CN110103931A - A kind of method, apparatus detecting vehicle braking exception - Google Patents
A kind of method, apparatus detecting vehicle braking exception Download PDFInfo
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- CN110103931A CN110103931A CN201910349954.6A CN201910349954A CN110103931A CN 110103931 A CN110103931 A CN 110103931A CN 201910349954 A CN201910349954 A CN 201910349954A CN 110103931 A CN110103931 A CN 110103931A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000002159 abnormal effect Effects 0.000 claims abstract description 38
- 238000003860 storage Methods 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims description 29
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000002045 lasting effect Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 21
- 230000005856 abnormality Effects 0.000 abstract description 5
- 230000000881 depressing effect Effects 0.000 description 6
- 230000005291 magnetic effect Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000004540 process dynamic Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention provides a kind of method, apparatus, equipment and computer storage medium for detecting vehicle braking exception, which comprises obtains the braking instruction that vehicle receives, the braking instruction includes desired braking value；Determine whether the desired braking value meets the first preset condition, if so, obtaining practical brake value of the vehicle after starting braking；It determines whether the practical brake value obtained every time meets the second preset condition, if so, increasing the value of braking anomaly parameter, and when the value of the braking anomaly parameter is more than or equal to preset parameter value, determines that the abnormal failure of braking occurs in the vehicle.The present invention can be avoided data delay, further increase the real-time and accuracy of braking abnormality detection.
Description
[technical field]
The present invention relates to driving technology field more particularly to it is a kind of detect the method, apparatus of vehicle braking exception, equipment and
Computer storage medium.
[background technique]
The safety of vehicle driving is the important indicator of driving technology.And vehicle is generallyd use in case of emergency
The mode of braking is slowed down or stopped, thus the generation avoided collision.But due to vehicle itself, such as vehicle is protected
Support not in time, the reasons such as vehicle itself design defect or brake apparatus overheat, it is abnormal to may result in braking；Once making
Dynamic abnormal failure, vehicle cannot achieve deceleration or parking, be easy to that major accident occurs, therefore there are great security risks.
In the prior art according to the relationship between the velocity variations of the deceleration control signal and vehicle that are issued to vehicle
To carry out the abnormal detection of braking.But due to the velocity variations that after issuing deceleration control signal to vehicle, vehicle is shown
The regular hour is needed, i.e., there are the delays of certain data for the variation of acquisition car speed.Therefore the prior art can not be in real time
Whether detection vehicle there is the abnormal failure of braking.
[summary of the invention]
In view of this, the present invention provides a kind of method, apparatus for detecting vehicle braking exception, equipment and computer storages
Medium, for avoiding data from postponing, to further increase the real-time and accuracy of braking abnormality detection.
Used technical solution is to provide a kind of method for detecting vehicle braking exception to the present invention in order to solve the technical problem,
The described method includes: obtaining the braking instruction that vehicle receives, the braking instruction includes desired braking value；Determine the expectation
Whether brake value meets the first preset condition, if so, obtaining practical brake value of the vehicle after starting braking；It determines every
Whether the practical brake value of secondary acquisition meets the second preset condition, if so, increasing the value of braking anomaly parameter, and in the braking
When the value of anomaly parameter is more than or equal to preset parameter value, determine that the abnormal failure of braking occurs in the vehicle.
According to one preferred embodiment of the present invention, the desired braking value is to depress vehicle braking when controlling the vehicle braking
The expectation of pedal is displaced；The practical brake value is the actual bit that the vehicle depresses vehicle brake pedal in braking process
It moves.
According to one preferred embodiment of the present invention, whether the determination desired braking value meets the first preset condition packet
It includes: it is pre- to determine whether the lasting frequency of occurrence for the desired braking value for being more than or equal to default brake value in preset period of time is more than or equal to
If secondary numerical value.
According to one preferred embodiment of the present invention, whether the practical brake value that the determination obtains every time meets the second default item
Part comprises determining that whether the practical brake value obtained every time is 0.
According to one preferred embodiment of the present invention, the method also includes: braking process terminate or determine vehicle occur
After braking abnormal failure, make the value zero of the braking anomaly parameter.
According to one preferred embodiment of the present invention, after determining that the abnormal failure of braking occurs in the vehicle, further includes: to institute
It states vehicle and sends urgent parking instruction, carry out urgent parking to control the vehicle；Or given a warning to interior user, to mention
Show that occupant carries out urgent parking manually.
