Emergency braking mode activating method and apparatus, and medium

Abstract

Embodiments of the present application provide an emergency braking mode activating method and apparatus, and a medium. The emergency braking mode activating method comprises the following steps: acquiring n times of vehicle surrounding information within a first period, and on the basis of the n times of vehicle surrounding information, determining a frequency that a vehicle is in a scenario with complex road conditions, wherein n is an integer greater than 0; if the frequency that the vehicle is in the scenario with complex road conditions reaches a preset frequency threshold, updating a frequency for activation for the scenario with complex road conditions; and acquiring the frequency for activation for the scenario with complex road conditions within a second period, and if the frequency for activation for the scenario with complex road conditions within the second period reaches a first preset threshold, activating an emergency braking mode, wherein the second period comprises at least one first period. Therefore, whether the vehicle is in an emergency condition can be determined on the basis of road conditions of surrounding areas of the vehicle within multiple periods, reducing the risk of a brake assist system accidentally activating the emergency braking mode.

Description

A method, device and medium for starting emergency braking mode

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 31, 2023, with application number 202310953153.7 and application name “A method, device and medium for starting an emergency braking mode”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle braking technology, and in particular to a method, device and medium for starting an emergency braking mode. Background Art

[0003] Currently, more and more vehicles are equipped with auxiliary braking systems, that is, auxiliary cameras, radars, etc. are configured on the vehicles to detect target objects (such as vehicles, pedestrians, etc.) in the surrounding area in real time, and then determine whether there is a risk of collision between the vehicle and the target object. If there is a risk of collision, the emergency braking mode is activated. If the distance between the vehicle and the target object in front is less than the safe distance, the emergency braking mode is activated to achieve safe driving and reduce the risk of traffic accidents.

[0004] However, in scenarios with complex road conditions (such as urban congestion, or a large number of traffic participants (pedestrians, cars, two-wheeled vehicles, etc.)), the auxiliary braking system can easily mistakenly determine that there is a risk of collision between the vehicle and the target object, resulting in the emergency braking mode function being mistakenly activated before an emergency situation is reached, interfering with the driver's normal driving, and in serious cases, may cause a rear-end collision.

[0005] Summary of the Invention

[0006] In view of this, the present application provides a method, device and medium for activating an emergency braking mode, so as to solve the problem in the prior art that the emergency braking mode of a vehicle is easily activated by mistake.

[0007] In a first aspect, an embodiment of the present application provides a method for activating an emergency braking mode, comprising the following steps:

[0008] Acquire n times of vehicle surrounding information in a first cycle, and determine the number of times the vehicle is in a scene with complex road conditions based on the n times of vehicle surrounding information; wherein n is an integer greater than 0;

[0009] If the number of times the vehicle is in a complex road scene reaches a preset threshold, the number of times the vehicle is in a complex road scene to be started is updated;

[0010] Obtain the number of pending starts in the scenario with complex road conditions in the second cycle;

[0011] If the number of times the scene with complex road conditions is to be activated in the second cycle reaches a first preset threshold, the emergency braking mode is activated; the second cycle includes at least one first cycle.

[0012] In a possible implementation of the first aspect, acquiring n pieces of vehicle surrounding information within a first period, and determining, based on the n pieces of vehicle surrounding information, a number of times the vehicle, corresponding to the n pieces of vehicle surrounding information, is in a scene with complex road conditions includes:

[0013] Acquiring vehicle surrounding information in a first cycle;

[0014] Determine whether the vehicle is in a complex road situation based on information about the vehicle's surroundings;

[0015] If the vehicle is in a scene with complex road conditions, the number of times the vehicle has been in a scene with complex road conditions is updated, and a check is made as to whether the number of times the vehicle's surrounding information has been acquired in the first cycle has reached n times; or, if the vehicle is not in a scene with complex road conditions, a check is made as to whether the number of times the vehicle's surrounding information has been acquired in the first cycle has reached n times;

[0016] If it does not reach n times, the number of times the vehicle's surrounding information is obtained in the first cycle will be re-executed until the vehicle is in a scene with complex road conditions. The number of times the vehicle is in a scene with complex road conditions will be updated, and it will be checked whether the number of times the vehicle's surrounding information is obtained in the first cycle has reached n times, until the number of times the vehicle's surrounding information is obtained in the first cycle has reached n times.

[0017] In a possible implementation of the first aspect, acquiring n pieces of vehicle surrounding information within a first period, and determining, based on the n pieces of vehicle surrounding information, a number of times the vehicle, corresponding to the n pieces of vehicle surrounding information, is in a scene with complex road conditions includes:

[0018] Acquire vehicle surrounding information n times in the first cycle;

[0019] For each piece of vehicle surrounding information obtained n times, determine whether the vehicle is in a scene with complex road conditions based on the vehicle surrounding information; if the vehicle is in a scene with complex road conditions, update the number of times the vehicle is in a scene with complex road conditions.

[0020] In a possible implementation of the first aspect, determining whether the vehicle is in a complex road condition according to the vehicle surrounding information includes:

[0021] Determining the number of target objects within a preset distance of the vehicle based on the vehicle surrounding information;

[0022] When the number of target objects contained within a preset distance of the vehicle reaches a preset number threshold, it is determined that the vehicle is in a scene with complex road conditions.

[0023] In a possible implementation of the first aspect, the complex road condition scene includes a complex road condition scene in the driving path area and / or a complex road condition scene around the vehicle and / or a complex road condition scene of a moving object around the vehicle;

[0024] Obtaining vehicle surrounding information includes:

[0025] Collect images around the vehicle;

[0026] Based on the vehicle surrounding image, information of a target object in the vehicle driving path area is obtained, and / or information of a target object in the vehicle surrounding area is obtained.

[0027] In a possible implementation of the first aspect, determining, based on the vehicle surrounding information, the number of target objects within a preset distance of the vehicle includes:

[0028] Determine the number of target objects within a first preset distance of the vehicle based on information about target objects within the vehicle's travel path; and / or

[0029] Determining the number of moving target objects within a second preset distance from the vehicle based on information about target objects in the area surrounding the vehicle; and / or

[0030] determining the number of target objects within a third preset distance from the vehicle based on information about the target objects in the area surrounding the vehicle;

[0031] When the number of target objects within a preset distance of the vehicle reaches a preset threshold, it is determined that the vehicle is in a complex road condition scenario including:

[0032] If the number of target objects within a first preset distance of the vehicle reaches a first preset number threshold, it is determined that the vehicle is in a complex road condition scenario on the driving path; and / or,

[0033] If the number of moving objects within a second preset distance from the vehicle reaches a second preset number threshold, it is determined that the vehicle is in a complex road scene with moving objects around the vehicle; and / or,

[0034] If the number of target objects contained within a third preset distance of the vehicle reaches a third preset number threshold, it is determined that the vehicle is in a complex road condition scene around the vehicle.

[0035] In a possible implementation of the first aspect, if the number of times the vehicle is in a complex road condition scenario reaches a preset threshold, updating the number of pending starts for the complex road condition scenario includes:

[0036] If the number of times the vehicle is in a complex road condition scene on the driving path reaches a first preset number threshold, the number of times to be started in the first complex road condition scene is updated; the first complex road condition scene refers to the complex road condition scene on the driving path of the vehicle; and / or,

[0037] If the number of times the vehicle is in a complex road condition scene with a moving object around the vehicle reaches a second preset number threshold, the number of times to be started for the second complex road condition scene is updated; the second complex road condition scene refers to a complex road condition scene with a moving object around the vehicle; and / or,

[0038] If the number of times the vehicle is in a complex road condition scene around the vehicle reaches a third preset number threshold, the number of times to be started for the third complex road condition scene is updated; the third complex road condition scene refers to the scene where the vehicle is in a complex road condition scene around the vehicle;

[0039] Obtaining the number of pending activations for the complex road condition scenario within the second period, and if the number of pending activations for the complex road condition scenario within the second period reaches a first preset threshold, initiating the emergency braking mode includes:

[0040] Obtaining the number of pending activations for the first complex road scenario within the second period, and if the number of pending activations for the first complex road scenario within the second period reaches a first preset sub-threshold, activating the emergency braking mode and clearing the number of pending activations for the first complex road scenario; and / or,

[0041] Obtaining the number of pending activations for the second complex road scenario within the second cycle, and if the number of pending activations for the second complex road scenario within the second cycle reaches a second preset sub-threshold, activating the emergency braking mode and clearing the number of pending activations for the first complex road scenario; and / or,

[0042] The number of pending starts of the third complex road condition scenario in the second cycle is obtained. If the number of pending starts of the third complex road condition scenario in the second cycle reaches a third preset sub-threshold, the emergency braking mode is activated and the number of pending starts of the first complex road condition scenario is reset to zero.

[0043] In a possible implementation manner of the first aspect, the target object includes at least one of a pedestrian and a vehicle.

[0044] In a possible implementation of the first aspect, if the number of pending starts in the first complex road condition scenario within the second period does not reach the first preset sub-threshold and reaches the second preset threshold, the number of pending starts in the first complex road condition scenario is reset to zero and the braking conditions of the emergency braking mode are adjusted; and / or,

[0045] If the number of pending starts for the second complex road scenario within the second period does not reach the second preset sub-threshold and reaches the third preset threshold, the number of pending starts for the first complex road scenario is reset to zero and the braking conditions of the emergency braking mode are adjusted; and / or,

[0046] If the number of pending starts for the third complex road condition scenario within the second cycle does not reach the third preset sub-threshold and reaches the fourth preset threshold, the number of pending starts for the first complex road condition scenario is reset and the braking conditions of the emergency braking mode are adjusted.

[0047] In a possible implementation of the first aspect, if the number of pending starts in the first complex road condition scenario reaches a second preset threshold within the second period, the number of pending starts in the first complex road condition scenario is reset to zero and the emergency braking mode is activated; and / or,

[0048] If the number of times the second complex road scene is to be started reaches a third preset threshold value within the second period, the number of times the second complex road scene is to be started is reset to zero and the emergency braking mode is started; and / or,

[0049] If the number of times the third complex road condition scenario is to be started reaches a fourth preset threshold value within the second cycle, the number of times the third complex road condition scenario is to be started is reset to zero and the emergency braking mode is started.

[0050] In a second aspect, an embodiment of the present application provides a device for starting an emergency braking mode, comprising one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the device, cause the device to execute the method of the first aspect.

