Vehicle braking system and control method therefor, vehicle control unit, vehicle, and storage medium

Abstract

A control method for a vehicle braking system, comprising: acquiring preset safe distance models, a risk assessment model, and image data and traveling data of an obstacle; on the basis of the image data and the traveling data, determining a target obstacle; determining the preset safe distance model corresponding to the target obstacle as a target preset safe distance model; the risk assessment model processing the traveling data and the target preset safe distance model to obtain a collision risk result; and on the basis of the collision risk result, controlling an execution module to operate.

Description

Vehicle braking system, control method thereof, vehicle machine, vehicle and storage medium

[0001] Priority information

[0002] This application claims priority to and the benefit of the filing date of Chinese Patent Application No. 2024111130074, filed August 14, 2024, in the State Intellectual Property Office of China, and is hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of vehicle safety technology, and more particularly, to a control method of a vehicle braking system, a vehicle machine, a vehicle braking system, a vehicle and a computer readable storage medium. BACKGROUND

[0004] With the increasing intelligence of automobiles, more and more automobiles begin to install automatic braking systems to reduce the incidence of collision accidents caused by the driver's failure to brake in time. At present, the automatic braking system can only brake the vehicle when the distance between the vehicle and the obstacle is less than a preset fixed value, and cannot adjust this preset fixed value according to different obstacles, which leads to frequent braking of the vehicle in some scenes where braking is not needed, affecting the smoothness of vehicle travel and the driving experience of the driver. SUMMARY

[0005] The present application provides a control method of a vehicle braking system, a vehicle machine, a vehicle braking system, a vehicle and a computer readable storage medium.

[0006] The control method of the vehicle braking system of the present application embodiment comprises: obtaining a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determining a target obstacle from the at least one obstacle according to the image data and the driving data; determining the preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model; processing the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and controlling the execution module to run according to the collision risk result.

[0007] The vehicle machine of the embodiments of the present application comprises a memory configured to store a computer program and a processor. When the computer program is executed, the processor implements the following control method of a vehicle braking system: obtaining a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determining a target obstacle from the at least one obstacle according to the image data and the driving data; determining the preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model; processing the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and controlling the execution module to operate according to the collision risk result.

[0008] The vehicle braking system of the embodiments of the present application comprises a vehicle machine configured to: obtain a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determine a target obstacle from the at least one obstacle according to the image data and the driving data; determine the preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model; process the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and control the execution module to operate according to the collision risk result.

[0009] The vehicle of some embodiments of the present application comprises a vehicle machine. The vehicle machine comprises a memory configured to store a computer program and a processor. When the computer program is executed, the processor implements the following control method of a vehicle braking system: obtaining a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determining a target obstacle from the at least one obstacle according to the image data and the driving data; determining the preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model; processing the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and controlling the execution module to operate according to the collision risk result.

[0010] The vehicle of some embodiments of the present application comprises a vehicle braking system. The vehicle braking system comprises a vehicle machine configured to: obtain a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determine a target obstacle from the at least one obstacle according to the image data and the driving data; determine, from the plurality of preset safety distance models, the preset safety distance model corresponding to the target obstacle as a target preset safety distance model; process the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and control an execution module of the vehicle braking system to operate according to the collision risk result.

[0011] The computer readable storage medium of embodiments of the present application has a computer program stored thereon, which, when executed by a processor, implements a control method of a vehicle braking system: obtaining a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determining a target obstacle from the at least one obstacle according to the image data and the driving data; determining, from the plurality of preset safety distance models, the preset safety distance model corresponding to the target obstacle as a target preset safety distance model; processing the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and controlling an execution module of the vehicle braking system to operate according to the collision risk result.

[0012] The control method of a vehicle braking system, the vehicle machine, the vehicle braking system, the vehicle, and the computer readable storage medium provided by the present application first obtain a plurality of preset safety distance models, a risk assessment model, and image data and driving data of at least one obstacle; then determine a target obstacle from the at least one obstacle according to the image data and the driving data, determine a target preset safety distance model from the plurality of preset safety distance models according to the target obstacle, input the driving data and the target preset safety distance model into the risk assessment model to obtain a collision risk result, and finally control an execution module of the vehicle braking system to operate according to the collision risk result. Since different preset safety distance models correspond to different calculation methods of preset safety distance, the corresponding target preset safety distance model is determined according to different target obstacles, which can achieve the purpose of adjusting the preset safety distance according to different target obstacles, and further avoid frequent braking of the vehicle in a scenario where braking is not needed, thereby improving the smoothness of vehicle driving.

[0013] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0014] FIG. 1 is a flowchart of a control method of a vehicle braking system according to an embodiment of the present application;

[0015] FIG. 2 is a schematic view of a vehicle braking system according to an embodiment of the present application;

[0016] FIG. 3 is a flowchart of obtaining a plurality of preset safety distance models according to an embodiment of the present application;

[0017] FIG. 4 is a flowchart of obtaining a plurality of preset safety distance models according to an embodiment of the present application;

[0018] FIG. 5 is a schematic view of a first preset safety distance curve and a second preset safety distance curve according to an embodiment of the present application;

[0019] FIG. 6 is a schematic view of a third preset safety distance curve according to an embodiment of the present application;

[0020] FIG. 7 is a flowchart of determining a target obstacle from at least one obstacle according to image data and driving data according to an embodiment of the present application;

[0021] FIG. 8 is a flowchart of determining a preset safety distance model corresponding to the target obstacle from a plurality of preset safety distance models as a target preset safety distance model according to an embodiment of the present application;

[0022] FIG. 9 is a flowchart of processing driving data and the target preset safety distance model by a risk assessment model to obtain a collision risk result according to an embodiment of the present application;

[0023] FIG. 10 is a schematic view of a warning distance, a preset safety distance, a safe driving distance, a braking distance, and a braking safety distance according to an embodiment of the present application;

[0024] FIG. 11 is a flowchart of determining a warning result according to the safe driving distance and a preset warning distance threshold according to an embodiment of the present application;

[0025] FIG. 12 is a flowchart of processing a vehicle speed, a braking delay time, a maximum braking deceleration, and a braking power growth time by a risk assessment model to obtain a braking distance according to an embodiment of the present application;

[0026] FIG. 13 is a flowchart of determining a braking result according to the braking safety distance and a preset braking distance threshold according to an embodiment of the present application;

[0027] FIG. 14 is a flowchart of processing a relative vehicle speed between the vehicle and the target obstacle, a relative distance between the vehicle and the target obstacle, and the target preset safety distance model by a risk assessment model to obtain a preset safety distance according to an embodiment of the present application;

[0028] FIG. 15 is a flowchart of a process in which a risk assessment model processes a relative vehicle speed between a vehicle and a target obstacle, a relative distance between the vehicle and the target obstacle, and a target preset safety distance model to obtain a preset safety distance, according to an embodiment of the present application;

[0029] FIG. 16 is a flowchart of a process in which a risk assessment model processes a relative vehicle speed between a vehicle and a target obstacle, a relative distance between the vehicle and the target obstacle, and a target preset safety distance model to obtain a preset safety distance, according to an embodiment of the present application;

[0030] FIG. 17 is a schematic view of a vehicle according to an embodiment of the present application;

