CN114274938A - Vehicle braking scene determining method, device, equipment and storage medium - Google Patents
Vehicle braking scene determining method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention relates to a method, a device, equipment and a storage medium for determining a vehicle braking scene. The method comprises the following steps: acquiring a data pair consisting of vehicle braking data and driving environment data recorded by vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time; and determining a braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data. According to the technical scheme of the embodiment of the invention, the braking scene of the vehicle during braking can be automatically determined according to the data recorded by the vehicle-mounted equipment.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method, a device, equipment and a storage medium for determining a vehicle braking scene.
Background
With the increasing of the quantity of motor vehicles, the traffic flow on the road is large, and the braking deceleration is frequently generated in the running process of the vehicle.
In order to improve the safety of the running of the automobile, some automobiles are provided with safety devices, and the safety devices can monitor data of the running of the automobile and assist a driver to control the automobile so as to improve the safety of the running of the automobile, for example, the safety devices comprise an automatic Emergency Braking system (AEB). The data recorded by the safety device may include data on the braking of the car.
However, the data of the vehicle brake generally includes only the time of the braking operation, the vehicle speed during the braking operation, the acceleration during the braking operation, and the like. From these data we can determine the effect of the braking action on the change in vehicle speed, but cannot determine the scene in which the vehicle is travelling when braking, or in which scene the vehicle has performed the braking action.
Disclosure of Invention
The invention provides a method, a device, equipment and a storage medium for determining a vehicle braking scene, and aims to automatically determine the braking scene when a vehicle brakes according to data recorded by vehicle-mounted equipment.
In a first aspect, an embodiment of the present invention provides a vehicle braking scenario determination method, including:
acquiring a data pair consisting of vehicle braking data and driving environment data recorded by vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time;
and determining a braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
In a second aspect, an embodiment of the present invention provides a vehicle braking scenario determination apparatus, including:
the data acquisition module is used for acquiring a data pair consisting of vehicle braking data and driving environment data recorded by the vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time;
and the braking scene determining module is used for determining the braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data. In a third aspect, an embodiment of the present invention provides a vehicle braking scenario determination apparatus, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle braking scenario determination method as provided by any of the embodiments of the invention.
In a fourth aspect, embodiments of the present invention provide a storage medium containing computer-executable instructions for performing a vehicle braking scenario determination method as provided by any of the embodiments of the present invention when executed by a computer processor.
According to the method, the device, the equipment and the storage medium for determining the vehicle braking scene, the associated driving environment data are determined according to the data recording time of the vehicle braking data to form the data pair, the braking scene is determined according to the data in the data pair, the problem that the braking scene cannot be reflected by the braking data is solved, and the automatic determination of the braking scene during vehicle braking according to the data recorded by the vehicle-mounted equipment is realized.
Drawings
Fig. 1 is a flowchart of a vehicle braking scene determining method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle braking scene determining method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a vehicle braking scene determination method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle braking scene determining apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle braking scene determining apparatus according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle braking scenario determination method provided in an embodiment of the present invention, where this embodiment is applicable to a case of determining a braking scenario in which a vehicle performs braking during a driving process of the vehicle, and the method may be performed by a vehicle braking scenario determination apparatus, where the apparatus may be implemented by hardware and/or software, and may be generally integrated in an electronic device, such as a computer device, and the method specifically includes:
wherein the vehicle braking data and the driving environment data in the data pair have a data recording time correlation. The vehicle-mounted device can be a safety device installed on the vehicle, the safety device can acquire and record data of preset items in the running process of the vehicle, these data represent the running state of the vehicle and the driving state of the driver, such as the vehicle speed, acceleration, positioning information, the distance of obstacles around the vehicle, the type of obstacles, the relative obstacle speed, the accelerator pedal signal, the brake pedal signal, the driver's driving time, steering information of the steering device, lane line identification information, traffic sign identification information, etc., and may also include warning information, that is, when data meeting preset alarm rules appear, early warning is sent out, for example, frequent lane changing, overspeed, lane departure, pedestrian collision risks and the like, early warning information is generally preset early warning codes, and safety equipment represents early warning of corresponding types by recording the early warning codes. When the safety devices record data, the data recording time of the data is correspondingly recorded, so that each item of data comprises the data recording time, and the running condition of the vehicle in each time can be analyzed according to the data. The vehicle braking data may include data relating to the vehicle during a braking action, such as vehicle speed, acceleration, relative obstacle speed, obstacle distance and positioning information during braking. The driving environment data may include environmental data and driving operation data during the driving of the vehicle, such as a vehicle speed, an acceleration, positioning information, a distance of an obstacle around the vehicle, a type of the obstacle, a relative obstacle speed, a driver driving time, steering device steering information, lane line identification information, traffic sign identification information, and the like during the driving of the vehicle. Data recorded by the vehicle-mounted equipment can be recorded in a table, and the table is reported to the background system. The vehicle braking data and the driving environment data can be obtained from a table reported by the vehicle-mounted equipment. Since both the vehicle brake data and the driving environment data may include data recording time, the vehicle brake data and the driving environment data having an association relationship in the data recording time may be combined into one data pair. The data recording time correlation may be considered to be a correlation between the difference between the data recording time of the vehicle brake data and the data recording time of the driving environment data and the correlation condition.
