CN112644484B - Braking method, braking device, electronic equipment and readable storage medium - Google Patents

Braking method, braking device, electronic equipment and readable storage medium Download PDF

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Publication number
CN112644484B
CN112644484B CN202110015250.2A CN202110015250A CN112644484B CN 112644484 B CN112644484 B CN 112644484B CN 202110015250 A CN202110015250 A CN 202110015250A CN 112644484 B CN112644484 B CN 112644484B
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Prior art keywords
vehicle
target object
vehicle speed
speed
reducing
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CN112644484A (en
Inventor
韩超
李晓良
唐佳烈
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BAIC Motor Co Ltd
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BAIC Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters

Abstract

The embodiment of the application provides a braking method, a braking device, electronic equipment and a readable storage medium. The braking method comprises the following steps: when a target object located in front of a vehicle is detected, state information between the vehicle and the target object is acquired, the state information including: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of the driving obstacle of the vehicle caused by the target object; when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration; when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed. In the embodiment of the present application, the possibility that the vehicle may strike on the target object is reduced, so that the possibility that the vehicle may strike on the target object is smaller.

Description

Braking method, braking device, electronic equipment and readable storage medium
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a braking method, an apparatus, an electronic device, and a readable storage medium.
Background
With the development of science and technology, vehicles have become common transportation tools. Generally, an automatic emergency braking system is provided in a vehicle. When the target object is detected in front of the vehicle in the running process of the vehicle, the vehicle is automatically braked. However, the possibility that the vehicle will hit the target object during braking of the vehicle is high.
Content of application
The embodiment of the application provides a braking method, a braking device, electronic equipment and a readable storage medium. The problem that the possibility that the vehicle impacts on the target object is high in the process of braking the vehicle can be solved.
In order to solve the technical problem, the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides a braking method, including:
upon detecting a target object located in front of a vehicle, acquiring status information between the vehicle and the target object, the status information including: the predicted collision time of the vehicle and the target object, the confidence level of the target object, and the confidence level of the target object are used for reflecting the degree of the vehicle driving obstacle caused by the target object;
when the confidence coefficient of the target object is greater than a confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than a time threshold value, reducing the speed of the vehicle according to the initial braking acceleration;
and when the vehicle speed reduction amount of the vehicle is equal to the target reduction amount, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to the target vehicle speed.
Optionally, after the reducing the vehicle speed of the vehicle according to the initial braking acceleration, the method further comprises:
when the target object is not detected, determining the current vehicle speed of the vehicle;
and when the current speed of the vehicle is greater than a preset speed threshold, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the speed of the vehicle is equal to a target speed.
Optionally, after the determining the current vehicle speed of the vehicle, the method further comprises:
when the speed of the vehicle is less than or equal to a preset speed threshold value, reducing the speed of the vehicle according to the initial braking acceleration;
and when the vehicle speed reduction amount of the vehicle is equal to the target reduction amount, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold value.
Optionally, before the vehicle speed up to the vehicle is equal to a target vehicle speed, the method further comprises:
and reducing the vehicle speed of the vehicle according to the initial braking acceleration when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
Optionally, before the vehicle speed up to the vehicle is equal to a target vehicle speed, the method further comprises:
and reducing the vehicle speed of the vehicle according to the current braking acceleration of the vehicle when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
Optionally, after reducing the vehicle speed of the vehicle in accordance with the initial braking acceleration, the method further comprises:
determining a vehicle speed drop amount of the vehicle.
Optionally, the determining a vehicle speed reduction amount of the vehicle includes:
determining an initial vehicle speed at which a vehicle speed of the vehicle starts to be reduced in accordance with an initial braking acceleration;
detecting a braking speed of the vehicle in a process of reducing the speed of the vehicle according to an initial braking acceleration;
and taking the difference value of the initial vehicle speed and the braking vehicle speed as a vehicle speed reduction amount.
In a second aspect, an embodiment of the present application provides a brake apparatus, including:
an obtaining module, configured to, when a target object located in front of a vehicle is detected, obtain state information between the vehicle and the target object, where the state information includes: the predicted collision time of the vehicle and the target object, the confidence level of the target object, and the confidence level of the target object are used for reflecting the degree of the vehicle driving obstacle caused by the target object;
the first reduction module is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the confidence coefficient of the target object is larger than a confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is smaller than a time threshold value;
and the second reduction module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to the target vehicle speed when the vehicle speed reduction amount of the vehicle is equal to the target reduction amount.
Optionally, the apparatus further comprises:
the first determination module is used for determining the current vehicle speed of the vehicle when the target object is not detected;
and the third reducing module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reducing gradient when the current vehicle speed of the vehicle is greater than a preset vehicle speed threshold value until the vehicle speed of the vehicle is equal to the target vehicle speed.
Optionally, the apparatus further comprises:
the fourth reducing module is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed threshold value;