[0031] FIG. 18 is a schematic view of a connection state of a computer-readable storage medium and a processor according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described in detail below with reference to the accompanying drawings. Examples of the embodiments are shown in the drawings, in which the same or similar reference numerals are used throughout to designate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are merely intended to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0033] With the increasing degree of intelligence of automobiles, more and more automobiles begin to be equipped with automatic braking systems to reduce the incidence of collision accidents caused by the driver not braking in time. At present, the automatic braking system can only brake the vehicle when the distance between the vehicle and the obstacle is less than a preset fixed value, and cannot adjust this preset fixed value according to different obstacles, which leads to frequent braking of the vehicle in some scenes where braking is not needed, affecting the smoothness of vehicle travel and the driving experience of the driver. How to solve the problem of frequent braking of the vehicle in some scenes where braking is not needed has become a difficult problem that technicians in the field need to solve. To solve this problem, the present application provides a vehicle braking system 10 (as shown in FIG. 2), a control method of the vehicle braking system (as shown in FIGS. 1, 3, 4, 7-9, and 11-16), a car machine 11 (as shown in FIG. 2), a vehicle 100 (as shown in FIG. 17), and a computer-readable storage medium 200 (as shown in FIG. 18).

[0034] Referring to FIGS. 1 and 2, the control method of the vehicle braking system according to an embodiment of the present application includes:

[0035] 01: obtaining a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each obstacle having a corresponding preset safety distance model;

[0036] 03: determining a target obstacle from the at least one obstacle according to the image data and the driving data;

[0037] 05: determining a target safety distance model corresponding to the target obstacle from the plurality of safety distance models as a target safety distance model;

[0038] 07: processing the driving data and the target safety distance model by the risk assessment model to obtain a collision risk result; and

[0039] 09: controlling the execution module 13 to operate according to the collision risk result.

[0040] The above-mentioned control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiments of the present application comprises a vehicle machine 11, which is configured to: obtain a plurality of safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each obstacle having a corresponding safety distance model; determine a target obstacle from the at least one obstacle according to the image data and the driving data; determine a target safety distance model corresponding to the target obstacle from the plurality of safety distance models as a target safety distance model; process the driving data and the target safety distance model by the risk assessment model to obtain a collision risk result; and control the execution module 13 to operate according to the collision risk result.

[0041] The vehicle braking system 10 is an important component installed inside the vehicle 100 (as shown in FIG. 17) for ensuring safe driving, and its main function is to slow down and eventually stop the vehicle 100 in motion, and also includes keeping the vehicle stationary on a slope. In the present application, the vehicle braking system 10 comprises a vehicle machine 11. The vehicle machine 11 is one of the core control components installed inside the vehicle 100 (as shown in FIG. 17), responsible for managing and coordinating the operation of various parts of the vehicle. The vehicle machine 11 controls the working state of various components such as the engine, transmission, braking system, steering system, etc. by collecting, processing and analyzing data from various sensors, to ensure the safe and efficient operation of the vehicle. The vehicle machine 11 can directly control the parameters of various parts of the vehicle 100, thereby controlling the performance of the vehicle and the driving experience of the driver. In the present application, the vehicle machine 11 is configured to process image data related to obstacles and process driving data related to obstacles according to a preset safety distance model and a risk assessment model, and control the vehicle 100 according to the obtained collision risk result.

[0042] Specifically, the vehicle braking system 10 further comprises a sensor 12 and an execution module 13, wherein the sensor 12 is a device for detecting non-electric physical quantities (such as temperature, pressure, light, sound, position, speed, vibration, chemical composition, etc.) and converting them into electrical signals that can be received and processed by electronic devices, thereby achieving various applications such as automatic control, data acquisition, measurement, monitoring, etc. In this application, the sensor 12 can be a millimeter wave radar, a vehicle driving sensor, a camera, etc. The sensor 12 is connected with the vehicle machine 11, so that the vehicle machine 11 can obtain part of the driving data related to the obstacle and image data through the sensor 12, to provide data support for the subsequent step of processing data through the risk assessment model. The execution module 13 is a module for controlling the vehicle 100 according to various input data. In this application, the execution module 13 is connected with the vehicle machine 11, so as to control the vehicle 100 according to the collision risk result obtained from the risk assessment model transmitted by the vehicle machine 11.

[0043] Specifically, in step 01, the car machine 11 first acquires a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle to provide data and model support for subsequent steps. The car machine 11 can directly acquire a plurality of preset safety distance models, or can acquire a plurality of preset safety distance models by detecting relevant data in real time. Among them, the preset safety distance model is used to calculate the preset safety distance, and each obstacle has a corresponding preset safety distance model. The car machine 11 stores the plurality of preset safety distance models after acquiring them, and calls the stored different preset safety distance models according to different obstacles in the subsequent steps. The preset risk assessment model is a model used to calculate other data related to vehicle braking and vehicle safety. The car machine 11 also stores the preset risk assessment model after acquiring it, and calls it in the subsequent steps. In step 03, the car machine 11 determines, according to the image data and driving data of at least one obstacle acquired in step 01, an obstacle having a risk of collision with the vehicle 100 as a target obstacle among the at least one obstacle. In step 05, the car machine 11 determines, according to the target obstacle obtained in step 03, a preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models, and takes it as a target preset safety distance model. Since the preset safety distance model is used to calculate the preset safety distance, this step can determine different preset safety distances according to different target obstacles by determining the target preset safety distance model according to different target obstacles. In steps 07 and 09, the car machine 11 processes the driving data and the target preset safety distance model by the above-mentioned risk assessment model to obtain a collision risk result, and controls the execution module 13 to run according to the collision risk result. Therefore, the control method of the vehicle braking system provided by the embodiment of the present application solves the problem that the preset fixed value cannot be adjusted according to different obstacles, that is, the purpose of adjusting the preset safety distance according to different target obstacles is achieved, and the vehicle is prevented from frequently braking in a scene where braking is not needed, thereby improving the smoothness of vehicle driving.

[0044] In some embodiments, referring to FIGS. 2, 3, and 4, step 01 includes:

[0045] 011: Acquire a plurality of preset point data in a two-dimensional coordinate system, wherein the horizontal coordinate of the two-dimensional coordinate system is the relative speed, and the vertical coordinate of the two-dimensional coordinate system is the preset safety distance;

[0046] 012: According to the plurality of preset point data in the two-dimensional coordinate system, a first preset safety distance curve and a second preset safety distance curve are obtained by an interpolation curve fitting method;

[0047] 013: Obtain a first preset safety distance model and a second preset safety distance model according to the first preset safety distance curve and the second preset safety distance curve;

[0048] 014: Obtain a plurality of sets of preset point data in a two-dimensional coordinate system, wherein the horizontal coordinate of the two-dimensional coordinate system is a relative distance, and the vertical coordinate of the two-dimensional coordinate system is a preset safety distance;

[0049] 015: Obtain a third preset safety distance curve by an interpolation curve fitting method according to the plurality of sets of preset point data in the two-dimensional coordinate system;

[0050] 016: Obtain a third preset safety distance model according to the third preset safety distance curve;

[0051] 017: Obtain a fourth preset safety distance model based on a fixed preset safety distance value.

