are taken.

[0198] For example, when the passenger seat is the front passenger seat, the braking force generated by the vehicle's braking device 80 is defined as F1. When the passenger seat is the rear passenger seat, the braking force generated by the vehicle's braking device 80 is defined as F2. By setting F2 to be less than F1, the vehicle will eventually stop at a certain deceleration under the action of the braking force.

[0199] When the first voice message comes from outside the vehicle, the braking force generated by the vehicle's braking system is set to be greater than the braking force of the front passenger seat.

[0200] According to a second aspect of this application, a vehicle braking control device 70 is provided.

[0201] refer to Figure 9 The figure is a block diagram of a vehicle braking control device 70 provided in an embodiment of this application. The vehicle braking control device 70 can be an electronic device or can be installed in an electronic device.

[0202] The vehicle braking control device 70 includes a control module 710 for controlling vehicle braking based on first voice information; wherein the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

[0203] In some embodiments, reference Figure 9 The device also includes a voiceprint recognition module 720.

[0204] The voiceprint recognition module 720 is used to determine that the voiceprint features of the first voice information match the preset voiceprint features when the similarity between the voiceprint features of the first voice information and the preset voiceprint features is greater than or equal to a first threshold.

[0205] In some embodiments, reference Figure 9 The device also includes a sound source localization module 730 and a voice recognition module 740.

[0206] The sound source localization module 730 is used to acquire second voice information inside the vehicle; determine the location of the sound source of the second voice information based on the sound source parameters of the second voice information; and

[0207] The speech recognition module 740 is used to acquire first speech information from the passenger seat when the source of the second speech information is the passenger seat.

[0208] In some embodiments, reference Figure 9 The voiceprint recognition module 720 is also used for:

[0209] If the first voice information contains preset keywords, the voiceprint features of the first voice information are compared with the preset voiceprint features to determine whether the voiceprint features of the first voice information match the preset voiceprint features.

[0210] In some embodiments, reference Figure 9 The voiceprint recognition module 720 is also used for:

[0211] If the first voice information contains preset keywords and the frequency of the preset keywords exceeds a second threshold, the voiceprint features of the first voice information are compared with the preset voiceprint features.

[0212] In some embodiments, reference Figure 9 The device also includes an emotion recognition module 750.

[0213] The emotion recognition module 750 is used to determine the emotional state of the speaker based on the acoustic parameters of the first voice information when the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

[0214] In some embodiments, reference Figure 9 The emotion recognition module 750 is also used for:

[0215] The emotion score of the first speech information is determined based on the acoustic parameters of the first speech information.

[0216] The speaker's emotional state is determined based on the score range of the emotion score.

[0217] Different emotional states correspond to different score ranges.

[0218] In some embodiments, the control module 710 is further configured to:

[0219] Control the vehicle's braking according to the speaker's emotional state;

[0220] Among them, the emotional state of the speaker is the preset emotional state.

[0221] In some embodiments, reference Figure 9 The control module 710 is also used for:

[0222] Control the vehicle's braking based on the speaker's emotional state and the passengers' position information;

[0223] Among them, the emotional state of the speaker is the preset emotional state.

[0224] It should be understood that, in specific implementation, the aforementioned modules of this application can be implemented as independent entities, or they can be arbitrarily combined and implemented as the same or several entities. Furthermore, the specific implementation methods and corresponding beneficial effects of the above modules can be found in the foregoing method embodiments, and will not be elaborated upon here.

[0225] Each module of this application can be used to execute steps 010-400 in the embodiments corresponding to the above control method. For the specific implementation of these modules and more details, please refer to the corresponding method section, which will not be elaborated here.

[0226] According to a third aspect of this application, a vehicle braking control system 1 is provided, with reference to... Figure 8 It includes: a control device 70 and a braking device 80.

[0227] The control device 70 is the control device 70 described in the second aspect of this application.

[0228] The braking device 80 is used to perform braking operations under the control of the vehicle braking control device.

[0229] In some embodiments, the vehicle braking control device 70 is further configured to generate a braking command based on the first voice information and send it to the braking device.

[0230] The braking device 80 is also used to perform braking operations according to braking commands.

[0231] For example, the braking command can be generated by the control device 70 and sent to the braking device 80, that is, the braking device 80 can receive the braking command generated and issued by the control device 70.