Optionally, the acquiring a data pair formed by vehicle braking data and driving environment data recorded by the vehicle-mounted device includes:
searching at least one piece of driving environment data within a preset associated time range according to the acquired data recording time of each piece of vehicle braking data;
forming the vehicle braking data and each associated driving environment data into the data pair.
The driving environment data related to the vehicle braking data in time can be recorded for the vehicle braking data, the preset related time range can be a period of time before the data recording time of the vehicle braking data is taken as a node, and/or at least one piece of driving environment data in the preset related time range is searched for in a period of time after the data recording time of the vehicle braking data is taken as a node. Such correlated driving environment data may be proximate in data recording time to the vehicle braking data such that a braking scenario may be determined based on the driving environment data correlated in data recording time.
Since the driving environment data for a certain period of time is selected to be associated with the vehicle brake data when determining the driving environment data associated with the vehicle brake data, there may be a case where one piece of vehicle brake data has a plurality of associated driving environment data, and there may be a case where one piece of vehicle brake data has one associated driving environment data. For the case that one piece of vehicle brake data has a plurality of associated driving environment data, the vehicle brake data and each piece of associated driving environment data are combined into a data pair, that is, how many associated driving environment data are, how many data pairs are generated correspondingly. For the case where one piece of vehicle braking data has one associated piece of driving environment data, the vehicle braking data and each associated piece of the driving environment data are grouped into data pairs, and only one data pair is generated.
And step 120, determining a braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
For the condition that one piece of vehicle braking data has a plurality of data pairs, one data pair can be selected according to a preset selection rule, and the braking scene of the vehicle during braking is determined according to the data in the data pair. The braking scenario for each piece of vehicle braking data may be determined by extracting corresponding early warning codes and/or related data from the vehicle braking data and driving environment data of the data pair.
According to the technical scheme, the associated driving environment data is determined according to the data recording time of the vehicle braking data to form the data pairs, the braking scene is determined according to the data in the data pairs, the problem that the braking scene cannot be reflected by the braking data is solved, the braking scene during vehicle braking is automatically determined according to the data recorded by the vehicle-mounted equipment, the rationality of braking action is analyzed, and necessary basis is provided for later-stage upgrading and maintenance of safety equipment.
Example two
Fig. 2 is a flowchart of a vehicle braking scene determining method provided in the second embodiment of the present invention, which is further detailed based on the above technical solution in this embodiment, where the searching for at least one piece of driving environment data within a preset associated time range according to the obtained data recording time of each piece of vehicle braking data includes: determining association starting time and association ending time according to the data recording time of the vehicle braking data and the preset association time range; determining the driving environment data with a data recording time greater than or equal to the correlation starting time and less than or equal to the correlation ending time as the driving environment data correlated with the vehicle braking data. The method specifically comprises the following steps:
the preset association time range takes the data recording time of the vehicle brake data as a node, and takes the previous period of time and/or the later period of time of the node as the preset association time range, so that the association starting time and the association ending time of the vehicle brake data associated with the driving environment data can be determined according to the data recording time and the preset association time range of the vehicle brake data. For different types of braking actions, different preset association time ranges may be set, for example, associating only the driving environment data of a first period before the data recording time of the vehicle braking data, or associating only the driving environment data of a second period after the data recording time of the vehicle braking data, or associating the driving environment data of the first period before and after the data recording time of the vehicle braking data. Of course, the duration of the first and second time periods may be set and adjusted later according to the need and the type of braking.