Used technical solution is to provide a kind of device for detecting vehicle braking exception to the present invention in order to solve the technical problem,
Described device includes: first acquisition unit, the braking instruction received for obtaining vehicle, and the braking instruction includes expectation system
Dynamic value；Second acquisition unit, for determining whether the desired braking value meets the first preset condition, if so, described in obtaining
Practical brake value of the vehicle after starting braking；Determination unit, for determining whether the practical brake value that obtains every time meets the
Two preset conditions if so, increasing the value of braking anomaly parameter, and are more than or equal to parameter preset in the value of the braking anomaly parameter
When value, determine that the abnormal failure of braking occurs in the vehicle.
According to one preferred embodiment of the present invention, the desired braking value is to depress vehicle braking when controlling the vehicle braking
The expectation of pedal is displaced；The practical brake value is the actual bit that the vehicle depresses vehicle brake pedal in braking process
It moves.
According to one preferred embodiment of the present invention, the second acquisition unit is determining whether the desired braking value meets
It is specific to execute when one preset condition: to determine and continue more than or equal to the desired braking value of default brake value in preset period of time
Whether occurrence number is more than or equal to preset times value.
According to one preferred embodiment of the present invention, the determination unit is determining whether the practical brake value obtained every time meets
It is specific to execute when the second preset condition: to determine whether the practical brake value obtained every time is 0.
According to one preferred embodiment of the present invention, the determination unit also executes: terminating or determine vehicle in braking process
After there is the abnormal failure of braking, make the value zero of the braking anomaly parameter.
According to one preferred embodiment of the present invention, after determination unit determines that the abnormal failure of braking occurs in the vehicle, also
Execute: Xiang Suoshu vehicle sends urgent parking instruction, carries out urgent parking to control the vehicle；Or it is issued to interior user
Warning, to prompt occupant to carry out urgent parking manually.
As can be seen from the above technical solutions, the present invention is first by obtaining the desired braking value of control vehicle braking come really
It is fixed whether to obtain practical brake value of the vehicle in braking process, if obtaining practical brake value, further according to acquired reality
Brake value determines whether vehicle the abnormal failure of braking occurs, due to that can directly acquire reality of the vehicle in braking process
Brake value, therefore data delay is avoided, further improve the real-time and accuracy of braking abnormality detection.
[Detailed description of the invention]
Fig. 1 is a kind of method flow diagram for detection vehicle braking exception that one embodiment of the invention provides；
Fig. 2 is a kind of structure drawing of device for detection vehicle braking exception that one embodiment of the invention provides；
Fig. 3 is the block diagram for the computer system/server that one embodiment of the invention provides.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
Fig. 1 is a kind of method flow diagram for detection vehicle braking exception that one embodiment of the invention provides, as shown in figure 1 institute
Show, which comprises
In 101, the braking instruction that vehicle receives is obtained, the braking instruction includes desired braking value.
In this step, vehicle braking instruction received in the process of moving is obtained, includes the phase in the braking instruction
Hope brake value.Specifically, brake value can be the displacement for depressing vehicle brake pedal, be used to measure the brake applications of vehicle,
Brake value shows that more greatly the displacement for depressing vehicle brake pedal is bigger, therefore the degree braked to vehicle is also higher.Its
In, vehicle brake pedal is the pedal of the running brake of vehicle, can control the driving of vehicle by depressing the brake pedal
Brake limits vehicle power, so that vehicle is slowed down or stopped.Therefore, the desired braking value in this step is control
The expectation displacement of vehicle brake pedal is depressed when vehicle braking processed.
It is understood that if vehicle in the present invention is the vehicle with automatic Pilot ability, acquired in this step
Braking instruction from automated driving system to vehicle that issued by of braking instruction, i.e., automated driving system is according to automatic driving car
When current driving scene makes the decision braked, the braking instruction that is issued to automatic driving vehicle；If this
Vehicle in invention is common vehicle, then braking instruction acquired in this step is the brake pedal that occupant depresses vehicle
Operation.
It in 102, determines whether the desired braking value meets the first preset condition, exists if so, obtaining the vehicle
Practical brake value after starting braking.
In this step, it is default to determine whether the desired braking value in braking instruction acquired in step 101 meets first
Condition, if so, obtaining each practical brake value of the vehicle after starting braking.Wherein, the practical brake value in this step is
Vehicle depresses the actual displacement of vehicle brake pedal in braking process.