[0051] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the method of the first aspect.

[0052] By adopting the solution provided by the embodiment of the present application, information about the vehicle's surroundings is obtained n times in a first cycle, and based on the information about the vehicle's surroundings, the number of times the vehicle is in a scene with complex road conditions is determined. If the number of times the vehicle is in a scene with complex road conditions reaches a preset threshold, the number of times to be started for the scene with complex road conditions is updated, so that the number of times to be started is obtained based on the number of times the vehicle is in a scene with complex road conditions in the first cycle, thereby facilitating statistics in a subsequent second cycle. The number of times to be started for the scene with complex road conditions in the second cycle is obtained, and if the number of times to be started for the scene with complex road conditions in the second cycle reaches a first preset threshold, the emergency braking mode is activated; the second cycle includes at least one first cycle, so that the road conditions in the area around the vehicle in multiple cycles can be combined to determine whether the vehicle is in an emergency situation, thereby reducing the risk of the auxiliary braking system mistakenly activating the emergency braking mode, thereby improving the driver's driving experience, and reducing the risk of rear-end collision caused by the auxiliary braking system mistakenly activating the emergency braking mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] FIG1 is a schematic diagram of an auxiliary braking system provided in an embodiment of the present application;

[0055] FIG2 is a schematic diagram of a method for starting an emergency braking mode provided in an embodiment of the present application;

[0056] FIG3 is a schematic diagram of a method for obtaining information about the surrounding area of ​​a vehicle provided in an embodiment of the present application;

[0057] FIG4 is a schematic diagram of a method for determining the number of times a vehicle is in a scene with complex road conditions provided by an embodiment of the present application;

[0058] FIG5 is a schematic diagram of a method for determining the number of times a vehicle is in a scene with complex road conditions provided by an embodiment of the present application;

[0059] FIG6 is a schematic diagram of a scenario for determining whether a vehicle is in complex road conditions, provided by an embodiment of the present application;

[0060] FIG7 is a schematic diagram of another method for starting an emergency braking mode provided by the present application;

[0061] FIG8 is a schematic diagram of an exemplary method for starting an emergency braking mode provided in an embodiment of the present application;

[0062] FIG9 is a schematic diagram of an auxiliary braking device provided in an embodiment of the present application;

[0063] FIG10 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0065] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0066] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0067] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0068] In related technologies, vehicles equipped with auxiliary braking systems can detect target objects (such as vehicles, pedestrians, etc.) in the surrounding area in real time, and then determine whether there is a risk of collision between the vehicle and the target object. If there is a risk of collision, the emergency braking mode is activated. If the distance between the vehicle and the target object in front is less than the safe distance, the emergency braking mode is activated to achieve safe driving and reduce the risk of traffic accidents.

[0069] However, in related technologies, in scenarios with complex road conditions (such as urban congestion, or a large number of traffic participants (pedestrians, cars, two-wheeled vehicles, etc.)), the auxiliary braking system is prone to mistakenly determine that there is a risk of collision between the vehicle and the target object, resulting in the emergency braking mode function being mistakenly activated before an emergency situation is reached, interfering with the driver's normal driving, and in serious cases may cause a rear-end collision.

[0070] To address the aforementioned issues, embodiments of the present application provide a method for activating emergency braking mode, which helps address the prior art issue of vehicles easily inadvertently initiating emergency braking mode. This embodiment of the present application can determine whether a vehicle is in an emergency situation by combining road conditions in the area surrounding the vehicle over multiple cycles, thereby reducing the risk of the auxiliary braking system inadvertently initiating emergency braking mode. This, in turn, improves the driver's driving experience and reduces the risk of rear-end collisions caused by the auxiliary braking system inadvertently initiating emergency braking mode. This is described in detail below.

[0071] Refer to Figure 1, which is a schematic diagram of an auxiliary braking system provided in an embodiment of the present application. As shown in Figure 1, the auxiliary braking system includes:

[0072] The target detection unit A is used to detect target information around the vehicle. The target detection unit A includes an image processing unit A1 and a target motion attribute processing unit A2. For example, the target detection unit A can be a camera with information processing functions. The image processing unit A1 is used to obtain images of the area around the vehicle and classify the images, such as pedestrians, motor vehicles, and non-motor vehicles. The target motion attribute processing unit A2 is used to detect and calculate the attributes of target objects in the area around the vehicle, such as the horizontal and vertical distances of the target objects around the vehicle, the horizontal and vertical speeds of the target objects around the vehicle, the moving state or static state, and the direction of movement.

[0073] It should be noted that any object that may cause a vehicle to collide can be used as a target object in the embodiments of the present application. In some embodiments, the target object includes at least one of a pedestrian and a vehicle.

[0074] As a possible implementation method, the target object may also include static buildings, plants, animals, etc. Furthermore, the vehicle includes motor vehicles and non-motor vehicles.

[0075] The central processing unit B is used to process and judge the information of the image processing unit A1 and the target motion attribute processing unit A2 to determine whether the target object and scene meet the start-up conditions of the emergency braking mode. If the start-up conditions are met, the emergency braking mode is started.

[0076] In some embodiments, the vehicle is equipped with an assisted driving system, and the auxiliary braking system is part of the assisted driving system. Furthermore, the assisted driving system also includes an assisted turning system and an assisted positioning system.

[0077] It should be noted that, in the embodiment of the present application, the emergency braking system may be an automatic emergency braking system (abbreviated as AEB) or a forward collision warning system (abbreviated as FCW); the corresponding emergency braking mode may be the emergency braking mode of AEB or the alarm mode of FCW.

[0078] Referring to FIG2 , which is a schematic diagram of a method for activating an emergency braking mode according to an embodiment of the present application, the method includes:

[0079] Step S101: obtaining n times of vehicle surrounding information in a first cycle, and determining the number of times the vehicle is in a scene with complex road conditions based on the n times of vehicle surrounding information.

[0080] Wherein, n is an integer greater than 0.

[0081] In an embodiment of the present application, the vehicle surrounding information includes information about a target object in the vehicle surrounding area. For example, the vehicle surrounding information may include the distance between the target object in the vehicle surrounding area and the vehicle, the position of the target object in the vehicle surrounding area, the moving speed of the target object in the vehicle surrounding area, the acceleration of the target object in the vehicle surrounding area, etc. The vehicle surrounding area is an area where the vehicle may be in danger of collision due to failure to brake in time during driving, such as the front, left and right sides of the vehicle. Generally, the collision mentioned in this application does not include rear-end collisions, so the vehicle surrounding area may not include the rear area of ​​the vehicle. The vehicle surrounding area changes as the position of the vehicle changes during driving.

[0082] It should be noted that scenarios that may cause the auxiliary braking system to misjudge the existence of a collision risk between the vehicle and the target object can all be identified as scenarios with complex road conditions in the embodiments of this application, such as vehicle congestion scenes, scenes with a large number of traffic participants (pedestrians, cars, two-wheeled vehicles, etc.), scenes with narrow road conditions, scenes with a large number of still objects (stalls, stone piers, etc.), etc.

[0083] In an embodiment of the present application, the image processing unit can capture images of the area around the vehicle to obtain information about the area around the vehicle, that is, the image processing unit obtains images of the area around the vehicle and identifies the target object based on the image, and analyzes the distance between the target object in the area around the vehicle and the vehicle, the position of the target object in the area around the vehicle, the moving speed of the target object in the area around the vehicle, the acceleration of the target object in the area around the vehicle, etc. based on the size of the target object image.

[0084] In an embodiment of the present application, the number of times a vehicle has been in a scene with complex road conditions is obtained so that the complexity of the road conditions in the area surrounding the vehicle can be intuitively represented based on the number of times the vehicle has been in a scene with complex road conditions. That is, if the number of times the vehicle has been in a scene with complex road conditions in a first cycle is high, it indicates that the road conditions in the area surrounding the vehicle are relatively complex in the first cycle. Conversely, if the number of times the vehicle has been in a scene with complex road conditions in the first cycle is low, it indicates that the road conditions in the area surrounding the vehicle are relatively simple in the first cycle. The number of times a vehicle has been in a scene with complex road conditions in a cycle can be determined based on the target object images in the area surrounding the vehicle in the vehicle surrounding information. For example, if the number of target object images in the area surrounding the vehicle z times in the current first cycle is large, it is determined that the vehicle has been in a scene with complex road conditions z times in the current first cycle, where z is less than or equal to n.

[0085] In some embodiments, step S101 is executed when the vehicle is started, such as when the vehicle engine is started. In some embodiments, step S101 is stopped when the vehicle is turned off.

[0086] In some embodiments, the first cycle is a time cycle, such as 1s is a first cycle.

[0087] It should be noted that the larger the value of n, the more accurate the result of judging whether the vehicle is in a scene with complex road conditions, and the corresponding calculation amount is also greater.

[0088] In some embodiments, the complex road condition scene includes a complex road condition scene in the driving path area and / or a complex road condition scene around the vehicle and / or a complex road condition scene of a moving object around the vehicle.

[0089] The driving path area is the area ahead of the vehicle to be driven, and the driving area can be determined according to the vehicle navigation and / or the vehicle acceleration direction.

[0090] It should be noted that the area around the vehicle may be other areas around the vehicle except the driving path area. Of course, in some embodiments, the area around the vehicle may at least partially overlap with the driving path area. In some embodiments, the range of the area around the vehicle is larger than the range of the driving path area. In this case, the area around the vehicle may include the driving path area. For example, the lateral area 3m and the longitudinal area 30m in front of the vehicle is the driving path, and the lateral area 6m and the longitudinal area 50m in front of the vehicle is the vehicle side. This application does not impose any restrictions on this. In order to improve the triggering accuracy of emergency braking, in the embodiment of this application, the range of the area around the vehicle is set to be larger than the range of the driving path area, and the area around the vehicle includes the driving path area.

[0091] As a possible implementation, as shown in FIG3 , the method for obtaining vehicle surrounding information includes:

[0092] S1211, collecting images of the vehicle's surroundings.

[0093] S1212: Based on the vehicle surrounding image, obtain information of target objects in the vehicle driving path area and / or obtain information of target objects in the vehicle surrounding area.