Optionally, the preset association time range includes a first time period before the data recording time and/or a second time period after the data recording time; wherein the first time period and the second time period are equal or unequal in duration. For example, a time range of 2 seconds before and after the data recording time of the vehicle brake data may be set as the preset association time range, and then the association start time is 2 seconds before the data recording time of the vehicle brake data, and the association end time is 2 seconds after the data recording time of the vehicle brake data.
after the association starting time and the association ending time are determined, the data recording time of the driving environment data can be compared with the association starting time and the association ending time respectively, if the data recording time of the driving environment data is greater than or equal to the association starting time and less than or equal to the association ending time, the data recording time of the driving environment data is in a preset association time range, and the driving environment data can be used as the driving environment data associated with the vehicle braking data.
and step 250, determining a braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
According to the technical scheme, the driving environment data associated with the vehicle braking data are determined by setting the preset associated time range, and data pairs are formed, so that the braking scene is analyzed and determined.
EXAMPLE III
Fig. 3 is a flowchart of a method for determining a vehicle braking scene according to a third embodiment of the present invention, which is further detailed based on the above technical solution in this embodiment, and may be a method for determining a braking scene during vehicle braking according to data content and data recording time in the data pair corresponding to the vehicle braking data, including: if a plurality of data pairs correspond to the same vehicle brake data, arranging the data pairs in ascending order according to the data recording time of the driving environment data in the data pairs; and determining the braking scene when the vehicle brakes according to the data content of the data pair arranged at the head. The method specifically comprises the following steps:
if a plurality of pieces of driving environment data are matched within a preset association time range of one piece of vehicle brake data, a plurality of data pairs are generated, and the data pairs can be regarded as one group, and each data pair contains common vehicle brake data and respectively different driving environment data. For these data pairs, the data pairs may be arranged in ascending order according to the data recording time of the driving environment data, that is, the data pair in which the earlier driving environment data is recorded is arranged further forward.
And step 330, determining a braking scene when the vehicle brakes according to the data content of the data pair arranged at the head.
Wherein, for a set of data pairs arranged in ascending order of data recording time of the driving environment data in the data pairs, the data pair arranged at the head is the earliest recorded data. The data pair arranged at the head is used as data for identifying a braking scene, so that the situation in the running process of the vehicle can be determined more conveniently.
Optionally, the determining a braking scenario when the vehicle brakes according to the data content of the data pair arranged at the head includes:
determining a vehicle braking type according to the early warning code of the vehicle braking data in the data pair;
determining a braking vehicle speed grade according to the vehicle speed of the vehicle braking data in the data pair and a preset vehicle speed interval;
determining a scene type according to the early warning code of the driving environment data in the data pair;
the braking scenario is represented by the vehicle braking type, the braking vehicle speed level, and the scenario type.
Optionally, the determining a braking scenario when the vehicle brakes according to the data content of the data pair arranged at the head includes:
determining a scene type according to the target relative speed of the vehicle braking data and a preset target relative speed threshold; the target relative speed is the speed of the vehicle relative to a front target object; and/or the presence of a gas in the gas,
and determining the scene type according to the target distance of the vehicle braking data, the speed of the vehicle and a preset time threshold.
The vehicle braking data can be obtained according to a first preset code, the first preset code can be an early warning code corresponding to a braking action of a preset braking type, and the braking type can include deceleration and emergency braking, so that a data record corresponding to the first preset code can be used as the vehicle braking data, a corresponding early warning code is searched from the early warning data record, for example, an alarm _ code is taken (11007,110077,10011,100111,12010,120100), and when the values represent that different equipment series start deceleration or emergency braking, a code reported by the equipment generates a data set A which includes the alarm _ code and a server _ time (server time, which is used as data recording time). The driving environment data can be obtained according to a second preset code, the second preset code can be a corresponding early warning code in a preset driving environment of the vehicle, then, a data record corresponding to the second preset code can be used as the driving environment data, the corresponding early warning code is searched from the early warning data record, for example, the alarm _ code is taken (11003,12005,11004,12003,13001,13002,13003,13004,13005,13006,12004,14001,14002,14003,14004,14005,14006,14007,14008), when the above values represent different types of risks (such as lane departure, pedestrian collision risk, frequent lane change and the like) recognized by different equipment series, the code reported by the equipment generates a data set B, and the data set B comprises the alarm _ code and server _ time. The early warning code is preset for the safety equipment, represents a corresponding early warning condition, is only used for explaining a scheme, and does not constitute a limitation.