[0232] For example, the control module 710 of the control device 70 is used to generate a braking command based on the first voice information. Furthermore, the control module 710 is also used to generate a braking command by the emotion recognition module 750 and send it to the control module 710 based on the first voice information and the position information of the passenger seat, in the case that the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features, and in the case that the emotional state of the speaker is a preset emotional state. The control module 710 then sends the command to the braking device 80 so that the braking device 80 performs a braking operation according to the braking command.

[0233] This process can improve the vehicle's braking accuracy.

[0234] In some embodiments, reference Figure 10 The braking device 80 includes: a first braking module 810 and a second braking module 820.

[0235] The first braking module 810 is used to perform braking operations according to braking commands;

[0236] The second braking module 820 is used to perform braking operations according to braking commands;

[0237] The first braking module 810 and the second braking module 820 are configured differently.

[0238] The two braking modules in this embodiment can be used separately, that is, the first braking module 810 can be used to perform the braking operation, or the second braking module 820 can be used to perform the braking operation.

[0239] The braking device 80 includes two braking modules, which can take effect if one braking module fails, thereby further ensuring the safety of the braking device 80.

[0240] For example, even if the first braking module 810 fails, the second braking module 820 can still perform braking operations according to the braking command.

[0241] For example, the second braking module 820 can receive braking commands forwarded by the first braking module 810.

[0242] The braking command in this application is an emergency braking command generated by the braking control device when the driver in the driver's seat is unable to perform the braking operation.

[0243] The braking module of this application includes an Electronic Parking Brake (EPB) system and an Integrated Power Brake (IPB) system. The two braking modules are described separately below.

[0244] In some embodiments, reference Figure 10 The first braking module 810 includes: a first control unit 811, a motor assist unit 812, and an electronic stability unit 813.

[0245] The first control unit 811 is used to generate a first boost signal and a first adjustment command based on the braking command and preset pedal parameters.

[0246] The motor booster unit 812 is used to control the operating parameters of the first motor according to the magnitude and speed of the first boost signal.

[0247] The electronic stability unit 813 is used to adjust the vehicle's braking pressure according to the first adjustment command.

[0248] Among them, the values ​​of the pedal parameters are positively correlated with the values ​​of the braking pressure, and the values ​​of the pedal parameters are positively correlated with the magnitude of the first boost signal.

[0249] In some embodiments, the first braking module 810 is further configured to:

[0250] The braking operation is executed based on the passenger's position information and the braking command.

[0251] The first braking module 810 of this application is configured as IPB, and the electronic stability unit 813 of IPB is Electronic Stability Program (ESP).

[0252] The first control unit 811 generates a first boost signal and a first adjustment command upon receiving the braking command from the engine module and the preset pedal parameters in the braking device 80. Simultaneously, the first control unit 811 sends the first boost signal to the motor assist unit 812 and collects vehicle status information (such as vehicle speed, wheel speed, and braking pressure) in real time to control the ESP to adjust the braking pressure. The motor assist unit 812 controls the operating parameters of the motor according to the magnitude and speed of the first boost signal, thereby driving the master cylinder piston to generate hydraulic pressure to achieve the effect of emergency braking. At the same time, the ESP is also used to adjust the wheel end braking pressure in real time to achieve precise control of the braking pressure of each wheel, so as to ensure the stability and safety of the vehicle.

[0253] In some embodiments, the first control unit 811 is further configured to:

[0254] When the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated based on the braking command and the first pedal parameters.

[0255] When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated based on the braking command and the second pedal parameters.

[0256] When the passenger seats include the first row of passenger seats and the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated based on the braking command and the parameters of the third pedal.

[0257] Among them, the value of the first pedal parameter is greater than the value of the second pedal parameter, and the value of the third pedal parameter is greater than or equal to the value of the first pedal parameter.

[0258] For example, when the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the first pedal parameters, which are defined as a first sub-boost signal and a first sub-adjustment command. The first sub-boost signal and the first sub-adjustment command cause the vehicle's braking device 80 to generate a first sub-braking force f1.

[0259] When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment signal are generated according to the braking command and the second pedal parameters. These are defined as the second sub-boost signal and the second adjustment command. The second sub-boost signal and the second sub-adjustment command cause the vehicle's braking device 80 to generate a second sub-braking force f2.