[0094] That is, since the area around the vehicle includes the area of ​​the vehicle's driving path, the image around the vehicle also includes the image of the vehicle's driving path. Therefore, when the image around the vehicle is collected, the image of the driving path area is also collected. According to the size of the image around the vehicle, the target objects in the vehicle's driving path area and the target objects in the area around the vehicle can be distinguished. Then, according to the size and shape of the target objects in the vehicle's driving path area, the target object information in the vehicle's driving path area is obtained. According to the size and shape of the target objects in the area around the vehicle, the target object information in the area around the vehicle is obtained.

[0095] As a possible implementation method, the target object in the vehicle's driving path area includes at least one of the pedestrians and vehicles in the vehicle's driving path area; the moving target object in the vehicle's surrounding area includes at least one of the moving pedestrians and moving vehicles in the vehicle's surrounding area; and all target objects in the vehicle's surrounding area include at least one of all pedestrians and all vehicles in the vehicle's surrounding area.

[0096] In some embodiments, acquiring information about target objects in the area around the vehicle includes separately acquiring information about moving target objects and information about target objects in the area around the vehicle.

[0097] Furthermore, target object images within the vehicle's travel path area and target object images in the vehicle's surrounding area are collected respectively, and information about target objects in the vehicle's travel path area is obtained based on the target object images in the vehicle's travel path area, and information about target objects in the vehicle's surrounding area is obtained based on the target object images in the vehicle's surrounding area.

[0098] In some embodiments, obtaining information of target objects in the area around the vehicle includes: separately obtaining information of moving target objects in the area around the vehicle, information of moving target objects in the area around the vehicle, and information of all target objects in the area around the vehicle.

[0099] Furthermore, target object images within the vehicle's driving path area, images of moving target objects in the vehicle's surrounding area, and images of all target objects in the vehicle's surrounding area are collected respectively, and information on target objects in the vehicle's driving path area is obtained based on the target object images in the vehicle's driving path area, information on moving target objects in the vehicle's surrounding area is obtained based on the moving target object images in the vehicle's surrounding area, and information on all target objects in the vehicle's surrounding area is obtained based on the all target object images in the vehicle's surrounding area.

[0100] In some embodiments, only images of the area around the vehicle are collected, and the target object images within the vehicle's driving path area and the target object images within the area around the vehicle are distinguished based on the size of the target objects in the images of the area around the vehicle. Then, information of the target objects within the vehicle's driving path area is obtained based on the target object images within the vehicle's driving path area, and information of the target objects within the area around the vehicle is obtained based on the target object images within the vehicle's driving path area.

[0101] In an embodiment of the present application, scenes with complex road conditions are divided into scenes with complex road conditions in the driving path and / or scenes with complex road conditions around the vehicle and / or scenes with complex road conditions of moving objects around the vehicle, which are more in line with the actual situation when the vehicle is driving, that is, when the vehicle is driving, all target objects in the driving area have a higher probability of colliding with the vehicle, while the target objects in the area around the vehicle have a lower probability of colliding with the vehicle, and among the target objects in the area around the vehicle, the moving objects have a higher probability of colliding with the vehicle than other target objects. Therefore, the target objects are counted in three situations to facilitate the analysis of collision risks in different scenes with complex road conditions in subsequent steps. See Figure 4, which is a schematic diagram of a method for determining the number of times a vehicle is in a scene with complex road conditions provided in an embodiment of the present application. As shown in Figure 4, the above-mentioned method of obtaining n times of vehicle side information in the first cycle, and determining the number of times the vehicle is in a scene with complex road conditions corresponding to the n times of vehicle side information based on the n times of vehicle side information, includes:

[0102] Step S11, obtaining vehicle surrounding information in a first cycle.

[0103] Step S12: Determine whether the vehicle is in a scene with complex road conditions based on the vehicle surrounding information.

[0104] Step S13: If the vehicle is in a scene with complex road conditions, the number of times the vehicle is in a scene with complex road conditions is updated, and a check is made as to whether the number of times the vehicle's surrounding information is obtained in the first cycle reaches n times; or, if the vehicle is not in a scene with complex road conditions, a check is made as to whether the number of times the vehicle's surrounding information is obtained in the first cycle reaches n times.

[0105] Step S14: If it has not reached n times, re-execute the acquisition of vehicle surrounding information in the first cycle until the vehicle is in a scene with complex road conditions, update the number of times the vehicle is in a scene with complex road conditions, and check whether the number of times the vehicle surrounding information is acquired in the first cycle has reached n times, until the number of times the vehicle surrounding information is acquired in the first cycle has reached n times.

[0106] That is, since it is necessary to obtain vehicle surrounding information n times in the first cycle, when updating the number of times the vehicle has been in complex road conditions, it is possible to determine whether to update the number of times the vehicle has been in complex road conditions each time the vehicle surrounding information is obtained. In this case, information about the vehicle surroundings can be collected in the first cycle to obtain vehicle surrounding information. After obtaining the current number of vehicle surrounding information, it can be determined whether the vehicle is in a complex road condition based on the current number of vehicle surrounding information obtained.

[0107] In some embodiments, the distribution of target objects around the vehicle can be determined based on the current vehicle surrounding information, thereby determining whether the vehicle is in a complex road scene based on the distribution of target objects. For example, the number of target objects around the vehicle can be determined to exceed a certain threshold. If so, the vehicle is determined to be in a complex road scene; otherwise, the vehicle is determined to be in a non-complex road scene. When the vehicle is determined to be in a complex road scene, the number of times the vehicle has been in a complex road scene can be updated. This is the number of times the vehicle has been in a complex road scene based on the currently acquired vehicle surrounding information. Since vehicle surrounding information needs to be acquired n times in the first cycle, after the number of times the vehicle has been in a complex road scene is updated, it is necessary to check whether the number of times the vehicle surrounding information has been acquired in the first cycle has reached n. Alternatively, if it is determined that the vehicle is not in a complex road scene, the number of times the vehicle has been in a complex road scene does not need to be updated, and the number of times the vehicle surrounding information has been acquired in the first cycle can be directly checked to see whether it has reached n. If it has not reached n, it indicates that further vehicle surrounding information acquisition is required in the first cycle. At this point, steps S11 to S13 may be executed again until the number of times the vehicle's surrounding information has been acquired reaches n in the first cycle. After the number of times the vehicle's surrounding information has been acquired reaches n in the first cycle, further acquisition of the vehicle's surrounding information may be discontinued, and steps S11 to S13 may be executed again after the next first cycle begins, until the number of times the vehicle's surrounding information has been acquired reaches n in the next first cycle.

[0108] In some embodiments, if the vehicle is in a scene with complex road conditions, updating the number of times the vehicle is in a scene with complex road conditions includes: if the vehicle is in a scene with complex road conditions, then the number of times the vehicle is in a scene with complex road conditions + x1, where x1 is a real number that is not 0.

[0109] In some embodiments, in step S13, if the vehicle is not in a scene with complex road conditions, detecting whether the number of times the vehicle's surrounding information is obtained in the first cycle reaches n times includes: if the vehicle is not in a scene with complex road conditions, not updating the number of times the vehicle is in a scene with complex road conditions, or updating the number of times the vehicle is not in a scene with complex road conditions, and detecting whether the number of times the vehicle's surrounding information is obtained in the first cycle reaches n times.

[0110] That is, since the vehicle's surrounding information needs to be acquired n times in the first cycle, after not updating the number of times the vehicle has been in complex road conditions or updating the number of times the vehicle has not been in complex road conditions, it is necessary to check whether the number of times the vehicle's surrounding information has been acquired in the first cycle has reached n times. If it has not reached n times, it means that the vehicle's surrounding information needs to be acquired again in the first cycle.

[0111] Furthermore, updating the number of times the vehicle is not in a scene with complex road conditions includes: the number of times the vehicle is not in a scene with complex road conditions - y1, where y1 is a real number that is not 0.

[0112] In some embodiments, information about the vehicle's surroundings may be acquired at regular intervals. For example, if the first cycle is 1.40 seconds and n=100, the auxiliary braking system may detect every 0.1 seconds whether the number of times information about the vehicle's surroundings is acquired in the first cycle reaches n times, until the number of times information about the vehicle's surroundings is acquired in the first cycle reaches n times.

[0113] In some embodiments, if the vehicle is in a scene with complex road conditions, then the number of times the vehicle is in a scene with complex road conditions + x1; if the vehicle is not in a scene with complex road conditions, then the number of times the vehicle is not in a scene with complex road conditions - y1, the vehicle surrounding information can be obtained once within a preset first time interval, for example, the first time interval is the time interval of the first cycle divided by n; and the next vehicle surrounding information can also be obtained immediately when it is detected that the number of times the vehicle surrounding information is obtained within the first cycle does not reach n times.

[0114] In the technical solution provided by the embodiments of the present application, if a vehicle is in a scene with complex road conditions, the number of times the vehicle has been in a scene with complex road conditions is updated in a timely manner, so that the number of times the vehicle has been in a scene with complex road conditions in the first cycle can be obtained in real time. In the subsequent steps, if the second cycle is a non-integer number of the first cycle (for example, the second cycle is 1.5 of the first cycle), the result of the real-time calculation of whether the number of times the vehicle has been in a scene with complex road conditions reaches a threshold number is more consistent with the real-time scenario. This method for determining the number of times a vehicle has been in a scene with complex road conditions is suitable for situations where the accuracy of the number of times a vehicle has been in a scene with complex road conditions is required to be high, such as when the vehicle is traveling at high speed.

[0115] When the vehicle updates the number of times it is in a scene with complex road conditions, since it is necessary to determine whether to update based on the n times of vehicle information obtained in the first cycle, it is possible to determine whether the number of times the vehicle is in a scene with complex road conditions is updated each time the vehicle surrounding information is obtained, as described above. It is also possible to directly obtain n times of vehicle information and then determine whether the number of times the vehicle is in a scene with complex road conditions is updated, as described below. Based on this, in some embodiments, refer to Figure 5, which is a schematic diagram of a method for determining the number of times a vehicle is in a scene with complex road conditions provided in an embodiment of the present application. As shown in Figure 5, in step S101, the vehicle surrounding information is obtained n times in the first cycle, and the number of times the vehicle is in a scene with complex road conditions corresponding to the n times of vehicle surrounding information is determined based on the n times of vehicle surrounding information, including:

[0116] S11 ′, obtaining vehicle surrounding information n times in the first cycle.