and the fifth reducing module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reducing gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold value when the vehicle speed reducing amount of the vehicle is equal to the target reducing amount.
Optionally, the apparatus further comprises:
and a sixth reducing module, configured to reduce the vehicle speed of the vehicle according to the initial braking acceleration when the target object is detected again in a process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
Optionally, the apparatus further comprises:
and a seventh reducing module, configured to reduce the vehicle speed of the vehicle according to the current braking acceleration of the vehicle when the target object is detected again in a process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
Optionally, the apparatus further comprises:
and the second determination module is used for determining the vehicle speed reduction amount of the vehicle.
Optionally, the second determining module includes:
a first determination unit configured to determine an initial vehicle speed at which a vehicle speed of the vehicle starts to decrease in accordance with an initial braking acceleration;
a detection unit configured to detect a braking vehicle speed of the vehicle in a process of reducing the vehicle speed of the vehicle in accordance with an initial braking acceleration;
and a second determination unit configured to use a difference between the initial vehicle speed and the braking vehicle speed as a vehicle speed decrease amount.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instructions stored on the memory and executable on the processor, and when executed by the processor, the program or instructions implement the steps of the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the method according to the first aspect.
In the embodiment of the present application, when a target object located in front of a vehicle is detected, state information between the vehicle and the target object is acquired, and the state information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of driving obstacles caused by the target object to the vehicle; when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration; when the vehicle speed of the vehicle is decreased by an amount equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased in accordance with the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed. That is, in the embodiment of the present application, when the vehicle speed of the vehicle is decreased by the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient, so that the vehicle speed of the vehicle is still decreased, and the vehicle speed is prevented from remaining unchanged or increasing, so that the possibility that the vehicle may collide with the target object is decreased, and the possibility that the vehicle may collide with the target object is made smaller.
Drawings
FIG. 1 is a flow chart illustrating a braking method according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a brake apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present application;
fig. 4 shows a hardware structure diagram of an electronic device according to 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 some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/", and generally means that the former and latter related objects are in an "or" relationship.
A braking method, a braking device, and an electronic device provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
Referring to fig. 1, a flow chart of a braking method provided by an embodiment of the present application is shown. As shown in fig. 1, the braking method includes:
step 101: when a target object located in front of the vehicle is detected, state information between the vehicle and the target object is acquired. Wherein the state information includes: the predicted collision time of the vehicle and the target object, the confidence level of the target object and the confidence level of the target object are used for reflecting the degree of the driving obstacle of the vehicle caused by the target object.
Generally, an automatic Emergency Braking system (AEB) is installed in a vehicle, and includes a detection module, a control module and a Braking module, and the control module is electrically connected to the detection module and the Braking module, respectively. During the running process of the vehicle, the detection module can detect a target object in front of the vehicle in real time and detect the speed of the vehicle, the detection module can send the detected target object to the control module, and the control module can determine state information between the vehicle and the target object based on the target object detected by the detection module.
For example, the detection module may include a radar that transmits electromagnetic waves through which a target object in front of the vehicle is determined, and a speed sensor that may then determine a distance between the vehicle and the target object based on the electromagnetic waves transmitted by the radar, and may detect a speed of the vehicle. The predicted time to collision of the vehicle with the target object may be determined based on the distance between the vehicle and the target object and the vehicle speed of the vehicle, and the control module may further determine the confidence level of the target object based on the target object detected by the detection module.
For another example, the detection module may include a camera that captures a target object in front of the vehicle, and a speed sensor that may detect a speed of the vehicle, after which the control module may determine a distance between the vehicle and the target object based on an image captured by the camera. The predicted time to collision of the vehicle with the target object may be determined based on the distance between the vehicle and the target object and the vehicle speed of the vehicle, and the control module may further determine the confidence level of the target object based on the target object detected by the detection module.
Step 102: and when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration.
The confidence degree of the target object is larger than the confidence degree threshold value, the fact that the target object in front of the vehicle can cause obstacles to the driving of the vehicle is shown, the target object is a real target object, the predicted collision time of the vehicle and the target object is smaller than the time threshold value, and the fact that the vehicle can collide with the target object within the time threshold value is shown, and driving obstacles of the vehicle are caused. Therefore, when the confidence of the target object is greater than the confidence threshold and the predicted time to collision of the target object of the vehicle is less than the time threshold, it indicates that the vehicle may collide with the target object, and therefore, it is necessary to brake the vehicle to reduce the vehicle speed of the vehicle according to the initial braking acceleration.
In addition, in the embodiment of the present application, the confidence threshold may be determined according to actual needs, for example, the confidence threshold is 95%, and for the value of the confidence threshold, the embodiment of the present application is not limited herein. In addition, the time threshold may be determined according to actual needs, for example, the time threshold is 1 minute, and the value of the time threshold is not limited herein.