[0260] When the passenger seats include the first row of passenger seats and the second row of passenger seats, the corresponding boost signal and the corresponding adjustment command are generated according to the braking command and the third pedal parameters. The positioning is defined as the third sub-boost signal and the third sub-adjustment command. The third sub-boost signal and the third sub-adjustment command cause the vehicle's braking device 80 to generate a third sub-braking force f3.

[0261] Since the value of the first pedal parameter is greater than the value of the second pedal parameter, f1 is greater than f2. Since the value of the third pedal parameter is greater than or equal to the value of the first pedal parameter, f3 is greater than or equal to f1.

[0262] The third sub-boost signal and the third sub-adjustment command can be set to be the same as the first sub-boost signal and the first sub-adjustment command, in which case f3 equals f1.

[0263] That is, the braking force generated by the braking command produced by the voice information issued by the speaker in the first row of passengers is greater than the braking force generated by the braking command produced by the voice information issued by the speaker in the second row of passengers.

[0264] It should be noted that if the driver's seat is on the same side as the first row of passengers, then the first row of passengers is positioned forward relative to the second row of passengers.

[0265] When passengers in the first and second rows speak simultaneously, the emergency command generated by the voice information from the passenger in the first row is sent to the vehicle's braking device 80 to generate braking force. At this time, the emergency command generated by the voice information from the passenger in the second row, after being sent to the vehicle's braking device 80, will not cause the vehicle's braking device 80 to generate braking force according to the emergency command.

[0266] In the case where the passenger seats include the third row of passenger seats, the emergency command generated by the voice information issued by the speaker in the third row of passenger seats is sent to the vehicle's braking device 80 to generate a braking force that is less than the braking force generated by the emergency command generated by the voice information issued by the speaker in the first row of passenger seats or the braking force generated by the braking command generated by the voice information issued by the speaker in the second row of passenger seats.

[0267] That is, from the front to the back of the vehicle, the further back the passenger seat is, the smaller the braking force sent to the vehicle's braking device 80 by the emergency command generated by the voice information issued by the person speaking in the corresponding passenger seat.

[0268] In some embodiments, the second braking module 820 includes a second control unit 821 and a motor drive unit 822.

[0269] The second control unit 821 is used to receive the braking command forwarded by the first control unit 811, and generate a second boost signal according to the braking command and preset pedal parameters;

[0270] The motor drive unit 822 is used to control the operating parameters of the second motor according to the magnitude and speed of the second boost signal.

[0271] The values ​​of the pedal parameters are positively correlated with the magnitude of the second boost signal.

[0272] In some embodiments, the second braking module 820 is further configured to:

[0273] The braking operation is executed based on the passenger's position information and the braking command.

[0274] The second braking module 820 of this application includes an EPB.

[0275] After receiving the second boost signal, the motor drive unit 822 controls the operating parameters of the second motor according to the magnitude and speed of the second boost signal, thereby driving the caliper to clamp the brake disc to generate braking force, achieving the effect of emergency braking and no longer responding to the driver's acceleration request.

[0276] The first boost signal and the second boost signal of this application can be set to the same boost signal or different boost signals. The same or different boost signals are set according to the passenger seat position information.

[0277] In some embodiments, the second control unit 821 is further configured to:

[0278] When the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated based on the braking command and the parameters of the fourth pedal.

[0279] When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated based on the braking command and the parameters of the fifth pedal.

[0280] When the passenger seats include the first row of passengers and the second row of passengers, a corresponding boost signal and a corresponding adjustment command are generated based on the braking command and the parameters of the sixth pedal.

[0281] Among them, the value of the fourth pedal parameter is greater than the value of the fifth pedal parameter, and the value of the sixth pedal parameter is greater than or equal to the value of the fourth pedal parameter.

[0282] For example, when the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment signal are generated based on the braking command and the fourth pedal parameters, which are defined as the fourth sub-boost signal and the fourth sub-adjustment command. The fourth sub-boost signal and the fourth sub-adjustment command cause the vehicle's braking device 80 to generate a fourth sub-braking force f4.

[0283] When the passenger seat is the second row of passenger seats, the corresponding boost signal and the corresponding adjustment command are generated according to the braking command and the fifth pedal parameters. These are defined as the fifth sub-boost signal and the fifth adjustment command. The fifth sub-boost signal and the fifth sub-adjustment command cause the vehicle's braking device 80 to generate the fifth sub-braking force f5.