[0117] S12', for each of the n vehicle surrounding information obtained, determine whether the vehicle is in a scene with complex road conditions based on the vehicle surrounding information; if the vehicle is in a scene with complex road conditions, update the number of times the vehicle is in a scene with complex road conditions.

[0118] That is, since it is necessary to obtain n times of vehicle surrounding information in the first cycle, the number of times the vehicle is in a complex road condition scene in the n times of vehicle surrounding information can be determined after the n times of vehicle surrounding information are obtained, and whether the vehicle is in a complex road condition scene in the first cycle is determined based on the number of times the vehicle is in a complex road condition scene in the n times of vehicle surrounding information. For example, if the number of times the vehicle is in a complex road condition scene in the first cycle reaches a threshold, it is determined that the vehicle is in a complex road condition scene in the first cycle, and the number of times the vehicle is in a complex road condition scene is updated; conversely, if the number of times the vehicle is in a complex road condition scene in the first cycle does not reach the threshold, it is determined that the vehicle is not in a complex road condition scene in the first cycle, and the number of times the vehicle is in a complex road condition scene may not be updated. After determining whether the vehicle is in a complex road condition scene in the first cycle based on the vehicle surrounding information, the vehicle surrounding information can be immediately obtained n times in the next first cycle.

[0119] In some embodiments, if the vehicle is in a scene with complex road conditions, updating the number of times the vehicle is in a scene with complex road conditions includes: if the vehicle is in a scene with complex road conditions, the number of times the vehicle is in a scene with complex road conditions + kx1, where x1 is a real number not equal to 0, k is an integer greater than 0, and k means the number of times the vehicle is in a scene with complex road conditions within a first cycle.

[0120] In some embodiments, if the vehicle is not in a scene with complex road conditions, the number of times the vehicle is in a scene with complex road conditions is not updated, or the number of times the vehicle is not in a scene with complex road conditions is updated.

[0121] Furthermore, updating the number of times the vehicle is not in a scene with complex road conditions includes: the number of times the vehicle is not in a scene with complex road conditions - py1, where y1 is a real number not equal to 0, p is an integer greater than 0, and p means the number of times the vehicle is not in a scene with complex road conditions in a first cycle.

[0122] In the technical solution provided in the embodiments of the present application, the number of times a vehicle has been in a complex road scenario is updated only once during the first cycle, thereby reducing the amount of computation required by the auxiliary braking system during the first cycle. This method for determining the number of times a vehicle has been in a complex road scenario is suitable for situations where accuracy requirements for the number of times a vehicle has been in a complex road scenario are low, such as when the vehicle is traveling slowly.

[0123] As a possible implementation, as shown in FIG6 , the above-mentioned determination of whether the vehicle is in a complex road condition based on the vehicle surrounding information includes:

[0124] S121 : Determine the number of target objects within a preset distance of the vehicle based on the vehicle surrounding information.

[0125] In some embodiments, the preset distance of the vehicle is a vehicle braking safety distance, and the range of the preset distance of the vehicle may be the same as the range of the vehicle's surrounding side, or may be smaller than the range of the vehicle's surrounding side.

[0126] In some embodiments, when the preset distance of the vehicle is smaller than the range around the vehicle, the image processing unit captures target object images around the vehicle, further determines target object images within the preset distance based on the size of the target object images, and determines the number of target objects within the preset distance based on the target object images. Furthermore, when the range of the preset distance is smaller than the range around the vehicle, all target object images at the edge of the preset distance may be considered as target object images within the preset distance, all may be discarded, or a portion may be retained as target object images within the preset distance.

[0127] S122: When the number of target objects within a preset distance of the vehicle reaches a preset number threshold, it is determined that the vehicle is in a scene with complex road conditions.

[0128] That is, within a first cycle, the vehicle surrounding information is obtained n times. If the number of target objects contained in the preset distance of the vehicle reaches the preset number threshold in one of the times, it means that the number of target objects within the preset distance of the vehicle is large in the time interval of obtaining the vehicle surrounding information, and the probability of the vehicle colliding with the target object is high. At this time, it is determined that the vehicle is in a scene with complex road conditions, and the number of times the vehicle is in a scene with complex road conditions in the first cycle can be updated; conversely, within a first cycle, the vehicle surrounding information is obtained n times. If the number of target objects contained in the preset distance of the vehicle does not reach the preset number threshold, then in the time interval of obtaining the vehicle surrounding information, the number of target objects within the preset distance of the vehicle is small, and the probability of the vehicle colliding with the target object is small. At this time, the vehicle is not in a scene with complex road conditions, and the number of times the vehicle is in a scene with complex road conditions in the first cycle can be updated.

[0129] It should be noted that the preset number threshold is less than or equal to n. For example, n=100 and the preset number threshold is 50. Then, the vehicle surrounding information is obtained 100 times in the first cycle. If the number of target objects contained within the preset distance of the vehicle reaches 50 times, it is determined that the vehicle is in a scene with complex road conditions.

[0130] In some embodiments, the preset distance includes a first preset distance, a second preset distance, and a third preset distance.

[0131] In some embodiments, in step S121, determining the number of target objects within a preset distance of the vehicle based on the vehicle surrounding information includes:

[0132] Determine the number of target objects within a first preset distance of the vehicle based on information about target objects within the vehicle's travel path; and / or

[0133] Determining the number of moving target objects within a second preset distance from the vehicle based on information about target objects in the area surrounding the vehicle; and / or

[0134] The number of target objects within a third preset distance from the vehicle is determined based on information about the target objects in the area surrounding the vehicle.

[0135] That is, since all target objects in the vehicle's driving area have a higher probability of colliding with the vehicle during vehicle driving, while target objects in the vehicle's surrounding area have a lower probability of colliding with the vehicle, and among the target objects in the vehicle's surrounding area, moving objects have a higher probability of colliding with the vehicle than other target objects, the different sizes of the three preset distances are more in line with the actual situation of different collision risks of target objects in the vehicle's surrounding area. As mentioned above, the vehicle surrounding image also includes the image of the vehicle's driving path area, so obtaining the vehicle surrounding information can obtain information about target objects in the vehicle's driving path area and information about target objects in the vehicle's surrounding area, and can distinguish target objects in motion from other target objects in the vehicle's surrounding area based on the shape and blur level of the target objects in the vehicle's surrounding area.

[0136] In some embodiments, the first preset distance is less than the second preset distance, and the second preset distance is less than or equal to the third preset distance.

[0137] In some embodiments, the three steps of determining the number of target objects within a preset distance of the vehicle may be performed simultaneously or sequentially.

[0138] In some embodiments, in step S122, when the number of target objects within a preset distance of the vehicle reaches a preset threshold, determining that the vehicle is in a complex road condition includes:

[0139] If the number of target objects within a first preset distance of the vehicle reaches a first preset number threshold, it is determined that the vehicle is in a complex road condition scenario on the driving path; and / or,

[0140] If the number of moving objects within a second preset distance from the vehicle reaches a second preset number threshold, it is determined that the vehicle is in a complex road scene with moving objects around the vehicle; and / or,

[0141] If the number of target objects contained within a third preset distance of the vehicle reaches a third preset number threshold, it is determined that the vehicle is in a complex road condition scene around the vehicle.

[0142] That is, since the number of target objects within the preset distance of the vehicle is determined to be divided into three groups based on the area and the motion state of the target objects, three groups of target object numbers are obtained in a first cycle and compared with the three groups of preset number thresholds to obtain three groups of results. If the number of target objects in one group is greater than the preset number threshold, it is determined that the vehicle is in a scene with complex road conditions, and the number of times the vehicle has been in a scene with complex road conditions can be updated accordingly. For example, if the vehicle is in a scene with complex road conditions on the driving path, the number of times the vehicle has been in a scene with complex road conditions on the driving path is updated; if the vehicle is in a scene with complex road conditions of moving objects around the vehicle, the number of times the vehicle has been in a scene with complex road conditions of moving objects around the vehicle is updated; if the vehicle is in a scene with complex road conditions on the vehicle's side, the number of times the vehicle has been in a scene with complex road conditions of moving objects around the vehicle is updated.

[0143] In some embodiments, the above three steps of determining whether the vehicle is in a scene with complex road conditions can be performed simultaneously or sequentially.

[0144] In some embodiments, when the three steps above are performed sequentially, step S122 further includes stopping the remaining process and determining that the vehicle is in a complex road condition scenario if the number of target objects in the three groups preferentially reaches a first preset number threshold, a second preset number threshold, or a third preset number threshold. Thus, when the number of target objects corresponding to the three scenarios preferentially reaches the first preset number threshold, the second preset number threshold, or the third preset number threshold, the remaining process is stopped. Since it can be determined that the vehicle is in a complex road condition scenario at this point, stopping the remaining process can reduce the computational load and improve the operating efficiency of the auxiliary braking system.

[0145] In some embodiments, in step S121 and step S122, after determining the number of a group of target objects, the number of the group of target objects can be compared with the group of preset number thresholds; or after determining the numbers of all three groups of target objects, the numbers of the three groups of target objects can be compared with the three groups of preset number thresholds respectively.

[0146] In some embodiments, after determining the number of target objects in a group, the number of target objects in the group is compared with a preset number threshold. If the number of target objects in the group reaches the preset number threshold, the remaining process is stopped and the vehicle is determined to be in a complex road condition. This can further reduce the amount of calculation and improve the operating efficiency of the assistance system.

[0147] In an embodiment of the present application, the number of target objects is compared with a preset number threshold. Only when the number of target objects reaches the preset number threshold is it determined to be a scene with complex road conditions. In addition, whether it is a complex scene is judged multiple times within a cycle and the number of complex scenes is counted, so as to judge the time that the vehicle is in a complex scene within a cycle, reducing the risk of the emergency braking mode being mistakenly activated due to the target object only appearing briefly in the area around the vehicle, thereby reducing the risk of the vehicle rear-end collision caused by the mistaken activation of the emergency braking mode.

[0148] Step S102: If the number of times the vehicle is in a scene with complex road conditions reaches a preset number threshold, the number of times the vehicle is to be started in a scene with complex road conditions is updated.

[0149] In the embodiment of the present application, the number of pending starts is used to prompt the emergency braking mode to prepare for start-up, that is, the higher the number of pending starts, the easier it is to start the emergency braking mode.

