CN111497800A

CN111497800A - Vehicle braking method, device, electronic equipment and storage medium

Info

Publication number: CN111497800A
Application number: CN201910100850.1A
Authority: CN
Inventors: 陈振升
Original assignee: Beijing Qisheng Technology Co Ltd
Current assignee: Hangzhou Qingqi Science and Technology Co Ltd
Priority date: 2019-01-31
Filing date: 2019-01-31
Publication date: 2020-08-07
Anticipated expiration: 2039-01-31
Also published as: WO2020156550A1; CN111497800B

Abstract

The application provides a vehicle braking method, a vehicle braking device, electronic equipment and a storage medium, and relates to the field of vehicle control. When the vehicle braking method is achieved, the current position of the target vehicle is firstly obtained, then whether the target vehicle is located in the traffic-restricted area is determined according to the current position of the target vehicle and the range of the preset traffic-restricted area, and further, if the target vehicle is located in the traffic-restricted area, the target vehicle is braked according to the preset braking mode. According to the braking mode, the speed of the vehicle in the limited driving area can be automatically controlled so as to further control the vehicle to a stop state, or the speed of the vehicle is controlled to a certain reasonable value, so that the motion state of the vehicle is restrained.

Description

Vehicle braking method, device, electronic equipment and storage medium

Technical Field

The present application relates to the field of vehicle control, and in particular, to a vehicle braking method, apparatus, electronic device, and storage medium.

Background

With the improvement of living standard, people increasingly use vehicles as transportation tools. In some cases, it is not cost effective to purchase the vehicle, and the user may rent the vehicle to acquire and use the vehicle.

A problem often encountered when renting a vehicle is how to return the vehicle. Generally, a rental car company requires a rental car user to return a car to a designated return station, but sometimes the user may park the car at a place where the car is difficult to be recovered after the car is rented, which results in a lot of time and labor for the rental car company to recover the car, or even no recovery of the rented car.

Disclosure of Invention

The application aims to provide a vehicle braking method, a vehicle braking device, an electronic device and a storage medium.

In one embodiment, a vehicle braking method includes:

acquiring the current position of a target vehicle;

determining whether the target vehicle is located in the restricted area or not according to the current position of the target vehicle and the range of the preset restricted area;

and if the target vehicle is located in the restricted area, braking the target vehicle according to a preset braking mode.

In one embodiment, braking the target vehicle according to a preset braking mode includes:

determining a braking mode according to the current motion state information of the target vehicle;

and braking the target vehicle according to the determined braking mode.

determining a target traffic control area where the target vehicle is located according to the current position of the target vehicle and the range of each traffic control area;

and braking the target vehicle according to the braking mode of the target traffic control area.

selecting a target braking mode from a plurality of braking modes in a target traffic control area according to the current motion state information of the target vehicle;

and braking the target vehicle according to the target braking mode.

In certain embodiments, the current motion state information includes any one or more of the following:

a current movement speed of the target vehicle; a distance between a current position of the target vehicle and a boundary of the restricted area; the length of time the target vehicle is located in the restricted area.

In one embodiment, the predetermined braking mode includes:

increasing the braking force of the target vehicle at preset time intervals;

or, the target vehicle is braked once at predetermined time intervals.

In a certain embodiment, if the target vehicle is located in the restricted area, braking the target vehicle according to a preset braking manner includes:

if the target vehicle is located in the restricted area, generating braking prompt information;

outputting braking prompt information through the target vehicle;

and braking the target vehicle according to a preset braking mode after the preset time for outputting the braking prompt information.

In a certain embodiment, after the predetermined time of outputting the braking prompt message, braking the target vehicle according to a preset braking mode includes:

detecting an acceleration value of the target vehicle after a predetermined time for outputting the braking prompt information;

judging whether the target vehicle is in a deceleration state or not according to the acceleration value of the target vehicle;

and if the target vehicle is not in the deceleration state, braking the target vehicle according to a preset braking mode.

In a certain embodiment, after determining whether the target vehicle is in a decelerating state according to the acceleration value of the target vehicle, the method further comprises:

if the target vehicle is in a deceleration state, detecting the moving speed of the target vehicle after a preset time;

and if the moving speed of the target vehicle is greater than the preset threshold value, braking the target vehicle according to a preset braking mode.

In a certain embodiment, after determining whether the target vehicle is located in the restricted area according to the current position of the target vehicle and a preset range of the restricted area, the method further includes:

if the target vehicle is not located in the traffic control area, calculating the remaining time of the target vehicle reaching the traffic control area according to the distance between the target vehicle and the traffic control area;

if the remaining time is less than a preset threshold value, generating a restriction prompt message;

and outputting the driving restriction prompt information through the target vehicle.

In certain embodiments, the target vehicle includes any one or more of:

non-motor vehicles, electric vehicles, gasoline vehicles and diesel vehicles.

and braking the target vehicle according to a preset braking mode, and stopping braking after the speed of the target vehicle reaches a preset speed.

and braking the target vehicle according to a preset braking mode until the target vehicle stops moving.

In one embodiment, a vehicle brake apparatus includes:

the first acquisition module is used for acquiring the current position of the target vehicle;

the first determining module is used for determining whether the target vehicle is located in the restricted area or not according to the current position of the target vehicle and the range of the preset restricted area;

and the first braking module is used for braking the target vehicle according to a preset braking mode if the target vehicle is located in the restricted area.

In certain embodiments, a first brake module comprises:

the first determining unit is used for determining a braking mode according to the current motion state information of the target vehicle;

and the first braking unit is used for braking the target vehicle according to the determined braking mode.

In certain embodiments, a first brake module comprises:

the second determining unit is used for determining a target traffic control area where the target vehicle is located according to the current position of the target vehicle and the range of each traffic control area;

and the second braking unit is used for braking the target vehicle according to the braking mode of the target traffic control area.