It is understood that this step can obtain practical braking by the feedback of the vehicle chassis in braking process
Value, can also obtain practical brake value by the sensor being mounted on vehicle brake pedal in braking process.The present invention
To obtain braking process in practical brake value mode without limit.
Specifically, whether the first preset condition in this step can be more than or equal to default brake value for desired brake value,
I.e. this step then obtains each reality of the vehicle after starting braking if it is determined that when desired braking value is more than or equal to default brake value
Brake value, otherwise without obtaining.
The first default item in order to detect whether vehicle the abnormal failure of braking occurs more accurately, in this step
Part can be with are as follows: whether the lasting frequency of occurrence for being more than or equal to the desired braking value of default brake value in preset period of time is greater than
In preset times value, i.e. this step if it is determined that continuing more than or equal to the desired braking value of default brake value in preset period of time
Occurrence number be more than or equal to preset times value when, then obtain vehicle start braking after each practical brake value, otherwise without
It obtains.
For example, if preset period of time is 10s, presetting brake value is 40%, and preset times value is 4, if being greater than in 10s
Desired braking value equal to 40% persistently occurs 4 times, then obtains each practical brake value of the vehicle after starting braking；If
Desired braking value in 10s more than or equal to 40% persistently occurs 3 times, then without obtaining.
In 103, determine whether the practical brake value obtained every time meets the second preset condition, if so, it is different to increase braking
The value of normal parameter, and when the value of obtained braking anomaly parameter is more than or equal to preset parameter value, determine that vehicle is braked
Abnormal failure.
In this step, determine whether step 102 practical brake value acquired in the braking process of vehicle meets the
Two preset conditions, if satisfied, then increasing the value of the current braking anomaly parameter of vehicle, otherwise without increasing, when obtained
When braking the value of anomaly parameter more than or equal to preset parameter value, determine that the abnormal failure of braking occurs in vehicle, if in braking process
In the value of obtained braking anomaly parameter be less than preset parameter value, it is determined that vehicle does not occur the abnormal failure of braking.It is preferred that
Ground, the value for increasing braking anomaly parameter in this step can carry out plus 1 for the value to braking anomaly parameter.
Wherein, the second preset condition in this step can be 0 for practical brake value, i.e., this step is if it is determined that acquired
When practical brake value is 0, then increase the value of the current braking anomaly parameter of vehicle, however, it is determined that acquired practical brake value is not
When 0, then the value of the current braking anomaly parameter of vehicle is not increased.The second preset condition in this step can be according to the need of user
It asks and is adjusted.
For example, if preset parameter value is 3, initial brake anomaly parameter is 0, if obtaining for the first time in braking process
Practical brake value be 0, then brake anomaly parameter be 1；If second of practical brake value obtained is 30%, abnormal ginseng is braked
Number is 1；If the practical brake value that third time obtains is 20%, braking anomaly parameter is 1；If the practical braking that third time obtains
Value is 0, then braking anomaly parameter is 2；If braking process terminates after third time obtains practical brake value, this braking process
In braking anomaly parameter be respectively 0,1,1,1,2, respectively less than preset parameter value 3 then shows do not occur the abnormal failure of braking.
If the practical brake value of the 4th acquisition is 0 after third time obtains practical brake value, then braking anomaly parameter is 3, gained
The braking anomaly parameter arrived is equal to preset parameter value 3, it is determined that the abnormal failure of braking occurs in vehicle.
It is understood that this step can also include the following contents: terminating or determine vehicle in braking process and occur
After braking abnormal failure, make the value zero for braking anomaly parameter.The value for braking anomaly parameter is zeroed by this step, Neng Goufang
Abnormal detection is braked after only the abnormal detection of previous braking influences, to further increase the accurate of braking abnormality detection
Property
In addition, this step is after determining that the abnormal failure of braking occurs in vehicle, it can also include the following contents: to vehicle
Urgent parking instruction is sent, carries out urgent parking to control vehicle；Or given a warning to interior user, to prompt occupant
Urgent parking is carried out manually.Therefore, this step can be avoided vehicle because of the abnormal generation for leading to major accident of braking, further mention
Rise vehicle safety.
It is understood that the method for the detection vehicle braking exception in the present invention can by device existing in vehicle into
Row executes, such as is executed by the automated driving system in automatic driving vehicle；It can also specially add in the car for examining
The device of vehicle braking exception is surveyed to execute.
Fig. 2 is a kind of structure drawing of device for detection vehicle braking exception that one embodiment of the invention provides, such as institute in Fig. 2
Show, described device includes: first acquisition unit 21, second acquisition unit 22 and determination unit 23.