[0150] In an embodiment of the present application, if the number of times the vehicle is in a scene with complex road conditions reaches a preset threshold, it means that the road conditions around the vehicle in the first cycle are relatively complex and the risk of collision is high. Therefore, updating the number of times to be started can prompt the emergency braking mode to prepare for startup, so as to avoid the risk of vehicle collision caused by the emergency braking mode not being able to start in time.

[0151] In step S102, if the number of times the vehicle is in a complex road condition scene reaches a preset number threshold, then updating the number of pending starts in the complex road condition scene includes:

[0152] If the number of times the vehicle is in a complex road condition scene on the driving path reaches a first preset number threshold, the number of times to be started in the first complex road condition scene is updated; the first complex road condition scene refers to the complex road condition scene on the driving path of the vehicle; and / or,

[0153] If the number of times the vehicle is in a complex road condition scene with a moving object around the vehicle reaches a second preset number threshold, the number of times to be started for the second complex road condition scene is updated; the second complex road condition scene refers to a complex road condition scene with a moving object around the vehicle; and / or,

[0154] If the number of times the vehicle is in a complex road condition scene around the vehicle reaches a third preset number threshold, the number of times to be started for the third complex road condition scene is updated; the third complex road condition scene refers to a complex road condition scene where the vehicle is in a complex road condition scene around the vehicle.

[0155] That is, since the number of times three groups of vehicles are in a scene with complex road conditions is obtained in a first cycle and compared with three groups of preset number thresholds, three groups of results can be obtained. If the number of times one group of vehicles is in a scene with complex road conditions reaches the preset number threshold, the number of times to be started in the scene with complex road conditions can be updated accordingly.

[0156] In some embodiments, the three steps of determining whether the number of times the vehicle has been in a complex road scene has reached a preset threshold number of times can be performed simultaneously or sequentially. It should be noted that the three steps are performed simultaneously to improve computing efficiency.

[0157] In some embodiments, updating the number of pending starts of the first complex traffic scene includes: the number of pending starts of the first complex traffic scene + x2; and / or,

[0158] Updating the number of pending starts for the second complex traffic scenario includes: the number of pending starts for the second complex traffic scenario + x3; and / or,

[0159] Updating the number of pending starts for the third complex traffic scenario includes: the number of pending starts for the third complex traffic scenario+x4; wherein x2, x3, and x4 are all real numbers that are not 0.

[0160] In some embodiments, step S102 also includes, if the number of times the vehicle is not in a scene with complex road conditions reaches a preset threshold, not updating the number of times to be started in a scene with complex road conditions, or updating the number of times the vehicle is not in a scene with complex road conditions.

[0161] Furthermore, the number of times the vehicle is not in a scene with complex road conditions includes: the number of times the vehicle is to be started - y1, where y is a real number that is not 0.

[0162] Further, updating the number of pending starts of the first complex traffic scene includes: the number of pending starts of the first complex traffic scene - y2; and / or,

[0163] Updating the number of pending starts for the second complex traffic scene includes: the number of pending starts for the second complex traffic scene - y3; and / or,

[0164] Updating the number of pending starts for the third complex traffic scenario includes: the number of pending starts for the third complex traffic scenario +- y4; wherein y2, y3, and y4 are all real numbers that are not 0.

[0165] In some embodiments, when the updated number of pending activations for the complex road condition scenario is divided into three groups, in step S102, the number of pending activations for the complex road condition scenario in the second cycle is obtained. If the number of pending activations for the complex road condition scenario in the second cycle reaches a first preset threshold, initiating the emergency braking mode includes:

[0166] Obtaining the number of pending activations for the first complex road scenario within the second period, and if the number of pending activations for the first complex road scenario within the second period reaches a first preset sub-threshold, activating the emergency braking mode and clearing the number of pending activations for the first complex road scenario; and / or,

[0167] Obtaining the number of pending activations for the second complex road scenario within the second cycle, and if the number of pending activations for the second complex road scenario within the second cycle reaches a second preset sub-threshold, activating the emergency braking mode and clearing the number of pending activations for the first complex road scenario; and / or,

[0168] The number of pending starts of the third complex road condition scenario in the second cycle is obtained. If the number of pending starts of the third complex road condition scenario in the second cycle reaches a third preset sub-threshold, the emergency braking mode is activated and the number of pending starts of the first complex road condition scenario is reset to zero.

[0169] Specifically, by obtaining three sets of vehicle complex road conditions counts within a first cycle and comparing them against three sets of preset thresholds, three sets of results are obtained, resulting in three corresponding sets of pending start counts. Each set of pending start counts is compared with a preset sub-threshold. If any set of pending start counts reaches the corresponding preset sub-threshold, emergency braking mode is activated. At the end of the second cycle, the pending start count for that second cycle is reset to zero and then re-updated from the next first cycle until the number of first cycles meets the second cycle requirement. A new round of obtaining the pending start counts for the three complex road conditions within the second cycle is then repeated.

[0170] In some embodiments, at the end of a second cycle, the three waiting start times are all cleared.

[0171] In an embodiment of the present application, it is provided that the number of pending starts is reset to zero at the end of the second cycle to avoid the number of pending starts in the previous second cycle affecting the number of pending starts in the current cycle, thereby making the number of pending starts in the current cycle consistent with the actual road conditions of the current cycle.

[0172] Step S103: Obtain the number of pending starts in the scene with complex road conditions in the second cycle.

[0173] The second cycle includes at least one first cycle.

[0174] That is, the number of wait-to-start times in the second cycle is the accumulated number of wait-to-start times in at least one first cycle. For example, the second cycle includes two first cycles, the updated number of wait-to-start times in the first first cycle is 5, and the number of wait-to-start times in the second first cycle is accumulated based on the number of wait-to-start times in the first first cycle, and the updated number of wait-to-start times is 11; or, the number of wait-to-start times in the second cycle is the sum of the number of wait-to-start times in at least one first cycle. For example, the updated number of wait-to-start times in the first first cycle is 5, and the updated number of wait-to-start times in the second first cycle is 6, and the obtained number of wait-to-start times in the second cycle is 5+6, that is, the number of wait-to-start times in the second cycle is 11.

[0175] It should be noted that the length of the first cycle and / or the second cycle affects the probability of false activation of the emergency braking mode and the probability of vehicle collision, that is, the longer the length of the first cycle and / or the second cycle, the lower the probability of false activation of the emergency braking mode, but the probability of the vehicle colliding with the target object increases; conversely, the shorter the length of the first cycle and / or the second cycle, the higher the probability of false activation of the emergency braking mode, but the probability of the vehicle colliding with the target object decreases.

[0176] Step S104: If the number of times the vehicle is to be started in the complex road condition scenario in the second period reaches a first preset threshold, the emergency braking mode is started.

[0177] That is, if the number of times the emergency braking mode is started in a scene with complex road conditions within the second cycle reaches a first preset threshold, it means that the road conditions around the vehicle are relatively complex within the second cycle. Since the second cycle is at least one first cycle, the relatively complex road conditions around the vehicle within the second cycle indicate that the vehicle has been in a scene with complex road conditions for a long time. Therefore, starting the emergency braking mode at this time can reduce the risk of collision.

[0178] FIG7 is a schematic diagram of another method for activating an emergency braking mode provided by the present application. Compared to the above embodiment, the present embodiment adds the step of comparing the number of times the vehicle is to be activated in each second cycle for the first complex road scenario with two preset thresholds. As shown in FIG7 , the method includes:

[0179] Step S701: Obtain n times of vehicle surrounding information within a first cycle, and determine the number of times the vehicle is in a scene with complex road conditions based on the n times of vehicle surrounding information.

[0180] Wherein, n is an integer greater than 0.

[0181] Please refer to step S101 for details, which will not be described again here.

[0182] Step S702: If the number of times the vehicle is in a scene with complex road conditions reaches a preset threshold, the number of times the vehicle is to be started in a scene with complex road conditions is updated.

[0183] Please refer to step S102 for details, which will not be described again here.

[0184] Step S703: Obtain the number of pending starts in the scene with complex road conditions in the second cycle.

[0185] Please refer to step S103 for details, which will not be described again here.

[0186] It should be noted that, when obtaining the number of pending starts in the second cycle, different steps are performed depending on whether the number of pending starts in the second cycle reaches the first preset threshold or the fifth preset threshold.

[0187] Step S704: If the number of pending activations for the first complex road scenario reaches a first preset threshold value within the second period, the number of pending activations for the complex road scenario is reset to zero and the emergency braking mode is activated;

[0188] If the number of pending starts in the first complex road condition scenario does not reach the first preset threshold value and reaches the fifth preset threshold value within the second cycle, the number of pending starts in the complex road condition scenario is reset to zero and the braking conditions of the emergency braking mode are adjusted;

[0189] If the number of times to be started for the first complex road condition scenario does not reach the fifth preset threshold value within the second cycle, the number of times to be started for the complex road condition scenario is reset to zero and the emergency braking mode is not started.

[0190] In step S704, if the number of to-be-started times for the first complex road scenario within the second cycle does not reach the first preset threshold value and reaches the fifth preset threshold value, then the number of to-be-started times for the complex road scenario is cleared to zero and the braking condition of the emergency braking mode is adjusted, including: if the number of to-be-started times for the first complex road scenario within the second cycle does not reach the first preset sub-threshold value and reaches the second preset threshold value, then the number of to-be-started times for the first complex road scenario is cleared to zero and the braking condition of the emergency braking mode is adjusted; and / or,

[0191] If the number of pending starts for the second complex road scenario within the second period does not reach the second preset sub-threshold and reaches the third preset threshold, the number of pending starts for the first complex road scenario is reset to zero and the braking conditions of the emergency braking mode are adjusted; and / or,

[0192] If the number of pending starts for the third complex road condition scenario within the second cycle does not reach the third preset sub-threshold and reaches the fourth preset threshold, the number of pending starts for the first complex road condition scenario is reset and the braking conditions of the emergency braking mode are adjusted.

[0193] Specifically, each of the three sets of pending start counts is compared with two preset thresholds. If the set of pending start counts falls between the two thresholds, it indicates that while the road conditions around the vehicle are complex, they are not yet urgent. In this case, the braking conditions of the emergency braking mode can be adjusted rather than directly initiating emergency braking. At the end of the second cycle, the pending start count for that cycle is reset to zero, and the next first cycle begins again. This process continues until the first cycle reaches the second cycle's threshold. A new round of counting for the three sets of complex road conditions within the second cycle is then repeated.