In certain embodiments, a first brake module comprises:

the third determining unit is used for determining a target traffic control area where the target vehicle is located according to the current position of the target vehicle and the range of each traffic control area;

the first selection unit is used for selecting a target braking mode from a plurality of braking modes in a target traffic control area according to the current motion state information of the target vehicle;

and the third braking unit is used for braking the target vehicle according to the target braking mode.

In one embodiment, the predetermined braking mode includes:

increasing the braking force of the target vehicle at preset time intervals;

or, the target vehicle is braked once at predetermined time intervals.

In certain embodiments, a first brake module comprises:

the first generation unit is used for generating braking prompt information if the target vehicle is located in the restricted area;

a first output unit for outputting a braking prompt message through a target vehicle;

and the third braking unit is used for braking the target vehicle according to a preset braking mode after the preset time for outputting the braking prompt information.

In certain embodiments, a third brake unit comprises:

the first detection subunit is used for detecting the acceleration value of the target vehicle after the preset time for outputting the braking prompt information;

the first judgment subunit is used for judging whether the target vehicle is in a deceleration state or not according to the acceleration value of the target vehicle;

and the first braking subunit is used for braking the target vehicle according to a preset braking mode if the target vehicle is not in a deceleration state.

In a certain embodiment, further comprising:

a second detection subunit, if the target vehicle is in a deceleration state, for detecting the moving speed of the target vehicle after a predetermined time;

and the second braking subunit is used for braking the target vehicle according to a preset braking mode if the moving speed of the target vehicle is greater than a preset threshold value.

In a certain embodiment, further comprising:

the first calculation module is used for calculating the remaining time of the target vehicle reaching the traffic control area according to the distance between the target vehicle and the traffic control area if the target vehicle is not located in the traffic control area;

the first generation module is used for generating the traffic restriction prompt message if the remaining time is less than a preset threshold value;

and the first output module is used for outputting the traffic restriction prompt information through the target vehicle.

In certain embodiments, the target vehicle includes any one or more of:

non-motor vehicles, electric vehicles, gasoline vehicles and diesel vehicles.

In certain embodiments, a first brake module comprises:

and the fourth braking unit is used for braking the target vehicle according to a preset braking mode and stopping braking after the speed of the target vehicle reaches the preset speed.

In certain embodiments, a first brake module comprises:

and the fifth braking unit is used for braking the target vehicle according to a preset braking mode until the target vehicle stops moving.

In some embodiment, an electronic device includes: the vehicle braking system comprises a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, the processor and the storage medium communicate through the bus when the electronic device runs, and the processor executes the machine readable instructions to execute steps such as a vehicle braking method.

In an embodiment, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs steps such as a vehicle braking method.

When the vehicle braking method is achieved, the current position of the target vehicle is firstly obtained, then whether the target vehicle is located in the traffic-restricted area is determined according to the current position of the target vehicle and the range of the preset traffic-restricted area, and further, if the target vehicle is located in the traffic-restricted area, the target vehicle is braked according to the preset braking mode. According to the braking mode, the speed of the vehicle in the limited driving area can be controlled, so that the vehicle is further controlled to be in a stop state, and the motion state of the vehicle is automatically restrained.

In a certain embodiment, the method provided by the application may further determine the braking manner according to the motion state information of the target vehicle, so that the determined braking manner is more targeted. Furthermore, the vehicle is braked according to the determined braking mode, so that the danger of a user operating the vehicle during braking can be reduced to a certain extent.

In a certain embodiment, the method provided by the application may further determine a corresponding braking mode according to the traffic control region where the target vehicle is located, and brake the target vehicle according to the determined braking mode, so as to ensure that the target vehicle can be braked in a targeted manner in different traffic control regions.

In one embodiment, the method provided by the present application may be that the braking prompt information is output by the target vehicle, and then the target vehicle is braked. Through the mode of firstly outputting the braking prompt information and then braking, after the user hears the braking prompt information, the subsequent braking is accurate to a certain extent, and the danger degree brought to the user by braking is reduced.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 illustrates a basic flow chart of a vehicle braking method provided by an embodiment of the present application;

FIG. 2 shows a schematic diagram of the presence of 2 restricted areas separated from each other in a certain map;

FIG. 3 shows a schematic of 3 restricted areas and a core area displayed on an electronic map;

fig. 4 shows a schematic diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

With the improvement of living standard, people increasingly use vehicles as transportation tools in daily life and also increasingly use vehicles as transportation tools in production. Vehicles are of various types, such as classified by power source, and can be classified into non-motor vehicles and motor vehicles; wherein, the non-motor vehicles can be divided into two-wheeled bicycles, tricycles and the like; motor vehicles can be classified into electric vehicles, gasoline vehicles, diesel vehicles, and the like according to energy.

In some cases, the user may rent a car to acquire and use the car in consideration of the high cost of buying the car. When a car is rented, some car renting companies require a user to return the car at a specified place (a specified recovery point of the car renting company), otherwise, the time for the car renting is continuously calculated; some rental cars do not require the user to return the vehicle to a designated location (e.g., some rental car companies sharing a single car do not require the user to return the vehicle to the designated location), but rather the next user directly rides or a maintenance person at the rental car company carries the vehicle to the designated location.

For the case that the user is not required to return the vehicle to the designated place, some users can park the vehicle at some places where the vehicle is inconvenient to take for use convenience after renting the vehicle, or at some places where the vehicle is inconvenient to carry, such as on an overhead bridge, and in some fields. This can make it difficult for the next user or maintenance personnel to find the vehicles, let alone transport them to the designated location.

Still alternatively, in some cases, there may be many special areas where the user cannot travel too fast or even enter. The user may easily violate the driving rules for these particular areas if the user is not familiar with them (e.g., cannot drive too quickly or cannot enter).