[0052] The control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment comprises a vehicle machine 11, which is configured to: obtain a plurality of sets of preset point data in a two-dimensional coordinate system, wherein the horizontal coordinate of the two-dimensional coordinate system is a relative speed, and the vertical coordinate of the two-dimensional coordinate system is a preset safety distance; obtain a first preset safety distance curve and a second preset safety distance curve by an interpolation curve fitting method according to the plurality of sets of preset point data in the two-dimensional coordinate system; obtain a first preset safety distance model and a second preset safety distance model according to the first preset safety distance curve and the second preset safety distance curve; obtain a plurality of sets of preset point data in a two-dimensional coordinate system, wherein the horizontal coordinate of the two-dimensional coordinate system is a relative distance, and the vertical coordinate of the two-dimensional coordinate system is a preset safety distance; obtain a third preset safety distance curve by an interpolation curve fitting method according to the plurality of sets of preset point data in the two-dimensional coordinate system; obtain a third preset safety distance model according to the third preset safety distance curve; and obtain a fourth preset safety distance model based on a fixed preset safety distance value.

[0053] Specifically, in step 011, the plurality of sets of preset point data in the two-dimensional coordinate system obtained by the vehicle machine 11 can be data obtained through a collision experiment before leaving the factory. These data are displayed in the form of coordinate points in a two-dimensional coordinate system with the horizontal coordinate being the relative speed of the vehicle 100 body and the target obstacle and the vertical coordinate being the preset safety distance. The interpolation curve fitting method is a mathematical method for estimating the function value between data points. The interpolation curve fitting method assumes that there is a certain continuous relationship between the data points, and then finds one or a group of functions to accurately represent all the data points. In step 012, the vehicle machine 11 uses the interpolation curve fitting method to process the plurality of sets of preset point data in the two-dimensional coordinate system to obtain the first preset safety curve and the second preset safety curve.

[0054] For step 012, for example, please refer to FIG. 5, the first preset safety curve and the second preset safety curve can be respectively a pedestrian preset safety curve and a bicycle preset safety curve, considering that the pedestrian and the bicycle are both weak road users, and the pedestrian and the bicycle have randomness compared with the vehicle and are related to braking distance, speed, load, and adhesion coefficient, the preset safety distance of the pedestrian and the bicycle should be associated with the relative speed of the vehicle body and the pedestrian and the bicycle. The preset safety distance model of the pedestrian and the bicycle is determined by interpolating the fitting curve through the relative speed of the vehicle body and the pedestrian and the bicycle, without the need for full calibration. However, due to the differences in vehicle actuators, the differences in the needs of the host factory for functions, and the influence of the weight of the vehicle, three points, i.e., the starting speed point, the 30 kph (8.3 m / s) speed point as the dividing line between high and low speeds, and the final speed point, need to be calibrated in the present application, so that the pedestrian preset safety curve and the bicycle preset safety curve in FIG. 5 can be fitted.

[0055] Specifically, in step 013, since the first preset safety curve and the second preset safety curve have been obtained in step 012, the car machine 11 can directly obtain the formula model according to the curves, i.e., the first preset distance model and the second preset distance model outputting the first preset distance and the second preset distance.

[0056] In step 014, compared with step 011, the plurality of sets of preset point data in the two-dimensional coordinate system obtained by the car machine 11 becomes a plurality of sets of preset point data in a two-dimensional coordinate system in which the horizontal coordinate represents the relative distance between the vehicle body and the target obstacle, and the vertical coordinate represents the preset safety distance. The third preset safety distance curve can be a vehicle preset safety distance curve. In the case that the target obstacle is a front vehicle, since the front vehicle is a non-weak road participant, the driver of the front vehicle in front of the vehicle body is protected by the vehicle shell in the road, and the behavior of the front vehicle is simpler than that of the pedestrian and the bicycle. The position and direction of the front vehicle generally do not change greatly in a short time, and are only affected by the vehicle length, road conditions, etc. in road use, so the preset safety distance of the vehicle can be set to be related to the position, i.e., related to the relative distance between the vehicle body and the target obstacle. For example, the relationship between the braking distance of the vehicle on the asphalt pavement and the vehicle speed is shown in Table 1 below:

[0057] Table 1 Corresponding relationship table of braking distance of vehicle on asphalt pavement and vehicle speed

[0058] In steps 015 and 016, please refer to FIG. 6, when applying the interpolation fitting curve method, the present application selects three points, i.e., the braking distance corresponding to the starting speed, the middle distance, and the final distance, to fit the curve, so as to obtain the third preset safety distance curve, and then according to the third preset safety distance curve, the formula model corresponding to the curve, i.e., the third preset safety distance model, is obtained.

[0059] Specifically, in step 017, i.e. in the case where the target obstacle is not a pedestrian, a cycling vehicle, and a vehicle, the application classifies the target obstacle as an other obstacle, and the vehicle machine 11 directly takes the stored fixed preset safe distance value as the output of the fourth preset safe distance model.

[0060] Referring to FIG. 2 and FIG. 7, in some embodiments, the driving data includes a relative vehicle speed between the vehicle and the obstacle and a relative distance between the vehicle and the obstacle; step 03 includes:

[0061] 031: processing image data to identify all obstacles in front of the vehicle; and

[0062] 033: determining whether each obstacle is on the driving path of the vehicle;

[0063] 035: in the case where the obstacle is on the driving path of the vehicle, determining that the obstacle on the driving path of the vehicle is a transition obstacle;

[0064] 037: determining whether there is a collision risk according to the relative vehicle speed between the vehicle and the transition obstacle and the relative distance between the vehicle and the transition obstacle;

[0065] 039: in the case where there is a collision risk, determining that the transition obstacle is a target obstacle.

[0066] The above-mentioned control method of the vehicle braking system can be applied to the vehicle braking system 10, and the vehicle braking system 10 of the embodiments of the application includes a vehicle machine 11, which is configured to: process image data to identify all obstacles in front of the vehicle; and determine whether each obstacle is on the driving path of the vehicle; in the case where the obstacle is on the driving path of the vehicle, determine that the obstacle on the driving path of the vehicle is a transition obstacle; determine whether there is a collision risk according to the relative vehicle speed between the vehicle and the transition obstacle and the relative distance between the vehicle and the transition obstacle; and in the case where there is a collision risk, determine that the transition obstacle is a target obstacle.

[0067] Specifically, in step 031 and step 033, the vehicle machine 11 first pre-processes the image data to identify all the obstacles in front of the vehicle, so as to avoid missing part of the obstacles and causing the vehicle to collide. At the same time, since the sensor 12 obtains the image data of all the obstacles in front of the vehicle, the obstacles not on the driving path of the vehicle do not need to be avoided, and therefore the vehicle machine 11 also needs to determine whether each obstacle is on the driving path of the vehicle. In step 035 and step 037, in the case that there is an obstacle on the driving path of the vehicle, the vehicle machine 11 determines the obstacle as a transition obstacle, and determines whether there is a collision risk between the vehicle and the transition obstacle without changing the driving direction and without decelerating according to the relative speed between the vehicle and the transition obstacle and the relative distance between the vehicle and the transition obstacle. In step 039, in the case that there is a collision risk between the vehicle and the transition obstacle, the vehicle machine 11 needs to control the vehicle according to the collision risk result obtained by processing data in subsequent steps, and therefore the vehicle machine 11 needs to determine the transition obstacle as the target obstacle.