[0284] When the passenger seats include the first row of passenger seats and the second row of passenger seats, the corresponding boost signal and the corresponding adjustment command are generated according to the braking command and the sixth pedal parameters. These are defined as the sixth sub-boost signal and the sixth sub-adjustment command. The sixth sub-boost signal and the sixth sub-adjustment command cause the vehicle's braking device 80 to generate the sixth sub-braking force 6.

[0285] Since the value of the fourth pedal parameter is greater than the value of the fifth pedal parameter, f4 is greater than f5. Since the value of the sixth pedal parameter is greater than or equal to the value of the fourth pedal parameter, f6 is greater than or equal to f4.

[0286] The sixth sub-boost signal and the sixth sub-adjustment command can be set to be the same as the fourth sub-boost signal and the fourth sub-adjustment command, in which case f6 equals f4.

[0287] That is, the braking force generated by the braking command produced by the voice information issued by the speaker in the first row of passengers is greater than the braking force generated by the braking command produced by the voice information issued by the speaker in the second row of passengers.

[0288] It should be noted that if the driver's seat is on the same side as the first row of passengers, then the first row of passengers is positioned forward relative to the second row of passengers.

[0289] When passengers in the first and second rows speak simultaneously, the emergency command generated by the voice information from the passenger in the first row is sent to the vehicle's braking device 80 to generate braking force. At this time, the emergency command generated by the voice information from the passenger in the second row, after being sent to the vehicle's braking device 80, will not cause the vehicle's braking device 80 to generate braking force according to the emergency command.

[0290] The first pedal parameter and the fourth pedal parameter can be the same pedal parameter, the second pedal parameter and the fifth pedal parameter can be the same pedal parameter, the third pedal parameter and the sixth pedal parameter can be the same pedal parameter, and the first pedal parameter and the third pedal parameter can be the same pedal parameter.

[0291] In some embodiments, the pedal parameters include at least one of the absolute value of the pedal displacement and the rate of pedal movement.

[0292] There is a certain relationship between the pedal parameters and the braking force that the braking device 80 can generate. For example, the greater the absolute value of the pedal displacement and the greater the speed of pedal movement, the greater the braking force that the braking device 80 can generate.

[0293] In some embodiments, the system further includes a display device 90.

[0294] The display device 90 is connected to the braking device 80 and is used to display prompt information.

[0295] For example, the display device 90 can be a vehicle's instrument panel display device 90, including an instrument panel control module and an emergency braking warning module. The display device reminds the driver that the vehicle is undergoing emergency braking through indicator lights or text information on the instrument panel, helping the driver or passengers to understand the vehicle's movement status.

[0296] The instrument panel control module is used to receive signals sent by the first control unit 811 in the first braking module 810 or the second control unit 821 in the second braking module 820 to determine the vehicle's motion status in real time, and control the brake reminder module to display corresponding indicator lights or text information on the instrument panel; the brake reminder module is used to remind the driver that the vehicle is currently in an emergency braking state or that the emergency braking function has failed.

[0297] Figure 11 This diagram illustrates the communication connection between the control device 70, braking device 80, and display device 90. The control device 70, braking device 80, and display device 90 communicate via a CAN bus. The CAN bus employs differential signal transmission technology, based on two signals: CAN-High and CAN-Low. These two signals have equal amplitudes but opposite phases. Differential signals transmit information by comparing the voltage difference between the two lines.

[0298] According to a fourth aspect of this application, embodiments of this application also provide a computer-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned braking device control method. This non-transitory computer-readable storage medium possesses all the beneficial effects of the aforementioned braking device 80 control method, which will not be elaborated further here.

[0299] According to a fifth aspect of this application, embodiments of this application also provide a controller having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned method.

[0300] According to a sixth aspect of this application, embodiments of this application also provide a computer program product, including a computer program, which, when executed by a processor, implements the above-described braking device control method and has all the beneficial effects of the above-described braking device control method, which will not be elaborated further here.

[0301] Computer-readable storage media can be, for example, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof, without particular limitation herein. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory) for storage media, products, and vehicles, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0302] In some embodiments of this application, the computer-readable storage medium can be any tangible medium that contains or stores an order, which can be used or combined with an instruction execution system, apparatus, or device. Computer program code for performing operations of some embodiments of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as "C" or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network (including a Local Area Network (LAN) or Wide Area Network (WAN)), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0303] The units described in some embodiments of this application can be implemented in software or in hardware. The described units can also be located in a processor.