In view of the above situation, the inventor of the present application believes that it is possible to ensure that a user renting a car will not park the car at a place where the car is not convenient to pick up the car, or will not violate the driving rules in some special areas,

further, as shown in fig. 1, the present application provides a vehicle braking method including:

s101, acquiring the current position of a target vehicle;

s102, determining whether the target vehicle is located in the restricted area or not according to the current position of the target vehicle and the range of the preset restricted area;

and S103, if the target vehicle is located in the restricted area, braking the target vehicle according to a preset braking mode.

In step S101, the types of target vehicles are many, for example, the target vehicles may include the following: non-motor vehicles, electric vehicles, gasoline vehicles and diesel vehicles. The vehicles can be further subdivided, for example, the vehicles can be divided according to the number of wheels, and the non-motor vehicles can be divided into unicycles, bikes (such as shared bicycles), tricycles and the like. Classified according to function, it can be divided into mountain bike, high-speed racing bike, etc. When the scheme of the application is used for the two-wheel bicycle, the invention name of the application can be adaptively adjusted to a two-wheel bicycle braking method.

In the vehicles appearing in the last paragraph, the electric vehicle mainly uses a battery as an energy source, and converts electric energy into mechanical energy to move through a controller, a motor and other components so as to control the current magnitude to change the speed, and the electric vehicle is a two-wheeled electric vehicle generally. Of course, electric vehicles may be classified into ac electric vehicles and dc electric vehicles in terms of the manner of current supply.

Gasoline vehicles are the most common type in life, and most private cars are gasoline vehicles, mainly vehicles using gasoline as fuel. Generally, gasoline vehicles are mainly used for: carrying personnel or goods, although other special uses are possible. The diesel vehicle is similar to the gasoline vehicle, which is a vehicle using gasoline as fuel, and the operating range of the diesel vehicle may be the same as that of the gasoline vehicle.

In step S101, the current position of the target vehicle refers to the current position of the target vehicle. The current position may be obtained by a positioning device provided on the vehicle, where the positioning device may be composed of any one or more of the following three positioning devices: the GPS positioning device, the Beidou positioning device or the strapdown inertial navigation positioning device.

In step S102, the range of the restricted area is preset, and here, the restricted area may be represented by coordinates of a boundary of the restricted area (for example, coordinates of a boundary of an irregular figure), or may be represented by all coordinate points in the restricted area.

Furthermore, if the restricted area can be characterized by the coordinates of the boundary of the restricted area, step S102 can be implemented as follows:

and determining whether the target vehicle is located in the restricted driving area according to whether the coordinate point of the current position of the target vehicle is located in the boundary of the preset restricted driving area. And if the coordinate point where the current position of the target vehicle is located exists in the boundary of the preset traffic control area, determining that the target vehicle is located in the traffic control area.

Correspondingly, if the restricted area can be characterized by all coordinate points in the restricted area, step S102 can be implemented as follows:

and determining whether the target vehicle is located in the restricted area according to whether the coordinate point where the current position of the target vehicle is located coincides with at least one coordinate point in the preset restricted area. And if the coordinate point of the current position of the target vehicle coincides with one coordinate point in the preset restricted area, determining that the target vehicle is located in the restricted area.

Specifically, one or more restriction regions may be provided, and different restriction regions may be adjacent to each other or separated from each other. As shown in fig. 2, there is shown a schematic diagram of 2 restricted areas separated from each other in a certain map. When the target vehicle arrives in both of the restricted areas as shown in fig. 2, braking should be performed in accordance with a predetermined braking manner.

After it is determined that the target vehicle is located in the restricted area according to the current position of the target vehicle, the target vehicle may be braked according to the set braking manner in step S103. Here, the preset braking mode may include many contents, for example, the braking mode may include any one or more of the following information: the time of each braking and the braking force of each braking. Or the braking mode reflects certain requirements on the speed, such as that the speed is 0 and the speed is less than or equal to 15 km/h.

The frequency of braking refers to how often the braking is performed, for example, after the braking is started, the braking is performed every 5 seconds, and the braking is performed every 10 seconds.

The braking time reflects information about the braking time. Specifically, the braking time may be: a start time of each braking, a stop time of each braking, a duration of each braking, a frequency of braking, and the like.

The starting time of braking is as follows: after determining at which time points to initiate braking; the stop time of the brake is as follows: after starting braking, stopping braking at which time points; for example, the braking may be started at the 1 st second after the braking is started, and the braking may be stopped at the 5 th second; braking was started at 10 th second after the start of braking, and braking was stopped at 17 th second. The duration of braking is, e.g., how long it takes after braking is initiated.

The duration of each braking reflects how long after the braking is started and stopped; in fact, the duration of each braking and the braking stop time reflect that the information is similar.

The frequency of braking refers to how often the braking is performed, and when the frequency of using the braking is defined, the time interval between two adjacent braking is usually required to be a fixed value. For example, the frequency of braking may be once every 5 seconds; braking was performed every 10 seconds.

The magnitude of the braking force during each braking reflects that the applied force during braking is the greater the braking force under the condition that other conditions are not changed, the shorter the braking distance is; or, the larger the braking force, the shorter the time until the vehicle is stopped. For example, the braking force during braking may be 50N, 200N; the braking force may also be expressed as a percentage of the target vehicle maximum braking force, for example the braking force may be 50%, 85% of the target vehicle maximum braking force.

Furthermore, after the time and the force of each braking are determined, the target vehicle can be braked according to the determined braking time and the determined braking force (both the braking time and the braking force belong to the specific content in the braking mode).

Here, the number of times of braking may be 1, that is, from when braking is started, until braking is stopped, the same magnitude of force is used for braking; of course, the braking times can also be 2 or more, so that the braking can be carried out in a divided manner, and the braking force can be different every time.

It should be noted that when the target vehicle is braked according to the preset braking mode, there are two specific situations, namely, reducing the speed of the target vehicle to 0 as fast as possible and reducing the speed of the target vehicle to a value different from 0 as fast as possible.