[0194] In some embodiments, adjusting the braking conditions of the emergency braking mode includes: reducing the range of the area around the vehicle, increasing the numerical value of the first preset threshold and / or increasing the value of the second preset threshold, the third preset threshold, the fourth preset threshold, etc.

[0195] It should be noted that when the scope of the area around the vehicle is reduced, in the same scenario, the number of target objects around the vehicle is reduced, thereby extending the time for the number of wait-for-start times in complex road scenarios within the second cycle to reach the first preset sub-threshold and / or the second preset threshold, the third preset threshold, and the fourth preset threshold, thereby delaying the time to start the emergency braking mode and further reducing the risk of accidentally starting the emergency braking mode.

[0196] It should also be noted that when the numerical value of the first preset sub-threshold is increased and / or the numerical value of the second preset sub-threshold is increased, the time for the number of wait-for-start times in complex road conditions within the second cycle to reach the first preset sub-threshold and / or the second preset threshold, the third preset threshold, and the fourth preset threshold is also extended.

[0197] In an embodiment of the present application, a second preset threshold, a third preset threshold, and a fourth preset threshold are set so that the number of pending starts in complex road conditions within each group of second cycles is compared with the two preset thresholds of each group, thereby dividing the road conditions into two different levels of urgency based on the two groups of thresholds. If the urgency level does not reach the second preset threshold, the third preset threshold, or the fourth preset threshold, the braking conditions of the emergency braking mode are adjusted, thereby further reducing the risk of rear-end collisions caused by mistaken activation of the emergency braking mode. In addition, an embodiment of the present application stipulates that the number of pending starts is reset to zero at the end of the second cycle to prevent the number of pending starts in the previous second cycle from affecting the number of pending starts in the current cycle, thereby ensuring that the number of pending starts in the current cycle is consistent with the actual road conditions of the current cycle.

[0198] In some embodiments, when the auxiliary braking mode is the AEB emergency braking mode, adjusting the braking conditions of the emergency braking mode may be to extend the time for starting the AEB emergency braking mode; when the auxiliary braking mode is the FCW alarm mode, adjusting the braking conditions of the emergency braking mode may be to extend the alarm time of the FCW alarm mode.

[0199] Furthermore, when the auxiliary braking mode is AEB's emergency braking mode or FCW warning mode, the braking conditions for emergency braking mode can be adjusted in conjunction with the time to collision (TTC), minimizing the risk of collision while minimizing the risk of accidental activation of emergency braking mode. The TTC is the fastest braking time based on the vehicle's current speed and the distance between the vehicle and the target object. For example, in AEB regulatory scenarios, the TTC and lateral distance braking conditions for triggering AEB can be as follows: Pedestrian target: longitudinal TTC ≤ 0.6s or lateral distance ≤ 0.4m; Two-wheeled vehicle target: longitudinal TTC ≤ 0.65s or lateral distance ≤ 0.5m; Passenger vehicle target: longitudinal TTC ≤ 0.7s or lateral distance ≤ 0.6m; Truck or special vehicle target: longitudinal TTC ≤ 0.85s or lateral distance ≤ 0.75m.

[0200] In the embodiment of the present application, the above braking conditions can be adjusted as follows: pedestrian target: longitudinal TTC ≤ 0.55s or lateral distance ≤ 0.3m; two-wheeled vehicle target: longitudinal TTC ≤ 0.6s or lateral distance ≤ 0.4m; car target: longitudinal TTC ≤ 0.65s or lateral distance ≤ 0.5m; truck or special vehicle target: longitudinal TTC ≤ 0.75s or lateral distance ≤ 0.6m.

[0201] Among them, the longitudinal TTC and lateral distance are both the range of the vehicle's driving path.

[0202] In some embodiments, the present application further includes verifying the relative speed output by the camera, including the following steps:

[0203] The relative speed between the vehicle and the nearest target object is calculated using the difference between the relative distances. For example, relative speed = c*|distance N cycles ago - distance in the current cycle| / t, where c is the filter coefficient, which can be obtained empirically through repeated experiments.

[0204] In some embodiments, when performing relative speed verification, TTC=the distance between the vehicle and the nearest target object in the current cycle / relative speed.

[0205] In the embodiment of the present application, verifying the relative speed can make the distance curve relatively smooth, and the calculated relative acceleration can solve the problem of relative speed jump directly output by the camera or the problem of inaccurate target detection.

[0206] In step S704, if the number of to-be-activated times for the first complex road scenario within the second cycle does not reach the fifth preset threshold, the number of to-be-activated times for the complex road scenario is cleared to zero and the emergency braking mode is not activated, including: if the number of to-be-activated times for the first complex road scenario within the second cycle does not reach the second preset threshold, the number of to-be-activated times for the first complex road scenario is cleared to zero and the emergency braking mode is not activated; and / or,

[0207] If the number of times the second complex road scene is to be started does not reach the third preset threshold value within the second period, the number of times the second complex road scene is to be started is reset to zero and the emergency braking mode is not started; and / or,

[0208] If the number of times the third complex road condition scenario is to be started in the second cycle reaches a fourth preset threshold, the number of times the third complex road condition scenario is to be started is reset to zero and the emergency braking mode is not started.

[0209] Specifically, each of the three sets of pending start counts is compared with two preset thresholds. If the number of pending starts for that set is between the two thresholds, the vehicle is not in a complex road condition during the second cycle, and emergency braking mode is not activated. At the end of the second cycle, the number of pending starts for that cycle is reset to zero, and the number of pending starts is updated again from the next first cycle until the number of first cycles meets the second cycle requirement. A new round of counting of the number of pending starts for the three sets of complex road conditions during the second cycle is then repeated.

[0210] In an embodiment of the present application, if the number of wait-to-start times for the three groups of complex road conditions within the second cycle does not reach the second preset threshold, the third preset threshold, or the fourth preset threshold, respectively, it is determined to be an emergency situation and the risk of collision is low. Not activating the emergency braking mode at this time can reduce the risk of rear-end collision of the vehicle; and the embodiment of the present application stipulates that the number of wait-to-start times is cleared at the end of the second cycle to avoid the number of wait-to-start times in the previous second cycle affecting the number of wait-to-start times in the current cycle, thereby making the number of wait-to-start times in the current cycle consistent with the actual road conditions of the current cycle.

[0211] In an embodiment of the present application, it is determined that the vehicle is in a scene with complex road conditions, including three groups, and three groups of waiting-to-start times are obtained accordingly, wherein each group of waiting-to-start times is compared with two preset threshold values, thereby drawing three conclusions, namely, starting the emergency braking mode, adjusting the braking conditions of the emergency braking mode, and not starting the emergency braking mode. In some embodiments, the priority of executing the three conclusions is: starting the emergency braking mode, adjusting the braking conditions of the emergency braking mode, and not starting the emergency braking mode. In other embodiments, among the three conclusions, two or more identical conclusions are executed first. If all three conclusions are different, the emergency braking mode is started.

[0212] For example, see Figure 7, which illustrates an exemplary method for activating an emergency braking mode according to an embodiment of the present application. As shown in Figure 7, vehicle surrounding information is acquired n times during a first cycle, and the vehicle surrounding area is divided into a vehicle travel path area and a vehicle surrounding area. The vehicle travel path area is defined as the area within 3 meters laterally and 30 meters longitudinally in front of the vehicle's travel path; the vehicle surrounding area is defined as the area within 6 meters laterally and 50 meters longitudinally in front of the vehicle's travel path.

[0213] Based on n pieces of vehicle-surrounding information, information about target objects within the vehicle's travel path is obtained, and the number of target objects within a first predetermined distance from the vehicle is determined. Specifically, information about stationary or moving vehicles (including cars, trucks, special vehicles, and two-wheeled vehicles), stationary or moving pedestrians, and other stationary or moving target objects within the vehicle's travel path is obtained, thereby determining the number of target objects.

[0214] If the number of target objects within a first preset distance from the vehicle reaches a first preset threshold, the vehicle is determined to be in a complex road condition scenario. Specifically, if the number of pedestrians is ≥ 2, the number of vehicle targets is ≥ 2, or the total number of targets is ≥ 6, the scenario is considered complex.

[0215] Based on n pieces of vehicle surrounding information, information about target objects in the area surrounding the vehicle is obtained, and the number of moving target objects within a second predetermined distance from the vehicle is determined. Specifically, information about stationary or moving vehicles (including cars, trucks, special vehicles, and two-wheeled vehicles), moving pedestrians, and other moving target objects in the area surrounding the vehicle is obtained, thereby determining the number of target objects.

[0216] If the number of target objects within the first preset distance of the vehicle reaches a second preset threshold, the vehicle is determined to be in a complex road condition scenario. Specifically, if the number of moving pedestrians is ≥ 3, the number of moving vehicle targets is ≥ 2, or the total number of moving targets is ≥ 5, the scenario is considered complex.

[0217] Based on the n pieces of information about the vehicle's surroundings, information about target objects in the area surrounding the vehicle is obtained, and the number of moving target objects within a third predetermined distance from the vehicle is determined. Specifically, information about stationary or moving target objects in the area surrounding the vehicle is obtained, and the number of target objects is then determined.

[0218] If the number of target objects within a third preset distance from the vehicle reaches a third preset threshold, the vehicle is determined to be in a complex road condition scenario. Specifically, if the number of pedestrians is ≥ 5, the number of vehicle targets is ≥ 3, or the total number of targets is ≥ 6, the scenario is determined to be complex.

[0219] After the above three groups of complex road conditions are judged, the number of waiting starts for the above three groups is obtained respectively, including the following steps:

[0220] If the number of times the vehicle encounters complex road conditions on its driving route reaches a first preset threshold, the number of pending starts for the first complex road condition scenario is updated. The first complex road condition scenario refers to a complex road condition scenario where the vehicle is on its driving route. That is, if complex road conditions are identified more than 50 times within the first cycle, the number of pending starts for the first complex road condition scenario is incremented by one.

[0221] If the number of times the vehicle encounters complex road conditions on its driving route reaches a first preset threshold, the number of pending starts for the first complex road condition scenario is updated. The first complex road condition scenario refers to a complex road condition scenario where the vehicle is on its driving route. That is, if complex road conditions are identified more than 50 times within the first cycle, the number of pending starts for the second complex road condition scenario is incremented by one.