First acquisition unit 21, the braking instruction received for obtaining vehicle, the braking instruction includes desired braking
Value.
First acquisition unit 21 obtains vehicle braking instruction received in the process of moving, includes in the braking instruction
Desired braking value.Specifically, brake value can be the displacement for depressing vehicle brake pedal, be used to measure the braking journey of vehicle
Degree, brake value shows that more greatly the displacement for depressing vehicle brake pedal is bigger, therefore the degree braked to vehicle is also higher.
Wherein, vehicle brake pedal is the pedal of the running brake of vehicle, can control the row of vehicle by depressing the brake pedal
Vehicle brake limits vehicle power, so that vehicle is slowed down or stopped.Therefore, acquired in first acquisition unit 21
Desired braking value is that the expectation displacement of vehicle brake pedal is depressed when controlling vehicle braking.
It is understood that if the vehicle in the present invention is the vehicle with automatic Pilot ability, first acquisition unit
The braking instruction that braking instruction acquired in 21 is issued by automated driving system to vehicle, i.e., automated driving system is according to nothing
When people drives the current driving scene of vehicle and makes the decision braked, the brake finger that is issued to automatic driving vehicle
It enables；If the vehicle in invention is common vehicle, braking instruction acquired in first acquisition unit 21 is that occupant depresses vehicle
Brake pedal operation.
Second acquisition unit 22, for determining whether the desired braking value meets the first preset condition, if so, obtaining
Practical brake value of the vehicle after starting braking.
Second acquisition unit 22 determines whether the desired braking value in braking instruction acquired in first acquisition unit 21 is full
The first preset condition of foot, if so, each practical brake value of the vehicle after starting braking is obtained, otherwise without obtaining.Its
In, practical brake value acquired in second acquisition unit 22 is the actual bit that vehicle depresses vehicle brake pedal in braking process
It moves.
It is understood that second acquisition unit 22 can obtain reality by the feedback of the vehicle chassis in braking process
Border brake value can also obtain practical brake value by the sensor being mounted on vehicle brake pedal in braking process.
The present invention obtains the mode of the practical brake value in braking process to second acquisition unit 22 without limiting.
Wherein, whether the first preset condition in second acquisition unit 22 can be more than or equal to pre- be equipped with for desired brake value
Dynamic value, i.e. second acquisition unit 22 obtain vehicle and are starting to brake if it is determined that when desired braking value is more than or equal to default brake value
Each practical brake value afterwards, otherwise without obtaining.
In order to detect whether vehicle the abnormal failure of braking occurs more accurately, in second acquisition unit 22 the
One preset condition can also be that the lasting frequency of occurrence for the desired braking value for being more than or equal to default brake value in preset period of time be
It is no to be more than or equal to preset times value, i.e. second acquisition unit 22 if it is determined that being more than or equal to the phase of default brake value in preset period of time
When the lasting frequency of occurrence of brake value being hoped to be more than or equal to preset times value, then each practical system of the vehicle after starting braking is obtained
Dynamic value, otherwise without obtaining.
Determination unit 23, for determining whether the practical brake value obtained every time meets the second preset condition, if so, increasing
The value of anomaly parameter is braked, and when the value of obtained braking anomaly parameter is more than or equal to preset parameter value, determines that vehicle goes out
Now brake abnormal failure.
Whether determination unit 23 determines the practical brake value acquired in the braking process of vehicle of second acquisition unit 22
Meet the second preset condition, if satisfied, the value for then increasing the current braking anomaly parameter of vehicle works as institute otherwise without increasing
When the value of obtained braking anomaly parameter is more than or equal to preset parameter value, determine that the abnormal failure of braking occurs in vehicle, if making
The value of obtained braking anomaly parameter is less than preset parameter value during dynamic, it is determined that vehicle does not occur the abnormal event of braking
Barrier.Preferably, the value that determination unit 23 increases braking anomaly parameter can carry out adding 1 for the value to braking anomaly parameter.
Wherein it is determined that the second preset condition in unit 23 can be 0 for practical brake value, i.e., determination unit 23 if it is determined that
When acquired practical brake value is 0, then carry out the value of the current braking anomaly parameter of vehicle to add 1；If determination unit 23 is true
When fixed acquired practical brake value is not 0, then do not carry out the value of the current braking anomaly parameter of vehicle to add 1.Determination unit
The second preset condition in 23 can be adjusted according to the demand of user.