Furthermore, when the execution purpose of step S103 is to reduce the speed of the target vehicle to 0 as fast as possible, in the method provided by the present application, step S103 can be implemented as follows:

After the target vehicle stops moving, the target vehicle may be locked to avoid reuse of the vehicle.

As before, the purpose of braking the target vehicle is not necessarily to drive the target vehicle to a stop, but may be to decelerate the vehicle to reach a certain predetermined speed value. That is, in the solution provided in the present application, step S103 may be implemented as follows:

and braking the target vehicle according to a preset braking mode, and stopping braking after the speed of the target vehicle reaches a preset speed. Here, the speed corresponding to the braking mode may be a value other than 0;

that is, the target vehicle may be braked for the purpose of speed restriction only, not parking. The speed of the target vehicle can be controlled within a reasonable range in the restricted area by limiting the speed of the target vehicle, so that the driving safety of the target vehicle is ensured.

The execution subject of the vehicle braking method provided by the present application may be any intelligent processing device (e.g., a server) other than the target vehicle, or may be the target vehicle itself.

When the execution subject of the vehicle braking method provided by the present application is any intelligent processing device other than the target vehicle, step S101 can be implemented as follows:

the server acquires the current position of the target vehicle through a positioning device arranged on the target vehicle.

Here, the positioning means may be composed of any one or more of the following three positioning means: the GPS positioning device, the Beidou positioning device or the strapdown inertial navigation positioning device.

In a specific implementation, the positioning device may acquire a position signal (for representing the current position of the target vehicle) at predetermined time intervals, where the position signal is the current position of the target vehicle. And after the positioning device acquires the position signal, sending the position signal to a server. It may also be a position signal acquired by the positioning device after receiving some external trigger signal (the external trigger signal may be generated by the server at predetermined time intervals).

Step S102 can be implemented as follows:

and the server determines whether the target vehicle is located in the restricted area according to the current position of the target vehicle and the range of the preset restricted area.

Step S103 can be implemented as follows:

and if the target vehicle is located in the restricted area, the server sends a braking mode to the target vehicle so that the target vehicle brakes the target vehicle according to a preset braking mode.

That is, the server needs to send the braking mode to the controller of the target vehicle, and then the controller of the target vehicle can drive the braking system of the vehicle to operate according to the braking mode sent by the server, so as to brake the target vehicle. In this case, the target vehicle does not have a pre-stored braking mode, and the specific braking mode needs to be sent to the target vehicle by the server.

In certain implementation manner, the braking manner may also be pre-stored in the target vehicle, and in this case, step S103 may be implemented as follows:

and if the target vehicle is located in the restricted area, the server sends a braking signal to the target vehicle so that the target vehicle is braked according to a braking mode prestored in the target vehicle after receiving the braking signal.

Obviously, in this way, the server does not need to carry the content of the specific braking mode in the content sent to the target vehicle, but only sends one trigger signal. This reduces the content of the transmission and reduces the probability of errors in the transmitted signal.

When the subject of execution of the vehicle braking method provided by the present application is the target vehicle, step S101 can be implemented as follows:

the target vehicle acquires the current position of the target vehicle;

step S102 can be implemented as follows:

the target vehicle determines whether the target vehicle is located in the restricted area or not according to the current position of the target vehicle and the range of the preset restricted area;

step S103 can be implemented as follows:

and if the target vehicle is located in the restricted area, braking the target vehicle according to a preset braking mode by the target vehicle.

As mentioned above, the braking mode mainly consists of two kinds of information, i.e. the braking time and the braking force of each brake. In a specific implementation, the braking mode may be a constant, for example, all vehicles may be braked in the same braking mode (e.g., braking force), or different vehicles or different vehicle motion states may be braked in different braking modes. The scheme for determining the braking mode can be divided into three schemes, wherein the braking mode is determined according to the motion state information; determining a braking mode according to a current traffic control area of a target vehicle; and determining a braking mode according to the motion state information and the current traffic control area of the target vehicle. In the following, three schemes for determining the braking mode are described:

the first scheme for determining the braking mode comprises the following steps:

in the scheme that this application provided, the braking is carried out under the condition that the vehicle oneself is in the motion state under most circumstances, that is just begin to brake when the vehicle moves to the restricted area in the time, if the vehicle is in the motion state and directly carries out the braking of big dynamics, then can bring certain danger for the user who uses the vehicle. For example, when a bicycle brakes suddenly, if the bicycle brakes with full force, a user using the bicycle (such as a user riding a bicycle) may fall off the bicycle; for another example, when the automobile brakes suddenly, if the automobile brakes with full force, the driver may hit the front windshield. Further, when the vehicle moves into the restricted area and is braked while the vehicle is in motion, the appropriate braking manner should be determined in consideration of the motion state information of the vehicle.

In the method provided by the present application, in step S103, the step of braking the target vehicle according to the preset braking manner may be implemented as follows:

step 1031, determining a braking mode according to the current motion state information of the target vehicle;

and step 1032, braking the target vehicle according to the determined braking mode.

In step 1031, there are three types of motion state information, which are: a current movement speed of the target vehicle; a distance between a current position of the target vehicle and a boundary of the restricted area; the length of time the target vehicle is located in the restricted area. When the braking mode is determined according to the motion state information in specific implementation, any one or more of the three pieces of information can be used.

Generally, the higher the current speed of the target vehicle, the smaller the braking force per braking, otherwise a danger is likely to occur, so that the longer the total braking time.

The distance between the current position of the target vehicle and the boundary of the restricted area reflects the distance that the target vehicle has traveled out of the normal area (the non-restricted area), and generally speaking, the farther the distance between the current position of the target vehicle and the boundary of the restricted area is, the greater the braking force should be, the shorter the total time length of braking should be, and the smaller the time interval between two adjacent brakes should be (the higher the braking frequency should be), so as to control the vehicle speed as soon as possible (to reduce to 0 or to a certain predetermined value as soon as possible).