[0068] Referring to FIG. 2 and FIG. 8, in some embodiments, step 05 comprises:

[0069] 051: processing the image data according to a preset image recognition algorithm to determine the obstacle type of the target obstacle; and

[0070] 053: determining a preset safety distance model corresponding to the obstacle type of the target obstacle from a plurality of preset safety distance models as a target preset safety distance model.

[0071] The control method of the vehicle braking system can be applied to the vehicle braking system 10, and the vehicle braking system 10 of the embodiments of the present application comprises a vehicle machine 11, which is configured to: process the image data according to a preset image recognition algorithm to determine the obstacle type of the target obstacle; and determine a preset safety distance model corresponding to the obstacle type of the target obstacle from a plurality of preset safety distance models as a target preset safety distance model.

[0072] Specifically, in step 051 and step 053, the vehicle machine 11 processes the image data according to a preset image recognition algorithm to determine the obstacle type of the target obstacle. Since each obstacle has a preset safety distance model corresponding thereto, the vehicle machine 11 can determine a preset safety distance model corresponding to the obstacle type of the target obstacle from a plurality of preset safety distance models according to the obstacle type of the target obstacle, and take the preset safety distance model as a target preset safety distance model.

[0073] Referring to FIG. 2, FIG. 9 and FIG. 10, in some embodiments, the driving data comprises vehicle speed, preset brake release deceleration, relative vehicle speed between the vehicle and the target obstacle, relative distance between the vehicle and the target obstacle, and preset warning distance threshold, and the collision risk result comprises a warning result; step 07 comprises:

[0074] 071: the risk assessment model processes the vehicle speed and the preset brake release deceleration to obtain a warning distance;

[0075] 072: the risk assessment model processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and a target preset safety distance model to obtain a preset safety distance;

[0076] 073: a safe driving distance is obtained according to the warning distance and the preset safety distance; and

[0077] 074: a warning result is determined according to the safe driving distance and the preset warning distance threshold.

[0078] The control method of the vehicle braking system described above can be applied to the vehicle braking system 10, and the vehicle braking system 10 of the embodiments of the present application comprises a vehicle machine 11, which is configured to: process the vehicle speed and the preset brake release deceleration according to a risk assessment model to obtain a warning distance; process the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and a target preset safety distance model according to the risk assessment model to obtain a preset safety distance; obtain a safe driving distance according to the warning distance and the preset safety distance; and determine a warning result according to the safe driving distance and the preset warning distance threshold.

[0079] Specifically, the vehicle machine 11 processes the vehicle speed and the preset brake release deceleration according to the risk assessment model to obtain a warning distance, i.e., the AC part in FIG. 10, and then processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and a target preset safety distance model according to the risk assessment model to obtain a preset safety distance, i.e., the CD part in FIG. 10. After obtaining the warning distance and the preset safety distance, the vehicle machine 11 can obtain a safe driving distance according to the warning distance and the preset safety distance, i.e., the AD part in FIG. 10. After obtaining the safe driving distance and the preset warning distance threshold, the vehicle machine 11 can determine a warning result, wherein the warning result contains whether the vehicle needs to trigger an alarm, i.e., whether the driver needs to be reminded to pay attention to the collision risk of the vehicle.

[0080] In some embodiments, the calculation method for obtaining the warning distance by processing the vehicle speed and the preset brake release deceleration is as follows:

[0081] wherein S0 is the preset warning distance, v0 is the vehicle speed, and a0 is the preset deceleration of the brake, which is usually set to 6.5.

[0082] Referring to FIG. 2 and FIG. 11, in some embodiments, step 074 comprises:

[0083] 0741: in the case that the safe driving distance is less than the preset warning distance threshold, the warning result is to trigger an alarm;

[0084] 0743: in the case that the safe driving distance is greater than the preset warning distance threshold, the warning result is not to trigger an alarm.

[0085] The control method of the vehicle braking system described above can be applied to the vehicle braking system 10, and the vehicle braking system 10 of the embodiments of the present application comprises a vehicle machine 11, which is configured to: in the case that the safe driving distance is less than the preset warning distance threshold, the warning result is to trigger an alarm; and in the case that the safe driving distance is greater than the preset warning distance threshold, the warning result is not to trigger an alarm.

[0086] It can be understood that, if the safe driving distance is less than the preset warning distance threshold, it indicates that the distance between the current vehicle and the target obstacle is too close, and if the current vehicle continues to travel at the current speed, the current vehicle has a risk of collision with the target obstacle, and therefore the warning result output by the vehicle machine 11 is to trigger an alarm; on the contrary, if the safe driving distance is greater than the preset warning distance threshold, it indicates that the distance between the current vehicle and the target obstacle is far, and if the current vehicle continues to travel at the current speed, the current vehicle does not have a risk of collision with the target obstacle, and therefore the warning result output by the vehicle machine 11 is not to trigger an alarm. In addition, in the case that the safe driving distance is equal to the preset warning distance threshold, the current vehicle can be considered to have a risk of collision with the target obstacle, or the current vehicle can be considered not to have a risk of collision with the target obstacle, and the warning result output by the vehicle machine 11 can be to trigger an alarm or not to trigger an alarm.

[0087] Referring to FIG. 2, FIG. 9 and FIG. 10, in some embodiments, the driving data comprises the vehicle speed, the relative speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, the brake delay time, the maximum brake deceleration, the brake power growth time, and the preset brake distance threshold, and the collision risk result comprises a brake result; step 07 further comprises:

[0088] 075: the risk assessment model processes the vehicle speed, the brake delay time, the maximum brake deceleration, and the brake power growth time to obtain a brake distance;

[0089] 072: obtaining a braking safety distance according to the braking distance and the preset safety distance;

[0090] 077: obtaining a braking safety distance according to the braking distance and the preset safety distance; and

[0091] 078: determining a braking result according to the braking safety distance and a preset braking distance threshold.

[0092] The control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment of the present application comprises a vehicle machine 11, which is configured to: process a vehicle speed, a braking delay time, a maximum braking deceleration and a braking power growth time according to a risk assessment model to obtain a braking distance; process a relative vehicle speed between the vehicle and a target obstacle, a relative distance between the vehicle and the target obstacle and a target preset safety distance model according to the risk assessment model to obtain a preset safety distance; obtain a braking safety distance according to the braking distance and the preset safety distance; and determine a braking result according to the braking safety distance and a preset braking distance threshold.

[0093] Specifically, the vehicle machine 11 processes the vehicle speed, the braking delay time, the maximum braking deceleration and the braking power growth time according to the risk assessment model to obtain the braking distance, i.e., the BC part in FIG. 10, processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle and the target preset safety distance model according to the risk assessment model to obtain the preset safety distance, i.e., the CD part in FIG. 10, obtains the braking safety distance according to the braking safety distance and the preset safety distance, i.e., the BD part in FIG. 10, and determines the braking result according to the braking safety distance and the preset braking distance threshold, wherein the braking result is used to determine whether the vehicle needs to start braking. In the case where the distance between the vehicle and the target obstacle is only the braking safety distance, the vehicle braking system needs to intervene in the driving operation of the driver, i.e., the vehicle machine 11 controls the vehicle to start braking to avoid a collision between the vehicle and the target obstacle.