And taking A as a left table, for each piece of data in A, associating the data of 2 seconds before and after the same equipment in B to generate a data set C, and naming the alarm _ code and server _ time in the original B table as alarm _ code _2 and server _ time _2 in C. Thus, one piece of data in the original a table may be copied into n pieces in C (i.e., in the case where one piece of vehicle brake data is associated with a plurality of pieces of driving environment data), each corresponding to n pieces of data 2 seconds before and after the same device in the original B table. A new field is generated in C: each piece of data in the original A table is taken as a group, each group is arranged in ascending order according to server _ time _2, and can be numbered in the order of 1, 2, 3 and … … in the group. Then, each set of data with the number of 1 is taken to generate a data set D. Thus, the amount of data in D is kept the same as A, each piece of data represents one braking, and the first piece of data 2 seconds before and after each braking is taken for the following scene recognition.
Based on the data set D, the brake type is identified: when the alarm _ code is taken (11007,110077,10011,100111,12010,120100), it is noted as "slow down" ("slow down" corresponds to level 1-2 braking); when the alarm _ code is taken (11008,10012,12011), it is noted as "emergency brake" ("emergency brake" corresponds to level 3-4 braking).
Identifying a vehicle speed interval when braking occurs based on the data set D: when the speed is 0-30 km/h, marking as low speed; when the speed is 30-60 km/h, recording as medium speed; when the vehicle speed is 60 km/h or more, the vehicle speed is recorded as "high speed".
Based on the data set D, the scene at which braking occurred was identified:
when alarm _ code _2 is taken (11003,12005), it is recorded as "pedestrian collision risk";
when the alarm _ code _2 is taken (11004,12003), it is recorded as "lane departure";
when the alarm _ code _2 is taken (13001,13002,13003,13004,13005,13006), the driving behavior alarm is recorded as a driving behavior alarm;
when the alarm _ code _2 is (12004), recording as' car following passing by;
when the alarm _ code _2 is taken (14001), recording as 'rapid acceleration';
when the alarm _ code _2 is taken (14002), recording as rapid deceleration;
when the alarm _ code _2 is taken (14003), it is recorded as "emergency braking";
when the alarm _ code _2 is taken (14004), it is marked as "overspeed";
when the alarm _ code _2 is taken (14005), recording as long-time driving;
when the alarm _ code _2 is taken (14006), recording as 'car following too close';
when the alarm _ code _2 is taken (14007), it is marked as a sharp turn;
when the alarm _ code _2 is taken (14008), it is recorded as "frequently lane change";
when the target relative vehicle speed is greater than 1.39 m/s, marking as 'front vehicle deceleration' (the speed difference between the vehicle and the target is large), taking 1.39 m/s as an example of the preset target relative vehicle speed threshold value;
when the target distance/the vehicle speed does not exceed 1.4 seconds, the vehicle is recorded as "too close to the vehicle", the preset time threshold value is taken as 1.4 seconds as an example, the time (unit is taken as seconds) obtained by dividing the target distance by the vehicle speed is compared with the preset time threshold value, and if the preset time threshold value is not exceeded, the vehicle is considered to be too close to the vehicle.
According to the technical scheme, the scene when braking occurs is comprehensively identified by combining the early warning codes with the track data and the environment data contained in the vehicle braking data and the driving environment data, and the braking scene is comprehensively and accurately determined by fully utilizing the data recorded by the safety equipment.