The length of time that the target vehicle is located in the restricted area reflects the time that the target vehicle is continuously in the restricted area, or the total time that the target vehicle is in the restricted area within a predetermined period of time (e.g., the past day, week). Further, the longer the time length that the target vehicle is located in the restricted area is, the more abnormal the target vehicle may be (it may be said that the target vehicle is farther from the normal area to some extent), and correspondingly, the greater the braking force is, the smaller the time interval between two adjacent braking operations is (the higher the braking frequency is), so as to control the vehicle speed as fast as possible (to 0 or to a predetermined value as fast as possible).

In step 1031, determining a braking mode according to the current motion state information of the target vehicle, where there are two specific implementation manners, that is, calculating the braking mode according to the current motion state information of the target vehicle and a preset calculation formula; and searching a braking mode corresponding to the current motion state information from a preset table by adopting a table look-up mode according to the current motion state information.

If the braking mode is calculated according to the current motion state information of the target vehicle and a preset calculation formula, a calculation formula reflecting the conversion relation between the parameters in the motion state information and the parameters in the braking mode needs to be prestored in the system.

If the braking mode corresponding to the current motion state information is found out from the preset table according to the current motion state information, a comparison table needs to be prestored in a system (an execution main body of the method provided by the application), the corresponding relation between each current motion state information and each braking mode is prestored in the comparison table, one current motion state information is only associated with one unique braking mode, and then after the current motion state information is obtained, the unique braking mode can be found out, and the target vehicle is braked according to the found braking mode.

Further, after the braking method is determined based on the motion state information of the vehicle, the target vehicle may be braked according to the determined braking method in step 1032.

The second scheme for determining the braking mode comprises the following steps:

different braking rules may be applied in different restricted areas, for example, some special areas are absolutely inaccessible, and if the target vehicle is about to reach the special areas, the braking mode with the maximum force should be applied to ensure that the vehicle does not enter the special areas. In this case, when the traffic control region is set, an annular traffic control region may be provided around the special expectation, and the target vehicle may be braked with the maximum braking force after entering the traffic control region.

For another example, the general restricted area does not need to be excessively managed, and in this case, braking may be performed with a small braking force, the braking frequency may be low, and the time for each braking may be short.

That is, in the method provided by the present application, in step S103, the step of braking the target vehicle according to the preset braking manner may be implemented as follows:

step 1033, determining a target traffic control area where the target vehicle is located according to the current position of the target vehicle and the range of each traffic control area;

and 1034, braking the target vehicle according to the braking mode of the target traffic control area.

In step 1033, each restricted travel area generally corresponds to a unique braking mode, and after the target restricted travel area is determined, the target vehicle can be braked according to the braking mode corresponding to the target restricted travel area.

As shown in fig. 3, a schematic diagram of 3 restricted areas and a core area displayed on an electronic map is shown. As can be seen from fig. 3, the restricted area 1 and the restricted area 2 are immediately adjacent, and the restricted area 3 surrounds the core area.

The braking pattern for restricted zones 1-3 of fig. 3 is shown in table 1 below.

TABLE 1

As can be seen from table 1, the braking of the restricted area 3 is most severe, i.e. the braking time is the shortest when the target vehicle moves into the restricted area 3 (mainly the restricted area 3 encloses a core area that the vehicle is absolutely unable to enter). In fig. 3, the core area may be the area where the pedestrian street is located, or some other forbidden area. The vehicle is braked before reaching the forbidden zone, so that the vehicle cannot enter the forbidden zone, or the vehicle moves at a lower speed after entering the forbidden zone.

The restricted area 1 and the restricted area 2 are adjacent to each other, so that the vehicle is likely to directly enter the restricted area 1 after exiting from the restricted area 2, and thus when the restricted areas are switched, the vehicle can use the braking mode of the restricted area in which restricted area. The braking mode of each restricted area is usually determined manually.

When the range of the restricted area is characterized, the range may be characterized by the boundary of the restricted area, or may be characterized by a set of all coordinate points constituting the restricted area. If the range of the restricted area is represented by the boundary of the restricted area, step 1033 may be executed to determine that the current position of the target vehicle is within the boundary of which restricted area, and further determine which restricted area is within the boundary of which restricted area, and then which restricted area is taken as the target restricted area.

If the range of the restricted area is represented by the set of all the coordinate points constituting the restricted area, step 1033 may be executed to determine in which set of coordinate points of the restricted area the current position of the target vehicle is, and further, in which set of coordinate points of the restricted area the target vehicle is, which restricted area is taken as the target restricted area.

After the target traffic restriction area is determined, the target vehicle can be braked according to the braking mode of the target traffic restriction area.

The third scheme for determining the braking mode is as follows:

the method combines the two previous schemes for determining the braking mode, firstly determines the target traffic control area where the target vehicle is located according to the current position of the target vehicle and the range of each traffic control area, then selects the target braking mode from a plurality of braking modes of the target traffic control area according to the motion state information, and uses the target braking mode for braking. In contrast to the second approach for determining the braking mode, in the second approach for determining the braking mode, each travel limiting region corresponds to only one braking mode, whereas in the third approach for determining the braking mode, each travel limiting region corresponds to a plurality of braking modes.

That is, step S103 may be implemented as follows:

step 1035, determining a target traffic control area where the target vehicle is located according to the current position of the target vehicle and the range of each traffic control area;

step 1036, selecting a target braking mode from a plurality of braking modes of a target traffic control area according to the current motion state information of the target vehicle;

and 1037, braking the target vehicle according to the target braking mode.

The implementation of step 1035 is the same as the implementation of step 1033 and will not be repeated here.

As shown in table 2 below, a plurality of braking manners corresponding to a certain restriction area (restriction area a) and a range of motion state information corresponding to each braking manner in step 1036 are shown.