[0222] If the number of times the vehicle experiences complex road conditions on its route reaches a third preset threshold, the number of pending starts for the third complex road condition scenario is updated. The third complex road condition scenario refers to a complex road condition scenario where the vehicle is on its route. Specifically, if complex road conditions are identified more than 50 times within the first cycle, the number of pending starts for the third complex road condition scenario is incremented by one.

[0223] Comparing each of the three groups of waiting start times with two preset thresholds includes the following steps:

[0224] If the number of pending activations for the first complex traffic scenario reaches a first preset sub-threshold within the second cycle, the number of pending activations for the first complex traffic scenario is reset to zero and emergency braking mode is activated. If the number of pending activations for the first complex traffic scenario is ≥ 25, AEB emergency braking mode or FCW warning mode is activated according to normal regulatory scenarios.

[0225] If the number of pending starts for the first complex road condition scenario within the second cycle does not reach the first preset sub-threshold and reaches the second preset threshold, the number of pending starts for the first complex road condition scenario will be cleared and the braking conditions of the emergency braking mode will be adjusted; that is, within 50 first cycles, 10≤the number of pending starts for the first complex road condition scenario<25, then the start-up conditions of the AEB emergency braking mode or FCW alarm mode will be adjusted.

[0226] If the number of wait-to-start times for the first complex road condition scenario within the second cycle does not reach the second preset threshold, the number of wait-to-start times for the first complex road condition scenario will be reset to zero and the emergency braking mode will not be activated; that is, within 50 first cycles, 0<the number of wait-to-start times for the first complex road condition scenario<10, the auxiliary braking system will suppress the AEB emergency braking mode & FCW alarm mode.

[0227] If the number of pending activations for the first complex traffic scenario reaches a second preset sub-threshold within the second cycle, the number of pending activations for the second complex traffic scenario is reset to zero and emergency braking mode is activated. If the number of pending activations for the first complex traffic scenario is ≥30, AEB emergency braking mode or FCW warning mode is activated according to normal regulatory scenarios.

[0228] If the number of pending starts for the first complex road condition scenario within the second cycle does not reach the second preset sub-threshold and reaches the third preset threshold, the number of pending starts for the second complex road condition scenario will be cleared and the braking conditions of the emergency braking mode will be adjusted; that is, within 50 first cycles, 8≤the number of pending starts for the second complex road condition scenario<30, then the start-up conditions of the AEB emergency braking mode or FCW alarm mode will be adjusted.

[0229] If the number of wait-to-start times for the second complex road condition scenario within the second cycle does not reach the third preset threshold, the number of wait-to-start times for the second complex road condition scenario will be reset to zero and the emergency braking mode will not be activated; that is, within 50 first cycles, 0<the number of wait-to-start times for the second complex road condition scenario<8, the auxiliary braking system will suppress the AEB emergency braking mode & FCW alarm mode.

[0230] If the number of pending activations for the third complex traffic scenario reaches a third preset sub-threshold within the second cycle, the number of pending activations for the third complex traffic scenario is reset to zero and emergency braking mode is activated. If the number of pending activations for the third complex traffic scenario is ≥35, AEB emergency braking mode or FCW warning mode is activated according to normal regulatory scenarios.

[0231] If the number of wait-for-start times for the first complex road condition scenario within the second cycle does not reach the third preset sub-threshold and reaches the fourth preset threshold, the number of wait-for-start times for the first complex road condition scenario will be cleared and the braking conditions of the emergency braking mode will be adjusted; that is, if within 50 first cycles, 5≤the number of wait-for-start times for the third complex road condition scenario<35, the start-up conditions of the AEB emergency braking mode or the FCW alarm mode will be adjusted.

[0232] If the number of wait-to-start times for the third complex road condition scenario within the second cycle does not reach the fourth preset threshold, the number of wait-to-start times for the third complex road condition scenario will be reset to zero and the emergency braking mode will not be activated; that is, within 50 first cycles, 0<the number of wait-to-start times for the third complex road condition scenario<5, the auxiliary braking system will suppress the AEB emergency braking mode & FCW alarm mode.

[0233] Among the above three groups of judgment results, the execution priority is: starting the emergency braking mode, adjusting the braking conditions of the emergency braking mode, and not starting the emergency braking mode.

[0234] FIG9 is a diagram of a device for activating an emergency braking mode provided in an embodiment of the present application. The device can be used as a specific device to implement a method for activating an emergency braking mode provided in an embodiment of the present invention. As shown in FIG9 , the device includes:

[0235] The scene unit 901 is configured to obtain n pieces of vehicle surrounding information within a first cycle, and determine the number of times the vehicle is in a scene with complex road conditions based on the n pieces of vehicle surrounding information; wherein n is an integer greater than 0;

[0236] The first waiting-to-start unit 902 is configured to update the waiting-to-start count for complex road conditions if the number of times the vehicle is in a complex road condition scene reaches a preset threshold;

[0237] The second waiting-to-start unit 903 is used to obtain the number of waiting-to-start times in the scene with complex road conditions in the second cycle;

[0238] The starting unit 904 is configured to start the emergency braking mode if the number of to-be-started scenarios with complex road conditions within a second cycle reaches a first preset threshold; the second cycle includes at least one first cycle.

[0239] As a possible implementation, the scene unit 901 includes:

[0240] Used to obtain vehicle surrounding information in the first cycle;

[0241] Determine whether the vehicle is in a complex road situation based on information about the vehicle's surroundings;

[0242] If the vehicle is in a scene with complex road conditions, the number of times the vehicle has been in a scene with complex road conditions is updated, and a check is made as to whether the number of times the vehicle's surrounding information has been acquired in the first cycle has reached n times; or, if the vehicle is not in a scene with complex road conditions, a check is made as to whether the number of times the vehicle's surrounding information has been acquired in the first cycle has reached n times;

[0243] If it does not reach n times, the number of times the vehicle's surrounding information is obtained in the first cycle will be re-executed until the vehicle is in a scene with complex road conditions. The number of times the vehicle is in a scene with complex road conditions will be updated, and it will be checked whether the number of times the vehicle's surrounding information is obtained in the first cycle has reached n times, until the number of times the vehicle's surrounding information is obtained in the first cycle has reached n times.

[0244] As a possible implementation, the scene unit 901 includes:

[0245] Used to obtain vehicle surrounding information n times in the first cycle;

[0246] For each piece of vehicle surrounding information obtained n times, determine whether the vehicle is in a scene with complex road conditions based on the vehicle surrounding information; if the vehicle is in a scene with complex road conditions, update the number of times the vehicle is in a scene with complex road conditions.

[0247] As a possible implementation, the scene unit 901 includes:

[0248] Used to determine the number of target objects within a preset distance of the vehicle based on the vehicle's surrounding information;

[0249] When the number of target objects contained within a preset distance of the vehicle reaches a preset number threshold, it is determined that the vehicle is in a scene with complex road conditions.

[0250] As a possible implementation, the scene unit 901 includes:

[0251] Used to obtain vehicle surrounding information including:

[0252] Collect images around the vehicle;

[0253] Based on the vehicle surrounding image, information of a target object in the vehicle driving path area is obtained, and / or information of a target object in the vehicle surrounding area is obtained.

[0254] As a possible implementation, the scene unit 901 includes:

[0255] used to determine the number of target objects within a first preset distance of the vehicle based on information about target objects within the vehicle's driving path; and / or

[0256] Determining the number of moving target objects within a second preset distance from the vehicle based on information about target objects in the area surrounding the vehicle; and / or

[0257] determining the number of target objects within a third preset distance from the vehicle based on information about the target objects in the area surrounding the vehicle;

[0258] When the number of target objects within a preset distance of the vehicle reaches a preset threshold, it is determined that the vehicle is in a complex road condition scenario including:

[0259] If the number of target objects within a first preset distance of the vehicle reaches a first preset number threshold, it is determined that the vehicle is in a complex road condition scenario on the driving path; and / or,

[0260] If the number of moving objects within a second preset distance from the vehicle reaches a second preset number threshold, it is determined that the vehicle is in a complex road scene with moving objects around the vehicle; and / or,

[0261] If the number of target objects contained within a third preset distance of the vehicle reaches a third preset number threshold, it is determined that the vehicle is in a complex road condition scene around the vehicle.

[0262] As a possible implementation, the first waiting-to-start unit 902 includes:

[0263] If the number of times the vehicle is in a complex road condition scene on the driving path reaches a first preset number threshold, then the number of times to be started in the first complex road condition scene is updated; the first complex road condition scene refers to the complex road condition scene on the driving path of the vehicle; and / or,

[0264] If the number of times the vehicle is in a complex road condition scene with a moving object around the vehicle reaches a second preset number threshold, the number of times to be started for the second complex road condition scene is updated; the second complex road condition scene refers to a complex road condition scene with a moving object around the vehicle; and / or,

[0265] If the number of times the vehicle is in a complex road condition scene around the vehicle reaches a third preset number threshold, the number of times to be started for the third complex road condition scene is updated; the third complex road condition scene refers to a complex road condition scene where the vehicle is in a complex road condition scene around the vehicle.

[0266] As a possible implementation, the second to-be-started unit 903 includes:

[0267] Used to obtain the number of pending starts for the first complex road condition scenario within the second period, if the number of pending starts for the first complex road condition scenario within the second period reaches a first preset sub-threshold, then activate the emergency braking mode and reset the number of pending starts for the first complex road condition scenario to zero; and / or,

[0268] Obtaining the number of pending activations for the second complex road scenario within the second cycle, and if the number of pending activations for the second complex road scenario within the second cycle reaches a second preset sub-threshold, activating the emergency braking mode and clearing the number of pending activations for the first complex road scenario; and / or,

[0269] The number of pending starts of the third complex road condition scenario in the second cycle is obtained. If the number of pending starts of the third complex road condition scenario in the second cycle reaches a third preset sub-threshold, the emergency braking mode is activated and the number of pending starts of the first complex road condition scenario is reset to zero.