[0094] Referring to FIGS. 2 and 12, in some embodiments, the step 075 comprises:

[0095] 0751: the risk assessment model processes the vehicle speed and the braking delay time to obtain a first distance;

[0096] 0753: the risk assessment model processes the vehicle speed, the maximum braking deceleration and the braking power growth time to obtain a second distance and a third distance;

[0097] 0755: the braking distance is obtained according to the first distance, the second distance and the third distance.

[0098] The control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment of the present application comprises a vehicle machine 11, which is configured to: process the vehicle speed and the braking delay time according to a risk assessment model to obtain a first distance; process the vehicle speed, the maximum braking deceleration and the braking power growth time according to the risk assessment model to obtain a second distance and a third distance; and obtain a braking distance according to the first distance, the second distance and the third distance.

[0099] Specifically, in step 0751, the vehicle machine 11 processes the vehicle speed and the braking delay time according to a risk assessment model to obtain a first distance, wherein the braking delay time represents the time required for starting the braking module 132 of the vehicle, and the specific implementation of the process can be seen from the following formula:

[0100] wherein the vehicle speed is v0, the braking delay time is t1, and the first distance is S1.

[0101] In step 0753, the vehicle machine 11 processes the vehicle speed, the maximum braking deceleration and the braking power growth time according to a risk assessment model to obtain a second distance and a third distance, wherein the maximum braking deceleration represents the deceleration generated when the braking module 132 of the vehicle is operated at the maximum power, and the braking power growth time represents the time during which the power of the braking module 132 is in the growth stage, and the specific implementation of the process can be seen from the following formula:

[0102] wherein the vehicle speed is v0, the maximum braking deceleration is a b , the braking power growth time is t2, the second distance is S2, and the third distance is S3.

[0103] Then in step 0755, the vehicle machine 11 calculates the sum of the first distance, the second distance and the third distance to obtain a braking distance, i.e., the BC segment in FIG. 10.

[0104] Please refer to FIG. 2 and FIG. 13. In some embodiments, step 078 comprises:

[0105] 0781: when the braking safety distance is less than the preset braking distance threshold, the braking result is to start braking;

[0106] 0783: when the braking safety distance is greater than the preset braking distance threshold, the braking result is not to start braking.

[0107] The control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment of the application comprises a vehicle machine 11, which is configured to: obtain a braking result of starting braking when the braking safety distance is less than the preset braking distance threshold; and obtain a braking result of not starting braking when the braking safety distance is greater than the preset braking distance threshold.

[0108] It can be understood that, if the braking safety distance is less than the preset braking distance threshold, it indicates that the distance between the current vehicle and the target obstacle is too close, and if the current vehicle continues to travel at the current speed, the vehicle will collide with the target obstacle, and therefore the vehicle machine 11 outputs a braking result of starting braking. Conversely, if the braking safety distance is greater than the preset braking distance threshold, it indicates that the distance between the current vehicle and the target obstacle is far, and if the current vehicle continues to travel at the current speed, the current vehicle will not collide with the target obstacle, and therefore the vehicle machine 11 outputs a braking result of not starting braking. In addition, in the case where the braking safety distance is equal to the preset braking distance threshold, the current vehicle can be considered to collide with the target obstacle, or the risk that the current vehicle will not collide with the target obstacle can be considered, and the vehicle machine 11 can output a braking result of starting braking or a braking result of not starting braking.

[0109] Referring to FIGS. 2, 14, 15 and 16, in some embodiments, the step 072 comprises:

[0110] 0721: in the case where the target preset safety distance model is the first preset safety distance model and the relative speed between the vehicle and the target obstacle is less than the first preset relative speed threshold, obtaining the preset safety distance according to the preset first parameter, the preset second parameter and the relative speed between the vehicle and the target obstacle; and

[0111] 0722: in the case where the target preset safety distance model is the first preset safety distance model and the relative speed between the vehicle and the target obstacle is greater than or equal to the first preset relative speed threshold, obtaining the preset safety distance according to the preset third parameter, the preset fourth parameter and the relative speed between the vehicle and the target obstacle;

[0112] 0723: in the case where the target preset safety distance model is the second preset safety distance model and the relative speed between the vehicle and the target obstacle is less than the second preset relative speed threshold, obtaining the preset safety distance according to the preset fifth parameter, the preset sixth parameter and the relative speed between the vehicle and the target obstacle; and

[0113] 0724: In a case where the target preset safety distance model is the second preset safety distance model and the relative speed between the vehicle and the target obstacle is greater than or equal to the second preset relative speed threshold, a preset safety distance is obtained according to a preset seventh parameter, a preset eighth parameter, and the relative speed between the vehicle and the target obstacle;

[0114] 0725: In a case where the target preset safety distance model is the third preset safety distance model and the relative distance between the vehicle and the target obstacle is less than a preset relative distance threshold, a preset safety distance is obtained according to a preset ninth parameter, a preset tenth parameter, and the relative distance between the vehicle and the target obstacle; and

[0115] 0726: In a case where the target preset safety distance model is the third preset safety distance model and the relative distance between the vehicle and the target obstacle is greater than or equal to the preset relative distance threshold, a preset safety distance is obtained according to a preset eleventh parameter, a preset twelfth parameter, and the relative distance between the vehicle and the target obstacle.

[0116] 0727: In a case where the target preset safety distance model is the fourth preset safety distance model, a preset fixed distance value is taken as the preset safety distance.

[0117] The control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment comprises a vehicle machine 11, which is configured to: in a case where the target preset safety distance model is a first preset safety distance model and the relative speed between the vehicle and the target obstacle is less than a first preset relative speed threshold, obtain a preset safety distance according to a preset first parameter, a preset second parameter, and the relative speed between the vehicle and the target obstacle; in a case where the target preset safety distance model is the first preset safety distance model and the relative speed between the vehicle and the target obstacle is greater than or equal to the first preset relative speed threshold, obtain a preset safety distance according to a preset third parameter, a preset fourth parameter, and the relative speed between the vehicle and the target obstacle; in a case where the target preset safety distance model is a second preset safety distance model and the relative speed between the vehicle and the target obstacle is less than a second preset relative speed threshold, obtain a preset safety distance according to a preset fifth parameter, a preset sixth parameter, and the relative speed between the vehicle and the target obstacle; in a case where the target preset safety distance model is the second preset safety distance model and the relative speed between the vehicle and the target obstacle is greater than or equal to the second preset relative speed threshold, obtain a preset safety distance according to a preset seventh parameter, a preset eighth parameter, and the relative speed between the vehicle and the target obstacle; in a case where the target preset safety distance model is a third preset safety distance model and the relative distance between the vehicle and the target obstacle is less than a preset relative distance threshold, obtain a preset safety distance according to a preset ninth parameter, a preset tenth parameter, and the relative distance between the vehicle and the target obstacle; in a case where the target preset safety distance model is the third preset safety distance model and the relative distance between the vehicle and the target obstacle is greater than or equal to the preset relative distance threshold, obtain a preset safety distance according to a preset eleventh parameter, a preset twelfth parameter, and the relative distance between the vehicle and the target obstacle; and in a case where the target preset safety distance model is a fourth preset safety distance model, take a preset fixed distance value as the preset safety distance.