[0304] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), and so on.

[0305] According to the seventh aspect of this application, a vehicle is provided, such as Figure 12 The diagram shown is an overall schematic of a vehicle I provided in an embodiment of this application. In this embodiment, vehicle I includes the control device 70 described in the second aspect of this application, the system described in the third aspect of this application, or the controller described in the fourth aspect.

[0306] The vehicle has all the beneficial effects of the aforementioned control device 70, system, controller, etc., which will not be described in detail here.

[0307] In this embodiment, vehicle I can be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not make any specific limitation on it.

[0308] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0309] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0310] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0311] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle braking control method, characterized in that, include: Based on the first voice message, control the vehicle to brake; The first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

2. The method according to claim 1, characterized in that, The method further includes: If the similarity between the voiceprint features of the first voice information and the preset voiceprint features is greater than or equal to a first threshold, it is determined that the voiceprint features of the first voice information match the preset voiceprint features.

3. The method according to claim 1, characterized in that, The method further includes: Obtain second voice information from inside the vehicle; The location of the sound source of the second speech information is determined based on the sound source parameters of the second speech information. If the source of the second voice information is the passenger seat, the first voice information from the passenger seat is obtained.

4. The method according to claim 3, characterized in that, The sound source parameters include at least one of the azimuth angle, pitch angle and distance of the sound source point relative to the voice acquisition device; The voice acquisition device is used to acquire voice information.

5. The method according to claim 3, characterized in that, The method further includes: If the first voice information contains the preset keywords, the voiceprint features of the first voice information are compared with the preset voiceprint features to determine whether the voiceprint features of the first voice information match the preset voiceprint features.

6. The method according to claim 5, characterized in that, The method further includes: If the first voice information contains the preset keyword and the frequency of the preset keyword exceeds the second threshold, the voiceprint features of the first voice information are compared with the preset voiceprint features.

7. The method according to claim 3, characterized in that, The method further includes: When the first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features, the emotional state of the speaker is determined based on the acoustic parameters of the first voice information.

8. The method according to claim 7, characterized in that, The acoustic parameters include at least one of the following: speech information frequency, decibel value, speech rate, pitch, and tone.

9. The method according to claim 7, characterized in that, Determining the speaker's emotional state based on the acoustic parameters of the first speech information includes: The emotion score of the first voice information is determined based on the acoustic parameters of the first voice information. The emotional state of the speaker is determined based on the score range of the emotion score. Different emotional states correspond to different score ranges.

10. The method according to claim 7, characterized in that, The method further includes: Control the vehicle's braking based on the speaker's emotional state; The emotional state of the speaker is a preset emotional state.

11. The method according to claim 7, characterized in that, The method further includes: The vehicle braking is controlled based on the emotional state of the speaker and the position information of the passengers. The emotional state of the speaker is a preset emotional state.

12. A vehicle braking control device, characterized in that, include: The control module is used to control the vehicle braking based on the first voice information; The first voice information contains preset keywords and the voiceprint features of the first voice information match the preset voiceprint features.

13. The apparatus according to claim 12, characterized in that, The device further includes: The voiceprint recognition module is used to determine that the voiceprint features of the first voice information match the preset voiceprint features when the similarity between the voiceprint features of the first voice information and the preset voiceprint features is greater than or equal to a first threshold.

14. The apparatus according to claim 12, characterized in that, The device further includes: A sound source localization module is used to acquire second speech information and determine the location of the sound source of the second speech information based on the sound source parameters of the second speech information. The speech recognition module is used to acquire the first speech information from the passenger seat when the source of the second speech information is the passenger seat.

15. The apparatus according to claim 14, characterized in that, The voiceprint recognition module is also used for: If the first voice information contains the preset keywords, the voiceprint features of the first voice information are compared with the preset voiceprint features to determine whether the voiceprint features of the first voice information match the preset voiceprint features.

16. The apparatus according to claim 15, characterized in that, The voiceprint recognition module is also used for: If the first voice information contains the preset keyword and the frequency of the preset keyword exceeds the second threshold, the voiceprint features of the first voice information are compared with the preset voiceprint features.