[0270] As a possible implementation, the second to-be-started unit 903 further includes:

[0271] for clearing the number of pending starts for the first complex road condition scenario and adjusting the braking conditions of the emergency braking mode if the number of pending starts for the first complex road condition scenario within the second period does not reach the first preset sub-threshold and reaches the second preset threshold; and / or,

[0272] If the number of pending starts for the second complex road scenario within the second period does not reach the second preset sub-threshold and reaches the third preset threshold, the number of pending starts for the first complex road scenario is reset to zero and the braking conditions of the emergency braking mode are adjusted; and / or,

[0273] If the number of pending starts for the third complex road condition scenario within the second cycle does not reach the third preset sub-threshold and reaches the fourth preset threshold, the number of pending starts for the first complex road condition scenario is reset and the braking conditions of the emergency braking mode are adjusted.

[0274] As a possible implementation, the second to-be-started unit 903 further includes:

[0275] If the number of times the first complex road condition scenario is to be activated does not reach a second preset threshold value within the second period, the number of times the first complex road condition scenario is to be activated is reset to zero and the emergency braking mode is not activated; and / or

[0276] If the number of times the second complex road scene is to be started does not reach the third preset threshold value within the second period, the number of times the second complex road scene is to be started is reset to zero and the emergency braking mode is not started; and / or,

[0277] If the number of times the third complex road condition scenario is to be started does not reach the fourth preset threshold value within the second cycle, the number of times the third complex road condition scenario is to be started is reset to zero and the emergency braking mode is not started.

[0278] Corresponding to the above embodiments, the present application also provides an electronic device. Figure 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 800 may include: a processor 801, a memory 802, and a communication unit 803. These components communicate through one or more buses. Those skilled in the art will understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present invention. It can be a bus structure or a star structure, and can also include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0279] The communication unit 803 is configured to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices, or send user data to other devices.

[0280] The processor 801 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 802, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 801 can only include a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0281] The memory 802 is used to store the execution instructions of the processor 801. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0282] When the execution instructions in the memory 802 are executed by the processor 801 , the electronic device 800 is enabled to execute part or all of the steps in the embodiment shown in FIG. 7 .

[0283] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program that, when executed, may include some or all of the steps of each embodiment of the calling method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0284] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus a necessary general-purpose hardware platform. Based on this understanding, the technical solutions in the embodiments of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention or certain portions of the embodiments.

[0285] In this specification, reference can be made to the same or similar parts between the various embodiments. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A method for starting an emergency braking mode, characterized in that: The steps include: Acquire n vehicle surrounding information in a first cycle, and determine the number of times the vehicle is in a scene with complex road conditions based on the n vehicle surrounding information; wherein n is an integer greater than 0; If the number of times the vehicle is in a scene with complex road conditions reaches a preset number threshold, the number of waiting starts in the scene with complex road conditions is updated; Obtain the number of pending starts in the scenario with complex road conditions in the second cycle; If the number of times to be started in the scene with complex road conditions within the second cycle reaches a first preset threshold, the emergency braking mode is started; the second cycle includes at least one first cycle.

2. The method according to claim 1, characterized in that The acquiring of n vehicle surrounding information in the first cycle, and determining, based on the n vehicle surrounding information, the number of times the vehicle is in a scene with complex road conditions corresponding to the n vehicle surrounding information includes: Acquiring vehicle surrounding information in a first cycle; Determining whether the vehicle is in a scene with complex road conditions based on the vehicle surrounding information; If the vehicle is in a scene with complex road conditions, the number of times the vehicle is in a scene with complex road conditions is updated, and whether the number of times the vehicle surrounding information is obtained in the first cycle reaches n times is detected; or, if the vehicle is not in a scene with complex road conditions, whether the number of times the vehicle surrounding information is obtained in the first cycle reaches n times; If it has not reached the said n times, the step of obtaining the vehicle's surrounding information within the first cycle is re-executed until the number of times the vehicle is in a scene with complex road conditions is updated, and a check is made as to whether the number of times the vehicle's surrounding information is obtained within the first cycle reaches n times, until the number of times the vehicle's surrounding information is obtained within the first cycle reaches n times.

3. The method according to claim 1, characterized in that: The acquiring of n vehicle surrounding information in the first cycle, and determining, based on the n vehicle surrounding information, the number of times the vehicle is in a scene with complex road conditions corresponding to the n vehicle surrounding information includes: Acquire vehicle surrounding information n times in the first cycle; For each of the n vehicle surrounding information obtained, determine whether the vehicle is in a scene with complex road conditions based on the vehicle surrounding information; if the vehicle is in a scene with complex road conditions, update the number of times the vehicle is in a scene with complex road conditions.

4. The method according to claim 2 or 3, characterized in that: The determining whether the vehicle is in a scene with complex road conditions according to the vehicle surrounding information includes: Determining the number of target objects within a preset distance of the vehicle according to the vehicle surrounding information; When the number of the target objects contained within the preset distance of the vehicle reaches a preset number threshold, it is determined that the vehicle is in a scene with complex road conditions.

5. The method according to claim 4, characterized in that The complex road condition scene includes a complex road condition scene in the driving path area and / or a complex road condition scene around the vehicle and / or a complex road condition scene of a moving object around the vehicle; The obtaining of vehicle surrounding information comprises: Collecting the image of the vehicle surrounding side; Based on the vehicle surrounding image, obtaining information of a target object in the vehicle driving path area, and / Or obtain information of a target object in the area around the vehicle.

6. The method according to claim 5, characterized in that Determining the number of the target objects within a preset distance of the vehicle according to the vehicle surrounding information includes: Determine the number of target objects within a first preset distance of the vehicle according to information of target objects within the vehicle driving path area; and / or, Determining the number of target objects in motion within a second preset distance of the vehicle based on information about the target objects in the area around the vehicle; and / or, Determining the number of target objects within a third preset distance of the vehicle according to information of the target objects in the area around the vehicle; When the number of the target objects within the preset distance of the vehicle reaches a preset number threshold, determining that the vehicle is in a scene with complex road conditions includes: If the number of target objects contained within a first preset distance of the vehicle reaches a first preset number threshold, it is determined that the vehicle is in a complex road condition scene on the driving path; and / or, If the number of moving target objects within a second preset distance of the vehicle reaches a second preset number threshold, it is determined that the vehicle is in a complex road scene with moving objects around the vehicle; and / or, If the number of target objects contained within a third preset distance of the vehicle reaches a third preset number threshold, it is determined that the vehicle is in a complex road condition scene around the vehicle.

7. The method according to claim 6, characterized in that If the number of times that the vehicle is in a scene with complex road conditions reaches a preset number threshold, updating the number of waiting starts for the scene with complex road conditions includes: If the number of times the vehicle is in a complex road condition scene on the driving path reaches a first preset number threshold, the number of times to be started for the first complex road condition scene is updated; the first complex road condition scene refers to the complex road condition scene where the vehicle is in the driving path; and / or, If the number of times the vehicle is in a complex road scene with a moving object around the vehicle reaches a second preset number threshold, the number of times to be started for the second complex road scene is updated; the second complex road scene refers to a complex road scene with a moving object around the vehicle; and / or, If the number of times the vehicle is in a complex road condition scene around the vehicle reaches a third preset number threshold, the number of times to be started of a third complex road condition scene is updated; the third complex road condition scene refers to the complex road condition scene where the vehicle is in the surrounding side of the vehicle; The acquiring the number of to-be-activated times of the scene with complex road conditions in the second cycle, and if the number of to-be-activated times of the scene with complex road conditions in the second cycle reaches a first preset threshold, then initiating the emergency braking mode includes: Obtaining the number of to-be-activated times of the first complex road scene in the second cycle, and if the number of to-be-activated times of the first complex road scene in the second cycle reaches a first preset sub-threshold, activating the emergency braking mode and clearing the number of to-be-activated times of the first complex road scene; and / or, Obtaining the number of times the second complex road scene is to be started in the second cycle, if the number of times the second complex road scene is to be started in the second cycle reaches a second preset sub-threshold, the emergency braking mode is started and the number of times the first complex road scene is to be started is reset to zero; and / or, Obtain the number of times the third complex road condition scenario is to be started in the second cycle. If the number of times the third complex road condition scenario is to be started in the second cycle reaches the third preset sub-threshold, the emergency braking mode is started and the first complex road condition scenario is The number of pending starts is cleared to zero.

8. The method according to any one of claims 5 to 7, characterized in that: The target object includes at least one of a pedestrian and a vehicle.

9. The method according to claim 7, characterized in that: Also includes: If the number of pending starts of the first complex road scene in the second period does not reach the first preset sub-threshold value but reaches the second preset threshold value, the number of pending starts of the first complex road scene is reset to zero and the braking condition of the emergency braking mode is adjusted; and / or, If the number of pending starts of the second complex road scene in the second cycle does not reach the second preset sub-threshold and reaches the third preset threshold, the number of pending starts of the first complex road scene is reset to zero and the braking condition of the emergency braking mode is adjusted; and / or, If the number of times to be started for the third complex road condition scenario within the second cycle does not reach the third preset sub-threshold and reaches the fourth preset threshold, the number of times to be started for the first complex road condition scenario is reset and the braking conditions of the emergency braking mode are adjusted.

10. The method according to claim 9, characterized in that Also includes: If the number of times to be started in the first complex road condition scenario within the second period does not reach the second preset threshold, the number of times to be started in the first complex road condition scenario is reset to zero and the emergency braking mode is not started; and / or, If the number of times the second complex road condition scenario is to be started within the second period does not reach the third preset threshold, the number of times the second complex road condition scenario is to be started is reset to zero and the emergency braking mode is not started; and / or, If the number of times the third complex road condition scenario is to be started within the second cycle does not reach the fourth preset threshold, the number of times the third complex road condition scenario is to be started is reset to zero and the emergency braking mode is not started.

11. A device for starting an emergency braking mode, characterized in that: include: A scene unit, used to obtain n times of vehicle surrounding information in a first cycle, and determine the number of times the vehicle is in a scene with complex road conditions based on the n times of vehicle surrounding information; wherein n is an integer greater than 0; A first waiting-to-start unit, configured to update the waiting-to-start times of the complex road condition scene if the number of times the vehicle is in the complex road condition scene reaches a preset number threshold; A second waiting-to-start unit, used for obtaining the number of waiting-to-start times in a scene with complex road conditions within a second cycle; A starting unit is used to start the emergency braking mode if the number of to-be-started scenes with complex road conditions within the second cycle reaches a first preset threshold; the second cycle includes at least one first cycle.

12. An electronic device, characterized in that: One or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the device, cause the device to perform the method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 10.

Images