[0118] It can be understood that, in the step 0721 and the step 0722, the first preset safety distance model can be a pedestrian preset safety distance model, which can be obtained from the fitting curve in FIG. 5, and the model is as follows:

[0119] wherein a, b, c, and d are respectively the preset first parameter, the preset second parameter, the preset third parameter, and the preset fourth parameter in the step 0721 and the step 0722, the curve function can be obtained according to the pedestrian preset safety distance curve in FIG. 5, and the preset first parameter, the preset second parameter, the preset third parameter, and the preset fourth parameter in the first preset safety distance model can be obtained according to the curve function, vrel is the relative speed between the vehicle and the target obstacle, d p is the first preset safety distance, from the above model, it can be known that the first preset relative speed threshold value can be 30 kph, in a case where the relative speed between the vehicle and the target obstacle is less than the first preset relative speed threshold value, and in a case where the relative speed between the vehicle and the target obstacle is greater than or equal to the first preset relative speed threshold value, two formulas in the first preset safety distance model can be used for calculation respectively, and the first preset safety distance obtained is taken as the preset safety distance.

[0120] Similarly, in step 0723 and step 0724, the second preset safety distance model can be a bicycle preset safety distance model, the second preset safety distance model can be obtained from the fitting curve in FIG. 5, and the model is as follows:

[0121] wherein e, f, g, and h are respectively preset fifth parameters, preset sixth parameters, preset seventh parameters and preset eighth parameters in step 0723 and step 0724, according to the bicycle preset safety distance curve in FIG. 5, the curve function can be obtained, and according to the curve function, the preset fifth parameters, the preset sixth parameters, the preset seventh parameters and the preset eighth parameters in the second preset safety distance model can be obtained, v rel is the relative speed between the vehicle and the target obstacle, d b is the second preset safety distance, from the above model, it can be known that the second preset relative speed threshold value can be 30 kph, in a case where the relative speed between the vehicle and the target obstacle is less than the second preset relative speed threshold value, and in a case where the relative speed between the vehicle and the target obstacle is greater than or equal to the second preset relative speed threshold value, two formulas in the second preset safety distance model can be used for calculation respectively, and the second preset safety distance obtained is taken as the preset safety distance.

[0122] Similarly, in step 0725 and step 0726, the third preset safety distance model can be a vehicle preset safety distance model, the third preset safety distance model can be obtained from the fitting curve in FIG. 6, and the model is as follows:

[0123] wherein i, j, k, and m are respectively preset ninth parameters, preset tenth parameters, preset eleventh parameters and preset twelfth parameters in step 0725 and step 0726, according to the vehicle preset safety distance curve in FIG. 6, the curve function can be obtained, and according to the curve function, the preset ninth parameters, the preset tenth parameters, the preset eleventh parameters and the preset twelfth parameters in the third preset safety distance model can be obtained, d midd is a relative distance between the vehicle and the target obstacle c The third preset safety distance is a preset relative distance threshold, which can be 10 m. In a case where the relative distance between the vehicle and the target obstacle is less than the preset relative distance threshold, and in a case where the relative distance between the vehicle and the target obstacle is greater than or equal to the preset relative distance threshold, two formulas in the third preset safety distance model can be used for calculation, respectively, and the third preset safety distance obtained is used as the preset safety distance.

[0124] In step 0727, the fourth safety distance model corresponds to other obstacles other than pedestrians, cyclists and vehicles. Since such obstacles are usually fixed objects such as street lamps, trees and roadside trash cans that do not move, the vehicle machine 11 directly uses a preset fixed distance value as the preset safety distance.

[0125] Referring to FIG. 2, in some embodiments, the execution module 13 includes a warning module 131, and step 09 specifically includes:

[0126] 091: In a case where the warning result is to trigger an alarm, control the warning module 131 to alarm.

[0127] The above-mentioned control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment of the application includes a vehicle machine 11, which is configured to: in a case where the warning result is to trigger an alarm, control the warning module 131 to alarm.

[0128] Specifically, in step 091, if the warning result is to trigger an alarm, the vehicle machine 11 controls the warning module 131 to alarm. Otherwise, if the warning result is not to trigger an alarm, the vehicle machine 11 does not control the warning module 131 to alarm. The warning module 131 can be a display screen, a buzzer, a warning light, etc.

[0129] Referring to FIG. 2, in some embodiments, the execution module 13 includes a braking module 132, and step 09 specifically further includes:

[0130] 093: In a case where the braking result is to start braking, control the braking module 132 to start braking.

[0131] The above-mentioned control method of the vehicle braking system can be applied to the vehicle braking system 10. The vehicle braking system 10 of the embodiment of the application includes a vehicle machine 11, which is configured to: in a case where the braking result is to start braking, control the braking module 132 to start braking.

[0132] Specifically, in step 093, if the braking result is to start braking, the car machine 11 controls the braking module 132 to start braking, otherwise, if the braking result is not to start braking, the car machine 11 does not control the braking module 132 to start braking, wherein the braking module 132 can be a brake.

[0133] In summary, the vehicle braking system and the control method thereof provided in the present application, the car machine 11 obtains a plurality of preset safety distance models, risk assessment models, and image data and driving data of at least one obstacle; then determines a target obstacle from the at least one obstacle according to the image data and the driving data, determines a target preset safety distance model from the plurality of preset safety distance models according to the target obstacle, inputs the driving data and the target preset safety distance model into the risk assessment model to obtain a collision risk result, and finally controls the execution module 13 of the vehicle braking system to operate according to the collision risk result. Since different preset safety distance models correspond to different calculation methods of preset safety distance, the corresponding target preset safety distance model is determined according to different target obstacles, which can achieve the purpose of adjusting the preset safety distance according to different target obstacles, and further avoid frequent braking of the vehicle in a scenario where braking is not needed, thereby improving the smoothness of vehicle driving.

[0134] In some embodiments, referring to FIG. 2, the present application further provides a car machine 11, which comprises a memory and a processor, the memory is configured to store a computer program, and the processor implements the control method in any of the above embodiments when executing the computer program.

[0135] For example, when the processor of the car machine 11 executes the computer program stored in the memory, the following control method is implemented:

[0136] 01: obtaining a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each obstacle having a corresponding preset safety distance model;

[0137] 03: determining a target obstacle from the at least one obstacle according to the image data and the driving data;

[0138] 05: determining a preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model;

[0139] 07: the risk assessment model processes the driving data and the target preset safety distance model to obtain a collision risk result; and

[0140] 09: controlling the execution module 13 to operate according to the collision risk result.

[0141] In some embodiments, the present application also provides a vehicle 100 comprising the head unit 11 of any of the above embodiments; or, comprising the vehicle braking system 10 of any of the above embodiments.

[0142] Referring to FIG. 2 and FIG. 18, in some embodiments, the present application also provides a computer readable storage medium 200 having stored thereon a computer program 202, which when executed by a processor implements the control method of any of the above embodiments.