It is understood that following operation can also be performed in determination unit 23: terminating or determine vehicle in braking process
After there is the abnormal failure of braking, make the value zero for braking anomaly parameter.Determination unit 23 returns the value for braking anomaly parameter
Zero, abnormal detection is braked after the detection influence that previous braking can be prevented abnormal, so that it is abnormal to further increase braking
The accuracy of detection.
In addition, following operation can also be performed after determining that the abnormal failure of braking occurs in vehicle in determination unit 23: to
Vehicle sends urgent parking instruction, carries out urgent parking to control vehicle；Or given a warning to interior user, to prompt car
Personnel carry out urgent parking manually.Accordingly, it is determined that unit 23, which can be avoided vehicle, leads to the generation of major accident because braking exception,
Further promote vehicle safety.
As shown in figure 3, computer system/server 012 is showed in the form of universal computing device.Computer system/clothes
The component of business device 012 can include but is not limited to: one or more processor or processing unit 016, system storage
028, connect the bus 018 of different system components (including system storage 028 and processing unit 016).
Bus 018 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Computer system/server 012 typically comprises a variety of computer system readable media.These media, which can be, appoints
The usable medium what can be accessed by computer system/server 012, including volatile and non-volatile media, movably
With immovable medium.
System storage 028 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 030 and/or cache memory 032.Computer system/server 012 may further include other
Removable/nonremovable, volatile/non-volatile computer system storage medium.Only as an example, storage system 034 can
For reading and writing immovable, non-volatile magnetic media (Fig. 3 do not show, commonly referred to as " hard disk drive ").Although in Fig. 3
It is not shown, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, and to can
The CD drive of mobile anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these situations
Under, each driver can be connected by one or more data media interfaces with bus 018.Memory 028 may include
At least one program product, the program product have one group of (for example, at least one) program module, these program modules are configured
To execute the function of various embodiments of the present invention.
Program/utility 040 with one group of (at least one) program module 042, can store in such as memory
In 028, such program module 042 includes --- but being not limited to --- operating system, one or more application program, other
It may include the realization of network environment in program module and program data, each of these examples or certain combination.Journey
Sequence module 042 usually executes function and/or method in embodiment described in the invention.
Computer system/server 012 can also with one or more external equipments 014 (such as keyboard, sensing equipment,
Display 024 etc.) communication, in the present invention, computer system/server 012 is communicated with outside radar equipment, can also be with
One or more enable a user to the equipment interacted with the computer system/server 012 communication, and/or with make the meter
Any equipment (such as network interface card, the modulation that calculation machine systems/servers 012 can be communicated with one or more of the other calculating equipment
Demodulator etc.) communication.This communication can be carried out by input/output (I/O) interface 022.Also, computer system/clothes
Being engaged in device 012 can also be by network adapter 020 and one or more network (such as local area network (LAN), wide area network (WAN)
And/or public network, such as internet) communication.As shown, network adapter 020 by bus 018 and computer system/
Other modules of server 012 communicate.It should be understood that although not shown in the drawings, computer system/server 012 can be combined
Using other hardware and/or software module, including but not limited to: microcode, device driver, redundant processing unit, external magnetic
Dish driving array, RAID system, tape drive and data backup storage system etc..
Processing unit 016 by the program that is stored in system storage 028 of operation, thereby executing various function application with
And data processing, such as realize method flow provided by the embodiment of the present invention.
With time, the development of technology, medium meaning is more and more extensive, and the route of transmission of computer program is no longer limited by
Tangible medium, can also be directly from network downloading etc..It can be using any combination of one or more computer-readable media.
Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer-readable storage medium
Matter for example may be-but not limited to-system, device or the device of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or
Any above combination of person.The more specific example (non exhaustive list) of computer readable storage medium includes: with one
Or the electrical connections of multiple conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM),
Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light
Memory device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer readable storage medium can
With to be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
Person is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN) is connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
Using technical solution provided by the present invention, determined first by obtaining the desired braking value of control vehicle braking
Whether vehicle practical brake value in braking process is obtained, if obtaining practical brake value, further according to acquired practical system
Dynamic value determines whether vehicle the abnormal failure of braking occurs, due to that can directly acquire practical system of the vehicle in braking process
Dynamic value, therefore data delay is avoided, further improve the real-time and accuracy of braking abnormality detection.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (14)
1. a kind of method for detecting vehicle braking exception, which is characterized in that the described method includes:
The braking instruction that vehicle receives is obtained, the braking instruction includes desired braking value；
Determine whether the desired braking value meets the first preset condition, if so, obtaining the vehicle after starting braking
Practical brake value；
Determine whether the practical brake value obtained every time meets the second preset condition, if so, increase the value of braking anomaly parameter, and
When the value of the braking anomaly parameter is more than or equal to preset parameter value, determine that the abnormal failure of braking occurs in the vehicle.