17. The apparatus according to claim 14, characterized in that, The device further includes: An emotion recognition module is used to determine the emotional state of the speaker based on the acoustic parameters of the first speech information when the first speech information contains preset keywords and the voiceprint features of the first speech information match the preset voiceprint features.

18. The apparatus according to claim 17, characterized in that, The emotion recognition module is also used for: The emotion score of the first voice information is determined based on the acoustic parameters of the first voice information. The emotional state of the speaker is determined based on the score range of the emotion score. Different emotional states correspond to different score ranges.

19. The apparatus according to claim 17, characterized in that, The control module is also used for: Control the vehicle's braking based on the speaker's emotional state; The emotional state of the speaker is a preset emotional state.

20. The apparatus according to claim 17, characterized in that, The control module is also used for: The vehicle braking is controlled based on the emotional state of the speaker and the position information of the passengers. The emotional state of the speaker is a preset emotional state.

21. A vehicle braking control system, characterized in that, include: The vehicle braking control device as described in any one of claims 12 to 20; A braking device for performing braking operations under the control of the vehicle braking control device.

22. The system according to claim 21, characterized in that, The vehicle braking control device is further configured to generate a braking command based on the first voice information and send it to the braking device. The braking device is also used to perform the braking operation according to the braking command.

23. The system according to claim 22, characterized in that, The braking device includes: The first braking module is used to perform braking operations according to the braking command; The second braking module is used to perform braking operations according to the braking command; The first braking module and the second braking module are different.

24. The system according to claim 23, characterized in that, The second braking module is also used for, In the event of failure of the first braking module, a braking operation is performed according to the braking command.

25. The system according to claim 23, characterized in that, The first braking module includes: The first control unit is used to generate a first boost signal and a first adjustment command based on the braking command and preset pedal parameters. The motor assist unit is used to control the operating parameters of the first motor according to the magnitude and speed of the first boost signal; An electronic stability unit is used to adjust the braking pressure of the vehicle according to the first adjustment command; The values ​​of the pedal parameters are positively correlated with the values ​​of the braking pressure and the values ​​of the pedal parameters are positively correlated with the magnitude of the first boost signal.

26. The system according to claim 25, characterized in that, The first braking module is also used for: The braking operation is executed based on the passenger seat location information and the braking command.

27. The system according to claim 26, characterized in that, The first control unit is also used for: When the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the first pedal parameters; When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the second pedal parameters; When the passenger seats include the first row of passenger seats and the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the third pedal parameters. Wherein, the value of the first pedal parameter is greater than the value of the second pedal parameter, and the value of the third pedal parameter is greater than or equal to the value of the first pedal parameter.

28. The system according to claim 25, characterized in that, The second braking module includes: The second control unit is used to receive the braking command forwarded by the first control unit, and generate a second boost signal according to the braking command and preset pedal parameters; The motor drive unit is used to control the operating parameters of the second motor according to the magnitude and speed of the second boost signal; The values ​​of the pedal parameters are positively correlated with the magnitude of the second boost signal.

29. The system according to claim 28, characterized in that, The second braking module is also used for: The braking operation is performed based on the passenger seat location information and the braking command.

30. The system according to claim 28, characterized in that, The second control unit is also used for: When the passenger seat is the first row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the fourth pedal parameters; When the passenger seat is the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the fifth pedal parameters; When the passenger seats include the first row of passenger seats and the second row of passenger seats, a corresponding boost signal and a corresponding adjustment command are generated according to the braking command and the sixth pedal parameters. Wherein, the value of the fourth pedal parameter is greater than the value of the fifth pedal parameter, and the value of the sixth pedal parameter is greater than or equal to the value of the fourth pedal parameter.

31. The system according to any one of claims 23 to 30, characterized in that, The pedal parameters include: At least one of the absolute value of the pedal displacement and the rate of pedal movement.

32. The system according to claim 21, characterized in that, The system also includes: A display device, connected to the braking device, is used to display prompt information.

33. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program performs the steps of the method described in any one of claims 1 to 11.

34. A controller having a computer program stored thereon, characterized in that, When executed by a processor, the computer program performs the steps of the method described in any one of claims 1 to 11.

35. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1 to 11.

36. A vehicle, characterized in that, This includes a control device as described in any one of claims 12 to 20, a system as described in any one of claims 21 to 32, or a controller as described in claim 34.

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