[0143] For example, the computer program 202 is executed by the processor 20, the following control method is implemented:

[0144] 01: Obtain a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each obstacle having a corresponding preset safety distance model;

[0145] 03: Determine a target obstacle from the at least one obstacle according to the image data and the driving data;

[0146] 05: Determine a preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model;

[0147] 07: The risk assessment model processes the driving data and the target preset safety distance model to obtain a collision risk result; and

[0148] 09: According to the collision risk result, control the execution module 13 to run.

[0149] For another example, the computer program 202 is executed by the processor 20, the following control method is implemented:

[0150] 031: Process the image data to identify all obstacles in front of the vehicle; and

[0151] 033: Determine whether each obstacle is on the driving path of the vehicle;

[0152] 035: When the obstacle is on the driving path of the vehicle, determine that the obstacle on the driving path of the vehicle is a transition obstacle;

[0153] 037: Determine whether there is a collision risk according to the relative speed between the vehicle and the transition obstacle and the relative distance between the vehicle and the transition obstacle;

[0154] 039: In the case of a collision risk, determine that the transition obstacle is a target obstacle.

[0155] For another example, when the computer program 202 is executed by the processor 20, the control method in 011, 012, 013, 014, 015, 016, 051, 053, 071, 072, 073, 074, 075, 077, 078, 0721, 0722, 0723, 0724, 0725, 0726, 0727, 0741, 0743, 0751, 0753, 0755, 0781, 0783, 091 and 093 can also be implemented.

[0156] In the computer readable storage medium 200 in the present application, by acquiring a plurality of preset safety distance models, risk assessment models and image data and driving data of at least one obstacle; then determining a target obstacle from the at least one obstacle according to the image data and the driving data, determining a target preset safety distance model from the plurality of preset safety distance models according to the target obstacle, inputting the driving data and the target preset safety distance model into the risk assessment model to obtain a collision risk result, and finally controlling the execution module 13 of the vehicle braking system to operate according to the collision risk result, since different preset safety distance models correspond to different calculation methods of preset safety distances, the corresponding target preset safety distance model is determined according to different target obstacles, so that the purpose of adjusting the preset safety distance according to different target obstacles is achieved, and thus the vehicle is prevented from frequently braking in a scene where braking is not required, and the smoothness of vehicle driving is improved.

[0157] In the description of the present specification, the description with reference to the terms "certain embodiments", "in one example", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0158] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) in the process, and the various embodiments of the application can include additional or fewer functions in the process, and the functions can be performed in the order shown or in a different order, in an interleaved manner, or in reverse order, depending on the functionality involved, as will be understood by those skilled in the art. The description of a process or method that is described as following a flow chart, flow diagram, finite state machine, or any other apparatus or structure model can be understood as representing the code stored to perform the function, or things, represented by the flow chart, flow diagram, finite state machine, or any other apparatus or structure model.

[0159] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A control method of a vehicle brake system, wherein, The vehicle braking system (10) comprises an execution module (13), and the control method comprises: acquiring a plurality of preset safety distance models, a preset risk assessment model, and image data and driving data of at least one obstacle, each of the obstacles having a corresponding preset safety distance model; determining a target obstacle from the at least one obstacle according to the image data and the driving data; determining the preset safety distance model corresponding to the target obstacle from the plurality of preset safety distance models as a target preset safety distance model; processing the driving data and the target preset safety distance model by the risk assessment model to obtain a collision risk result; and controlling the execution module (13) to operate according to the collision risk result.

2. The control method of a vehicle brake system according to claim 1, wherein The driving data comprises a relative vehicle speed between the vehicle and the obstacle and a relative distance between the vehicle and the obstacle; and the determining of the target obstacle from the at least one obstacle according to the image data and the driving data comprises: processing the image data to identify all obstacles in front of the vehicle; and determining whether each of the obstacles is on a driving path of the vehicle; when the obstacle is on the driving path of the vehicle, determining the obstacle on the driving path of the vehicle as a transition obstacle; determining whether there is a collision risk according to the relative vehicle speed between the vehicle and the transition obstacle and the relative distance between the vehicle and the transition obstacle; when there is the collision risk, determining the transition obstacle as the target obstacle.

3. The control method of a vehicle brake system according to claim 1, wherein The determining of the target preset safety distance model from the plurality of preset safety distance models comprises: processing the image data according to a preset image recognition algorithm to determine an obstacle type of the target obstacle; and determining the target preset safety distance model corresponding to the obstacle type of the target obstacle from the plurality of preset safety distance models as the target preset safety distance model.

4. The control method of a vehicle brake system according to claim 1, wherein The driving data comprises a vehicle speed, a preset brake-issued deceleration, a relative vehicle speed between the vehicle and the target obstacle, a relative distance between the vehicle and the target obstacle, and a preset warning distance threshold, and the collision risk result comprises a warning result; The processing of the driving data and the target preset safety distance model by the risk assessment model to obtain the collision risk result comprises: processing the vehicle speed and the preset brake-issued deceleration by the risk assessment model to obtain a warning distance; processing the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and the target preset safety distance model by the risk assessment model to obtain a preset safety distance; obtaining a safe driving distance according to the warning distance and the preset safety distance; and determining the warning result according to the safe driving distance and the preset warning distance threshold.

5. The control method of a vehicle brake system according to claim 4, wherein The risk assessment model processes the vehicle speed and the preset brake-issued deceleration to obtain a warning distance, including: input the vehicle speed and the preset brake-deceleration into a pre-warning distance formula to obtain the pre-warning distance, wherein the pre-warning distance formula is: Wherein, S0 is the warning distance, v0 is the vehicle speed, and a0 is the preset brake-issued deceleration.

6. The control method of a vehicle brake system according to claim 4, wherein The determination of the warning result according to the safe driving distance and the preset warning distance threshold value includes: In the case that the safe driving distance is less than the preset warning distance threshold value, the warning result is to trigger an alarm; In the case that the safe driving distance is greater than the preset warning distance threshold value, the warning result is not to trigger an alarm.

7. The control method of a vehicle brake system according to claim 1, wherein The driving data includes vehicle speed, relative vehicle speed between the vehicle and the target obstacle, relative distance between the vehicle and the target obstacle, brake delay time, maximum brake deceleration, brake power growth time, and preset brake distance threshold value, and the collision risk result includes brake result; the risk assessment model processes the driving data and the target preset safety distance model to obtain a collision risk result, including: The risk assessment model processes the vehicle speed, brake delay time, maximum brake deceleration, and brake power growth time to obtain a brake distance; The risk assessment model processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and the target preset safety distance model to obtain a preset safety distance; According to the brake safety distance and the preset brake distance threshold value, the brake result is determined. The risk assessment model processes the vehicle speed, brake delay time, maximum brake deceleration, and brake power growth time to obtain a brake distance, including:

8. The control method of a vehicle brake system according to claim 7, wherein The risk assessment model processes the vehicle speed and brake delay time to obtain a first distance; The risk assessment model processes the vehicle speed, maximum brake deceleration, and brake power growth time to obtain a second distance and a third distance; According to the first distance, the second distance, and the third distance, the brake distance is obtained. The risk assessment model processes the vehicle speed and brake delay time to obtain a first distance, including:

9. The control method of a vehicle brake system according to claim 8, wherein The vehicle speed and brake delay time are input into a first distance formula to obtain the first distance, wherein the first distance formula is: S1=v0t1, The vehicle speed is v0, the brake delay time is t1, and the first distance is S1. The risk assessment model processes the vehicle speed, maximum brake deceleration, and brake power growth time to obtain a second distance and a third distance, including:

10. The control method of a vehicle brake system according to claim 8, wherein According to the first distance, the second distance, and the third distance, the brake distance is obtained, including: inputting the vehicle speed, the maximum braking deceleration, and the braking power growth time into a second distance formula to obtain the second distance, wherein the second distance formula is: the vehicle speed is v0, the maximum braking deceleration is a b , the braking power growth time is t2, and the second distance is S2; inputting the vehicle speed, the maximum braking deceleration, and the braking power growth time into a third distance formula to obtain the third distance, wherein the third distance formula is: Wherein, the vehicle speed is v0, the maximum braking deceleration is a b , the braking power growth time is t2, and the third distance is S3.

11. The control method of a vehicle brake system according to claim 8, wherein The first distance, the second distance, and the third distance are added to obtain the brake distance. The determination of the brake result according to the brake safety distance and the preset brake distance threshold value includes:

12. The control method of a vehicle brake system according to claim 7, wherein ​ In a case where the braking safety distance is less than the preset braking distance threshold, the braking result is to start braking. In a case where the braking safety distance is greater than the preset braking distance threshold, the braking result is not to start braking.

13. The control method of a vehicle brake system according to any one of claims 4 to 12, wherein The risk assessment model processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and the target preset safety distance model to obtain a preset safety distance, including: In a case where the target preset safety distance model is a first preset safety distance model and the relative vehicle speed between the vehicle and the target obstacle is less than a first preset relative vehicle speed threshold, the preset safety distance is obtained according to a preset first parameter, a preset second parameter, and the relative vehicle speed between the vehicle and the target obstacle. In a case where the target preset safety distance model is a first preset safety distance model and the relative vehicle speed between the vehicle and the target obstacle is greater than or equal to the first preset relative vehicle speed threshold, the preset safety distance is obtained according to a preset third parameter, a preset fourth parameter, and the relative vehicle speed between the vehicle and the target obstacle.

14. The control method of a vehicle brake system according to any one of claims 4 to 12, wherein The risk assessment model processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and the target preset safety distance model to obtain a preset safety distance, including: In a case where the target preset safety distance model is a second preset safety distance model and the relative vehicle speed between the vehicle and the target obstacle is less than a second preset relative vehicle speed threshold, the preset safety distance is obtained according to a preset fifth parameter, a preset sixth parameter, and the relative vehicle speed between the vehicle and the target obstacle. In a case where the target preset safety distance model is a second preset safety distance model and the relative vehicle speed between the vehicle and the target obstacle is greater than or equal to the second preset relative vehicle speed threshold, the preset safety distance is obtained according to a preset seventh parameter, a preset eighth parameter, and the relative vehicle speed between the vehicle and the target obstacle.

15. The control method of a vehicle brake system according to any one of claims 4 to 12, wherein The risk assessment model processes the relative vehicle speed between the vehicle and the target obstacle, the relative distance between the vehicle and the target obstacle, and the target preset safety distance model to obtain a preset safety distance, including: In a case where the target preset safety distance model is a third preset safety distance model and the relative distance between the vehicle and the target obstacle is less than a preset relative distance threshold, the preset safety distance is obtained according to a preset ninth parameter, a preset tenth parameter, and the relative distance between the vehicle and the target obstacle. In a case where the target preset safety distance model is a third preset safety distance model and the relative distance between the vehicle and the target obstacle is greater than or equal to the preset relative distance threshold, the preset safety distance is obtained according to a preset eleventh parameter, a preset twelfth parameter, and the relative distance between the vehicle and the target obstacle.

16. The control method of a vehicle brake system according to any one of claims 4 to 12, wherein The risk assessment model processes relative vehicle speed between the vehicle and the target obstacle, relative distance between the vehicle and the target obstacle, and the target preset safety distance model to obtain a preset safety distance, including: In a case where the target preset safety distance model is a fourth preset safety distance model, a preset fixed distance value is taken as the preset safety distance.

17. The control method of the vehicle brake system according to claim 1, wherein, The execution module includes a pre-warning module, and the collision risk result includes a pre-warning result, and the control of the execution module according to the collision risk result includes: In a case where the pre-warning result is to trigger an alarm, the pre-warning module is controlled to alarm.

18. The control method of the vehicle brake system according to claim 1, wherein, The execution module includes a braking module, and the collision risk result includes a braking result, and the control of the execution module according to the collision risk result includes: In a case where the braking result is to start braking, the braking module is controlled to start braking.

19. The control method of the vehicle brake system according to claim 1, wherein, The plurality of preset safety distance models includes a first preset safety distance model and a second preset safety distance model, and the obtaining of the plurality of preset safety distance models includes: Obtaining a plurality of preset point data in a two-dimensional coordinate system, wherein the horizontal coordinate of the two-dimensional coordinate system is relative speed, and the vertical coordinate of the two-dimensional coordinate system is preset safety distance; According to the plurality of preset point data in the two-dimensional coordinate system, a first preset safety distance curve and a second preset safety distance curve are obtained by an interpolation curve fitting method; According to the first preset safety distance curve and the second preset safety distance curve, the first preset safety distance model and the second preset safety distance model are obtained.

20. The control method of the vehicle brake system according to claim 1, wherein, The plurality of preset safety distance models includes a third preset safety distance model, and the obtaining of the plurality of preset safety distance models includes: Obtaining a plurality of preset point data in a two-dimensional coordinate system, wherein the horizontal coordinate of the two-dimensional coordinate system is relative distance, and the vertical coordinate of the two-dimensional coordinate system is preset safety distance; According to the plurality of preset point data in the two-dimensional coordinate system, a third preset safety distance curve is obtained by an interpolation curve fitting method; According to the third preset safety distance curve, the third preset safety distance model is obtained.

21. The control method of the vehicle brake system according to claim 1, wherein, The plurality of preset safety distance models includes a fourth preset safety distance model, and the obtaining of the plurality of preset safety distance models includes: Based on a fixed preset safety distance value, a fourth preset safety distance model is obtained.

22. A car kit, wherein, The car machine (11) includes a memory and a processor, the memory is configured to store a computer program, and the processor realizes the control method in any one of claims 1-21 when executing the computer program.

23. A vehicle brake system wherein, Including: The car machine (11) of claim 22.

24. The vehicle brake system of claim 23, wherein, Further comprising: A sensor (12) connected with the car machine (11) and used for obtaining part of the driving data and the image data.

25. The vehicle brake system of claim 23, wherein, Further comprising: An execution module (13) connected with the car machine (11) and used for running according to the collision risk result.

26. A vehicle, wherein, Including the car machine (11) of claim 22; or, including the vehicle braking system (10) of claim 23.

27. A computer readable storage medium having stored thereon a computer program (202), wherein The program, when executed by the processor (20), implements the control method of any one of claims 1-21.

Images