TABLE 2

As shown in table 2, a plurality of braking manners with respect to the restricted area a, and a range of motion information corresponding to each braking manner are shown. In table 2, the correspondence between the braking method and the motion information range for a certain restricted area may be set in advance.

According to table 2, if the motion information range of the target vehicle is between a and B and the vehicle is 2.2 km from the boundary of the restricted area a, braking should be performed using 20% -40% of the maximum braking force of the target vehicle.

If the motion information range of the target vehicle is between A and B, and the distance between the vehicle and the boundary of the restricted area A is 8.2 kilometers, 15% -25% of the maximum braking force of the vehicle should be used for braking, the braking frequency is once every 2 seconds, and the time length of each braking is 1-1.5 seconds.

Further, in step 1036, an appropriate one of the plurality of braking methods corresponding to the target restricted area can be selected as the target braking method. In step 1036, there are three types of motion state information, which are: a current movement speed of the target vehicle; a distance between a current position of the target vehicle and a boundary of the restricted area; the length of time the target vehicle is located in the restricted area. When the braking mode is determined according to the motion state information in specific implementation, any one or more of the three pieces of information can be used.

The distance between the current position of the target vehicle and the boundary of the restricted area reflects the distance that the target vehicle has traveled out of the normal area (the non-restricted area), and generally speaking, the farther the distance between the current position of the target vehicle and the boundary of the restricted area is, the greater the braking force should be, the longer the total duration of braking should be, and the smaller the time interval between two adjacent brakes should be (the higher the braking frequency should be), so as to control the vehicle speed as soon as possible (to decrease to 0 or to some predetermined value as soon as possible).

The length of time that the target vehicle is located in the restricted area reflects the time that the target vehicle is continuously in the restricted area, or the total time that the target vehicle is in the restricted area within a predetermined period of time (e.g., the past day, week). Further, the longer the time length that the target vehicle is located in the limited driving area is, the more abnormal the target vehicle may be (it may be stated to some extent that the target vehicle is driven farther from the normal driving area), and correspondingly, the greater the braking force is, the longer the time length of each braking is, the smaller the time interval between two adjacent braking is (the higher the braking frequency is), so as to control the vehicle speed as soon as possible (to 0 or to a certain predetermined value).

Furthermore, after the motion state information is determined, a corresponding braking mode can be determined as a target braking mode by adopting a table look-up mode.

And finally. In step 1037, the target vehicle may be braked based on the determined target braking mode.

The above disclosure discloses three schemes for determining the braking mode, which have advantages and disadvantages, and are respectively more suitable for use scenes.

As described above, if the speed of the target vehicle is too high, the user may be at risk if the braking is performed with a large braking force at a time. Therefore, when braking, the braking should be performed by gradually increasing the braking force or by applying a snub brake.

That is, the preset braking manner may be: increasing the braking force of the target vehicle at preset time intervals;

the preset braking mode is as follows: the target vehicle is braked once at predetermined time intervals.

The increase of the braking force can be considered as performing multiple times of braking by using different braking forces respectively, wherein the previous braking force is smaller than the next braking force.

That is, the process of braking the target vehicle may be understood as braking the target vehicle in such a manner that the braking force is increased at predetermined time intervals.

The target vehicle is braked once at predetermined time intervals, which means that the target vehicle is braked once every several seconds (e.g., 1 second, 1.5 seconds). The braking force at different times may be the same or different. Preferably, the previous braking force is smaller than the subsequent braking force.

Through adopting the braking mode of gradually increasing the braking dynamics, perhaps be the mode of interval multiple braking, can avoid carrying on suddenly great dynamics, long-time brake and the dangerous problem that causes to a certain extent.

Besides controlling the specific braking process by the braking mode to reduce the danger of the user, the method can also reduce the danger degree of the user by voice prompt for the user.

That is, when the target vehicle is located in the restricted area, a braking prompt message may be played to the user before braking to inform the user that an automatic braking (as distinguished from a manual braking by the user) state is about to be entered.

Furthermore, in the method provided by the present application, step S103 can be implemented as follows:

step 201, if the target vehicle is located in the restricted area, generating braking prompt information;

step 202, outputting braking prompt information through a target vehicle;

and step 203, braking the target vehicle according to a preset braking mode after the preset time for outputting the braking prompt information.

In step 201, the braking prompt message generated may be in various forms, for example, the braking prompt message may be a braking prompt message in a voice form. The braking prompt message may also be a vibration type braking prompt message.

Correspondingly, in step 202, when the braking prompt message in the form of voice is output, a voice such as "brake state to be entered" may be played to prompt the user.

When the braking prompt information in the vibration form is output, the vibration device arranged on the target vehicle can be driven to work, so that the aim of prompting a user is fulfilled. For example, the vibration may be performed every 2 seconds, and may be performed every 8 seconds. So as to achieve the purpose of prompting the user.

Playing the brake prompt message in the form of voice and outputting the brake prompt message in the form of vibration are both one way of outputting the brake prompt message, and when the brake prompt message is specifically realized, any one of the two output ways can be selected or the two output ways can be used simultaneously.

Finally, in step 203, after the predetermined time (e.g. 2 seconds) of the braking prompt message is output, the target vehicle may be braked according to the preset braking mode. Here, the process of braking the target vehicle in the preset braking manner has been explained in the foregoing, and the description thereof is not repeated.

The braking prompt information is output to prompt the user, and then braking is carried out, so that the safety of the user can be guaranteed to a certain extent. Namely, the function of prompting the user is achieved by outputting the braking prompt information firstly.

When the braking mode is specifically implemented, the braking prompt information is output to prompt the user, and then the braking mode is prompted once every preset time, for example, the braking mode is prompted once every 2 seconds; for example, a prompt may be given before each brake, i.e., a voice "brake soon to be applied" may be played before a brake is applied, so that the user may prepare for the brake application.