2. the method according to claim 1, wherein the desired braking value is to step on when controlling the vehicle braking
The expectation of lower vehicle brake pedal is displaced；The practical brake value is that the vehicle depresses vehicle brake pedal in braking process
Actual displacement.
3. the method according to claim 1, wherein whether the determination desired braking value meets first in advance
If condition includes:
Determine whether the lasting frequency of occurrence for the desired braking value for being more than or equal to default brake value in preset period of time is more than or equal to
Preset times value.
4. the method according to claim 1, wherein whether the practical brake value that the determination obtains every time meets
Second preset condition includes:
Determine whether the practical brake value obtained every time is 0.
5. the method according to claim 1, wherein the method also includes:
After the failure that braking process terminates or determine that braking exception occurs in vehicle, return the value of the braking anomaly parameter
Zero.
6. the method according to claim 1, wherein after determining that the abnormal failure of braking occurs in the vehicle,
Further include:
Urgent parking instruction is sent to the vehicle, carries out urgent parking to control the vehicle；Or
It is given a warning to interior user, to prompt occupant to carry out urgent parking manually.
7. a kind of device for detecting vehicle braking exception, which is characterized in that described device includes:
First acquisition unit, the braking instruction received for obtaining vehicle, the braking instruction include desired braking value；
Second acquisition unit, for determining whether the desired braking value meets the first preset condition, if so, obtaining the vehicle
Start braking after practical brake value；
Determination unit, for determining whether the practical brake value obtained every time meets the second preset condition, if so, it is different to increase braking
The value of normal parameter, and when the value of the braking anomaly parameter is more than or equal to preset parameter value, determine that the vehicle is braked
Abnormal failure.
8. device according to claim 7, which is characterized in that the desired braking value is to step on when controlling the vehicle braking
The expectation of lower vehicle brake pedal is displaced；The practical brake value is that the vehicle depresses vehicle brake pedal in braking process
Actual displacement.
9. device according to claim 7, which is characterized in that the second acquisition unit is determining the desired braking value
It is specific to execute when whether meeting the first preset condition:
Determine whether the lasting frequency of occurrence for the desired braking value for being more than or equal to default brake value in preset period of time is more than or equal to
Preset times value.
10. device according to claim 7, which is characterized in that the determination unit is determining the practical system obtained every time
It is specific to execute when whether dynamic value meets the second preset condition:
Determine whether the practical brake value obtained every time is 0.
11. device according to claim 7, which is characterized in that the determination unit also executes:
After the failure that braking process terminates or determine that braking exception occurs in vehicle, return the value of the braking anomaly parameter
Zero.
12. device according to claim 7, which is characterized in that it is abnormal to determine that braking occurs in the vehicle in determination unit
Failure after, also execute:
Urgent parking instruction is sent to the vehicle, carries out urgent parking to control the vehicle；Or
It is given a warning to interior user, to prompt occupant to carry out urgent parking manually.
13. a kind of computer equipment, including memory, processor and it is stored on the memory and can be on the processor
The computer program of operation, which is characterized in that the processor is realized when executing described program as any in claim 1~6
Method described in.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is processed
Such as method according to any one of claims 1 to 6 is realized when device executes.
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| CN201910349954.6A CN110103931B (en) | 2019-04-28 | 2019-04-28 | Method and device for detecting abnormal braking of vehicle |
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| CN201910349954.6A CN110103931B (en) | 2019-04-28 | 2019-04-28 | Method and device for detecting abnormal braking of vehicle |
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| CN110103931B CN110103931B (en) | 2024-01-19 |
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| CN113496623A (en) * | 2020-04-08 | 2021-10-12 | 丰田自动车株式会社 | Automatic passenger-assistant parking system and service providing method |
| CN113799759A (en) * | 2021-10-13 | 2021-12-17 | 北京福田戴姆勒汽车有限公司 | Brake auxiliary system and vehicle with same |
| CN115352422A (en) * | 2022-08-09 | 2022-11-18 | 江西五十铃汽车有限公司 | Electronic parking overheat early warning method and system, storage medium and equipment |
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