Example four
Fig. 4 is a schematic structural diagram of a vehicle braking scene determining apparatus according to a fourth embodiment of the present invention, and as shown in fig. 4, the vehicle braking scene determining apparatus includes: a data acquisition module 410 and a braking scenario determination module 420, wherein,
the data acquisition module 410 is used for acquiring a data pair consisting of vehicle braking data and driving environment data recorded by the vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time;
and a braking scene determining module 420, configured to determine a braking scene during vehicle braking according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
According to the technical scheme, the associated driving environment data is determined according to the data recording time of the vehicle braking data to form the data pairs, the braking scene is determined according to the data in the data pairs, the problem that the braking scene cannot be reflected by the braking data is solved, the braking scene during vehicle braking is automatically determined according to the data recorded by the vehicle-mounted equipment, the rationality of braking action is analyzed, and necessary basis is provided for later-stage upgrading and maintenance of safety equipment.
Optionally, the data obtaining module 410 includes:
the data searching unit is used for searching at least one piece of driving environment data within a preset associated time range according to the acquired data recording time of each piece of vehicle braking data;
a data pair construction unit for composing the vehicle braking data and each associated driving environment data into the data pair.
Optionally, the data searching unit is specifically configured to:
determining association starting time and association ending time according to the data recording time of the vehicle braking data and the preset association time range;
and determining the driving environment data with the data recording time being more than or equal to the correlation starting time and less than or equal to the correlation ending time as the driving environment data within the preset correlation time range.
Optionally, the preset association time range includes a first time period before the data recording time and/or a second time period after the data recording time; wherein the first time period and the second time period are equal or unequal in duration.
Optionally, the braking scenario determining module 420 includes:
the data arrangement unit is used for arranging a plurality of data pairs according to the ascending order of the data recording time of the driving environment data in the data pairs if the data pairs correspond to the same vehicle brake data;
and the scene determining unit is used for determining the braking scene when the vehicle brakes according to the data content of the data pair arranged at the head.
Optionally, the scene determining unit is specifically configured to:
determining a vehicle braking type according to the early warning code of the vehicle braking data in the data pair;
determining a braking vehicle speed grade according to the vehicle speed of the vehicle braking data in the data pair and a preset vehicle speed interval;
determining the type of the scene of the vehicle according to the early warning code of the driving environment data in the data pair;
the braking scenario is represented by the vehicle braking type, the braking vehicle speed level, and the scenario type.
Optionally, the scene determining unit is further specifically configured to:
determining a scene type according to the target relative speed of the vehicle braking data and a preset target relative speed threshold; the target relative speed is the speed of the vehicle relative to a front target object; and/or the presence of a gas in the gas,
and determining the scene type according to the target distance of the vehicle braking data, the speed of the vehicle and a preset time threshold.
The vehicle braking scene determining device provided by the embodiment of the invention can execute the vehicle braking scene determining method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a vehicle braking scenario determination apparatus according to a fifth embodiment of the present invention, as shown in fig. 5, the vehicle braking scenario determination apparatus includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of the processors 510 in the vehicle braking scenario determination apparatus may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, the memory 520, the input device 530 and the output device 540 in the vehicle braking scenario determination apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 5.
The memory 520 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle braking scenario determination method in the embodiment of the present invention (e.g., the data acquisition module 410 and the braking scenario determination module 420 in the vehicle braking scenario determination device). The processor 510 executes various functional applications and data processing of the vehicle braking scenario determination apparatus by executing software programs, instructions and modules stored in the memory 520, that is, implements the vehicle braking scenario determination method described above.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 520 may further include memory located remotely from processor 510, which may be connected to the vehicle braking scenario determination device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the vehicle braking scene determination apparatus. The output device 540 may include a display device such as a display screen.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a vehicle braking scenario determination method, including:
acquiring a data pair consisting of vehicle braking data and driving environment data recorded by vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time;
and determining a braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle braking scenario determination method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle braking scene determining apparatus, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Although the invention has been described in detail hereinabove by way of general description, specific embodiments and experiments, it will be apparent to those skilled in the art that many modifications and improvements can be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A vehicle braking scenario determination method, comprising:
acquiring a data pair consisting of vehicle braking data and driving environment data recorded by vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time;
and determining a braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
2. The method according to claim 1, wherein the acquiring of the data pair consisting of the vehicle brake data and the driving environment data recorded by the vehicle-mounted device comprises:
searching at least one piece of driving environment data within a preset associated time range according to the acquired data recording time of each piece of vehicle braking data;
forming the vehicle braking data and each associated driving environment data into the data pair.