In the scheme of firstly outputting the braking prompt information and then braking, after the braking prompt information is output, a user may already manually brake (the user performs braking by himself), and at the moment, the user can not brake in an automatic braking mode any more, so that the user is prevented from being possibly dangerous due to automatic braking. That is, if the target vehicle has entered a state of deceleration, the target vehicle may not be automatically driven to perform braking.

That is, step 203 may be implemented as follows:

step 2031, detecting an acceleration value of the target vehicle after a predetermined time of outputting the braking prompt information;

step 2032, judging whether the target vehicle is in a deceleration state or not according to the acceleration value of the target vehicle;

step 2033, if the target vehicle is not in a deceleration state, braking the target vehicle according to a preset braking mode.

In step 2031, the acceleration value of the target vehicle may be detected by measuring the velocity value of the target vehicle at different time periods, and then determining the acceleration value of the target vehicle according to the variation of the velocity value of the vehicle;

then, in step 2032, it may be determined whether the target vehicle is in a decelerating state based on the acceleration value of the target vehicle. Then, in step 2033, if the target vehicle is in a deceleration state, the current process may be terminated to let the vehicle decelerate itself to a predetermined speed, or decelerate itself to a stop state.

If the target vehicle is not in a decelerating state, the target vehicle needs to be braked according to a preset braking mode so as to reduce the speed of the target vehicle as soon as possible until the target vehicle reaches a preset speed or stops.

In some cases (in the case of aiming to set the speed of the target vehicle to 0), although the target vehicle is in the deceleration state in step 2032, the target vehicle is not stopped yet, and further, in order to ensure that the target vehicle can be stopped as soon as possible, the speed of the target vehicle may be controlled by automatic braking.

Further, after step 2032, the following steps may be further included:

That is, if the target vehicle is considered to be in the deceleration state in step 2032, the process is not terminated directly, but the moving speed of the target vehicle is detected after a predetermined time, and if the moving speed is greater than a preset threshold, it indicates that the braking means adopted by the user himself is not ideal, or the user needs to intervene in an automatic braking manner. Correspondingly, if the moving speed of the target vehicle is less than or equal to the preset threshold value, the braking means adopted by the user per se is shown to achieve the expected purpose, and at the moment, the target vehicle can not be braked in an automatic braking manner, so that the process can be terminated. Here, the preset threshold may be 0 or a value greater than 0.

If the moving speed of the target vehicle is greater than the preset threshold value, braking the target vehicle according to a preset braking mode, wherein the braking can be directly reducing the speed of the target vehicle to 0 or reducing the speed of the target vehicle to a certain value.

After the preset time of outputting the braking prompt information, when the target vehicle is braked according to the preset braking mode, whether the intervention of automatic braking is needed or not is judged according to the acceleration value of the target vehicle, and whether the intervention is needed or not can be determined according to whether the target vehicle returns to the integral area or not.

Further, step 203 may be implemented as follows:

step 2034, after the preset time of outputting the braking prompt message, detecting whether the target vehicle is still in the restricted area;

step 2035, if the target vehicle is still in the restricted area, braking the target vehicle according to a preset braking mode.

Here, whether the target vehicle is located in the optional restricted area may be directly acquiring the position of the target vehicle, and determining whether the target vehicle is still located in the restricted area according to the position of the target vehicle. If the target vehicle is still in the restricted area, braking may be applied forcibly in order to ensure that the target vehicle does not leave the normal area too far. Of course, if the target vehicle returns to the non-restricted area (normal area), the current flow may be terminated.

The method comprises the steps of judging whether a target vehicle is in a restricted zone or not, and determining whether a braking mode is carried out on the target vehicle according to a preset braking mode or not, wherein the braking mode is mainly used for solving the problem that a user accidentally enters the restricted zone in a certain situation, for example, when the user drives a vehicle, the user needs to drive at the boundary of the restricted zone due to the problem of restricted zone division. At this time, the user may continuously enter the restricted area and return to the non-restricted area from the restricted area, and if the user performs forced braking each time the user enters the restricted area, the sensitivity of the user is inevitably reduced, and meanwhile, danger is also caused, so that whether the target vehicle is to be braked according to a preset braking mode can be determined according to whether the user returns to the non-linear area after a period of time.

After the target vehicle enters the traffic control area, the safety of the user, the use experience degree of the vehicle and the use convenience are guaranteed to a certain extent by means of prompting. In addition to prompting after the target vehicle enters the restricted area, the target vehicle can be prompted when the target vehicle is closer to the restricted area, so that the target vehicle does not enter the restricted area.

That is, the method provided by the present application, after determining whether the target vehicle is located in the restricted area according to the current position of the target vehicle and the range of the preset restricted area, further includes:

step 301, if the target vehicle is not located in the restricted area, calculating the remaining time of the target vehicle reaching the restricted area according to the distance between the target vehicle and the restricted area;

step 302, if the remaining time is less than a predetermined threshold, generating a restriction prompt message;

and step 303, outputting the driving restriction prompting information through the target vehicle.

In step 301, whether the target vehicle is located in the restricted area is determined according to the determination result of step S102, and the manner of determination is described above, and will not be described again here.

The distance to the restricted area may be calculated from the distance between the current position of the target vehicle and the position of the boundary of the restricted area. In calculating the distance between the two, the traveling direction of the target vehicle may be further considered, for example, if the target vehicle moves westward, the distance between the target vehicle and the restricted driving area in the west should be calculated; if the target vehicle is moving eastward, the target vehicle's distance from the restricted zone of the eastern part should be calculated. It can be seen that in determining the distance between the target vehicle and the restricted area, the direction of travel of the target vehicle should also be considered in order to ensure the accuracy of the calculation.

The traveling direction of the target vehicle may be determined by detecting a riding rule of the target for a period of time, or directly determined by a gyroscope provided on the target vehicle (the gyroscope determining the traveling direction of the target vehicle may be a gyroscope installed in a cell phone of a user using the target vehicle).