3. The method according to claim 2, wherein the searching for at least one piece of the driving environment data within a preset associated time range according to the acquired data recording time of each piece of the vehicle braking data comprises:
determining association starting time and association ending time according to the data recording time of the vehicle braking data and the preset association time range;
and determining the driving environment data with the data recording time being more than or equal to the correlation starting time and less than or equal to the correlation ending time as the driving environment data within the preset correlation time range.
4. The method according to claim 3, wherein the preset association time range comprises a first time period before the data recording time and/or a second time period after the data recording time; wherein the first time period and the second time period are equal or unequal in duration.
5. The method according to claim 1, wherein the determining a braking scenario when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data comprises:
if a plurality of data pairs correspond to the same vehicle brake data, arranging the data pairs in ascending order according to the data recording time of the driving environment data in the data pairs;
and determining the braking scene when the vehicle brakes according to the data content of the data pair arranged at the head.
6. The method of claim 5, wherein determining a braking scenario when the vehicle brakes based on the data content of the leading data pair comprises:
determining a vehicle braking type according to the early warning code of the vehicle braking data in the data pair;
determining a braking vehicle speed grade according to the vehicle speed of the vehicle braking data in the data pair and a preset vehicle speed interval;
determining a scene type according to the early warning code of the driving environment data in the data pair;
the braking scenario is represented by the vehicle braking type, the braking vehicle speed level, and the scenario type.
7. The method of claim 6, wherein determining a braking scenario when the vehicle brakes based on the data content of the leading data pair further comprises:
determining a scene type according to the target relative speed of the vehicle braking data and a preset target relative speed threshold; the target relative speed is the speed of the vehicle relative to a front target object; and/or the presence of a gas in the gas,
and determining the scene type according to the target distance of the vehicle braking data, the speed of the vehicle and a preset time threshold.
8. A vehicle braking scenario determination apparatus, comprising:
the data acquisition module is used for acquiring a data pair consisting of vehicle braking data and driving environment data recorded by the vehicle-mounted equipment; wherein the vehicle braking data and the driving environment data in the data pair have an incidence relation in data recording time;
and the braking scene determining module is used for determining the braking scene when the vehicle brakes according to the data content and the data recording time in the data pair corresponding to the vehicle braking data.
9. A vehicle braking scenario determination device, characterized in that the vehicle braking scenario determination comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle braking scenario determination method of any of claims 1-7.
10. A storage medium containing computer executable instructions for performing the vehicle braking scenario determination method of any of claims 1-7 when executed by a computer processor.
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| CN202111486614.1A CN114274938B (en) | 2021-12-07 | 2021-12-07 | Vehicle braking scene determining method, device, equipment and storage medium |
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| CN105711569A (en) * | 2016-01-29 | 2016-06-29 | 大连楼兰科技股份有限公司 | Automatic braking system and method |
| CN112224194A (en) * | 2020-09-14 | 2021-01-15 | 东风汽车集团有限公司 | Vehicle environment parameter determination method |
| CN112567374A (en) * | 2020-10-21 | 2021-03-26 | 华为技术有限公司 | Simulated traffic scene file generation method and device |
| CN112560253A (en) * | 2020-12-08 | 2021-03-26 | 中国第一汽车股份有限公司 | Method, device and equipment for reconstructing driving scene and storage medium |
| WO2021183137A1 (en) * | 2020-03-13 | 2021-09-16 | Zenuity Ab | Methods and systems for vehicle path planning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105711569A (en) * | 2016-01-29 | 2016-06-29 | 大连楼兰科技股份有限公司 | Automatic braking system and method |
| WO2021183137A1 (en) * | 2020-03-13 | 2021-09-16 | Zenuity Ab | Methods and systems for vehicle path planning |
| CN112224194A (en) * | 2020-09-14 | 2021-01-15 | 东风汽车集团有限公司 | Vehicle environment parameter determination method |
| CN112567374A (en) * | 2020-10-21 | 2021-03-26 | 华为技术有限公司 | Simulated traffic scene file generation method and device |
| CN112560253A (en) * | 2020-12-08 | 2021-03-26 | 中国第一汽车股份有限公司 | Method, device and equipment for reconstructing driving scene and storage medium |
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