The travel speed of the target vehicle should also be taken into account when calculating the remaining time. The traveling speed of the target vehicle can be directly calculated according to the position acquired by the positioning device. The positioning device can be composed of any one or more of the following three positioning devices: the GPS positioning device, the Beidou positioning device or the strapdown inertial navigation positioning device. The traveling speed of the target vehicle may also be a preset value that is empirically obtained.

After the travel speed and distance are determined, the remaining time for the target vehicle to reach the restricted area can be calculated. Further, if the remaining time is too short, it indicates that the subject vehicle is about to enter the restricted area and may be forcibly braked. To avoid this, a prompt is provided to the user, the main purpose of which is to inform the user that further forward movement may enter the restricted area and may be forcibly braked. Therefore, when the remaining time is less than the predetermined threshold, the driving restriction prompting message can be generated and output through the target vehicle to prompt the user.

The form of the generated restriction prompting message can be various, for example, the restriction prompting message can be a speech form of restriction prompting message. The traffic restriction prompting information can also be traffic restriction prompting information in a vibration mode.

Correspondingly, in step 303, when the traffic restriction prompting information in the form of voice is output, a voice such as "will enter the traffic restriction area" may be played to prompt the user.

When the driving restriction prompting information in the vibration form is output, the vibration device arranged on the target vehicle can be driven to work, so that the purpose of prompting a user is achieved. For example, the vibration may be performed every 10 seconds, and may be performed every 20 seconds. So as to achieve the purpose of prompting the user.

The way of playing the traffic restriction prompting information in the form of voice and the way of driving the vibration device arranged on the target vehicle to work are both a way of outputting the traffic restriction prompting information, and when the traffic restriction prompting information is specifically realized, any one of the two output ways can be selected or the two output ways can be used simultaneously.

In accordance with the above method, the present application also provides a vehicle brake device including:

In certain embodiments, a first brake module comprises:

In one embodiment, the predetermined braking mode includes:

increasing the braking force of the target vehicle at preset time intervals;

or, the target vehicle is braked once at predetermined time intervals.

In certain embodiments, a first brake module comprises:

In certain embodiments, a third brake unit comprises:

In a certain embodiment, further comprising:

In certain embodiments, the target vehicle includes any one or more of:

non-motor vehicles, electric vehicles, gasoline vehicles and diesel vehicles.

In certain embodiments, a first brake module comprises:

In correspondence with the above method, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as a vehicle braking method.

As shown in fig. 4, a schematic view of an electronic device provided in an embodiment of the present application, the electronic device 1000 includes: the vehicle braking system comprises a processor 1001, a memory 1002 and a bus 1003, wherein the memory 1002 stores execution instructions, when the electronic device runs, the processor 1001 and the memory 1002 communicate through the bus 1003, and the processor 1001 executes the steps of the vehicle braking method stored in the memory 1002.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A vehicle braking method, characterized by comprising:

acquiring the current position of a target vehicle;

2. The method of claim 1, wherein braking the target vehicle in a predetermined braking regime comprises:

and braking the target vehicle according to the determined braking mode.

3. The method of claim 1, wherein braking the target vehicle in a predetermined braking regime comprises:

4. The method of claim 1, wherein braking the target vehicle in a predetermined braking regime comprises:

and braking the target vehicle according to the target braking mode.

5. The method according to claim 2 or 4, wherein the current motion state information comprises any one or more of the following:

6. The method of claim 1, wherein the predetermined braking regime comprises:

increasing the braking force of the target vehicle at preset time intervals;

or, the target vehicle is braked once at predetermined time intervals.

7. The method of claim 1, wherein braking the target vehicle in a predetermined braking manner if the target vehicle is located in the restricted area comprises:

outputting braking prompt information through the target vehicle;

8. The method of claim 7, wherein braking the target vehicle in a preset braking manner after a predetermined time of outputting the braking prompt message comprises:

9. The method according to claim 8, further comprising, after determining whether the target vehicle is in a decelerating state according to the acceleration value of the target vehicle:

10. The method of claim 1, after determining whether the target vehicle is located in the restricted area based on the current position of the target vehicle and a range of a preset restricted area, further comprising:

11. The method of claim 1, wherein the target vehicle comprises any one or more of:

non-motor vehicles, electric vehicles, gasoline vehicles and diesel vehicles.

12. The method of claim 1, wherein braking the target vehicle in a predetermined braking regime comprises:

13. The method of claim 1, wherein braking the target vehicle in a predetermined braking regime comprises:

14. A vehicle brake device, characterized by comprising:

15. The apparatus of claim 14, wherein the first braking module comprises:

16. The apparatus of claim 14, wherein the first braking module comprises:

17. The apparatus of claim 14, wherein the first braking module comprises:

18. The apparatus according to claim 15 or 17, wherein the current motion state information comprises any one or more of the following information:

19. The apparatus of claim 14, wherein the predetermined braking regime comprises:

increasing the braking force of the target vehicle at preset time intervals;

or, the target vehicle is braked once at predetermined time intervals.

20. The apparatus of claim 14, wherein the first braking module comprises:

21. The apparatus of claim 20, wherein the third brake unit comprises:

22. The apparatus of claim 21, further comprising:

the second detection subunit is used for detecting the moving speed of the target vehicle after the preset time if the target vehicle is in a deceleration state;

23. The apparatus of claim 14, further comprising:

24. The apparatus of claim 14, wherein the target vehicle comprises any one or more of:

non-motor vehicles, electric vehicles, gasoline vehicles and diesel vehicles.

25. The apparatus of claim 14, wherein the first braking module comprises:

26. The apparatus of claim 14, wherein the first braking module comprises:

27. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the vehicle braking method according to any one of claims 1 to 13.

28. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, is adapted to carry out the steps of the vehicle braking method according to any one of claims 1 to 13.