It should be noted that, in the embodiment of the present application, the target object may be a pedestrian, a vehicle, or another obstacle that blocks the vehicle from traveling.
In addition, after the vehicle speed of the vehicle is reduced according to the initial braking acceleration, the braking method provided by the embodiment of the application can further comprise the following steps: when the target object is not detected, the current vehicle speed of the vehicle is determined. And when the current speed of the vehicle is greater than the preset speed threshold, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the speed of the vehicle is equal to the target speed.
After the vehicle speed of the vehicle is reduced according to the initial braking acceleration, the vehicle speed of the vehicle is reduced, and during the process of reducing the vehicle speed of the vehicle, a situation that the target object is lost, namely the target object is not detected, can occur, and at this moment, the current vehicle speed of the vehicle can be determined. Wherein the current vehicle speed of the vehicle can be determined by means of a speed sensor.
When the current vehicle speed of the vehicle is greater than the preset vehicle speed threshold value, the vehicle speed is higher, and at the moment, the initial braking acceleration of the vehicle is reduced according to the braking acceleration reduction gradient, so that the initial braking acceleration of the vehicle is reduced. However, since the vehicle is still braked, in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient, the vehicle speed of the vehicle is still reduced until the vehicle speed of the vehicle is equal to the target vehicle speed, the reduction of the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient is stopped, and the braking of the vehicle is stopped, that is, the reduction of the vehicle speed is stopped. When the vehicle speed of the vehicle is equal to the target vehicle speed, it indicates that the vehicle may not collide with the target object, and the driver of the vehicle may sense a decrease process of the vehicle speed in the vehicle, so that the driver may have a reaction time. That is, the reaction time may be provided to the driver by reducing the initial braking acceleration of the vehicle in accordance with the braking acceleration reduction gradient so that the vehicle speed of the vehicle is reduced.
It should be noted that the braking acceleration reduction gradient may be determined according to actual needs, for example, the braking acceleration reduction gradient may be 1m/s 2 The embodiment of the present application is not limited to the value of the braking acceleration decreasing gradient. In addition, the preset vehicle speed threshold may be determined according to actual needs, for example, the preset vehicle speed threshold may be 45km/h, and the embodiment of the present application is not limited herein for the preset vehicle speed threshold.
For example, the initial braking acceleration is 9m/s 2 The braking acceleration reduction gradient is 1m/s 2 I.e. in accordance with 1m/s 2 Reducing initial braking acceleration by 9m/s 2 Wherein the initial braking acceleration can be reduced once every 1 second, namely after the first second, the initial braking acceleration is 9m/s 2 Becomes 8m/s 2 After the second, the initial braking acceleration is controlled to be 8m/s 2 Becomes 7m/s 2 And so on. Wherein the initial braking acceleration is reduced in accordance with the braking acceleration gradientIn the process, the vehicle speed of the vehicle is still reduced.
In addition, in the present embodiment, when the target object is not detected, the current vehicle speed of the vehicle is determined. When the current vehicle speed of the vehicle is greater than the preset vehicle speed threshold value, when the initial braking acceleration of the vehicle is reduced according to the braking acceleration reduction gradient, the target object may still be continuously detected, and the vehicle speed of the vehicle is reduced, at this time, there may be a case where the target object is re-detected, and therefore, until the vehicle speed of the vehicle is equal to the target vehicle speed, the braking method may further include: when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient, the vehicle speed of the vehicle is reduced according to the initial braking acceleration.
Since the vehicle speed can be reduced in accordance with the initial braking acceleration since the vehicle is at risk of colliding with the target object when the target object is re-detected during the process of reducing the initial braking acceleration of the vehicle in accordance with the braking acceleration reduction gradient. Since the initial braking acceleration decreases the vehicle speed faster, the vehicle speed is decreased according to the initial braking acceleration, so that the vehicle speed is decreased faster, and the risk that the vehicle collides with the target object is reduced.
In addition, in the present embodiment, when the target object is not detected, the current vehicle speed of the vehicle is determined. When the current vehicle speed of the vehicle is greater than the preset vehicle speed threshold value, when the initial braking acceleration of the vehicle is reduced according to the braking acceleration reduction gradient, the target object may still be continuously detected, and the vehicle speed of the vehicle is reduced, at this time, there may be a case where the target object is re-detected, and therefore, until the vehicle speed of the vehicle is equal to the target vehicle speed, the braking method may further include: when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient, the vehicle speed of the vehicle is reduced according to the current braking acceleration of the vehicle.
Since the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient, which indicates that the vehicle is at risk of colliding with the target object, the vehicle speed of the vehicle may also be reduced according to the current braking acceleration of the vehicle. Reducing the speed of the vehicle in accordance with the current braking acceleration of the vehicle still reduces the risk of the vehicle hitting the target object.
In addition, after determining the current vehicle speed of the vehicle, the braking method provided by the embodiment of the application can further comprise the following steps: and when the vehicle speed of the vehicle is less than or equal to the preset vehicle speed threshold value, reducing the vehicle speed of the vehicle according to the initial braking acceleration. When the vehicle speed reduction amount of the vehicle is equal to the target reduction amount, the initial braking acceleration of the vehicle is reduced according to the braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold value.
When the vehicle speed of the vehicle is less than or equal to the preset vehicle speed threshold value, the vehicle speed of the vehicle is smaller, and at the moment, the vehicle speed of the vehicle is reduced according to the initial braking acceleration, and the vehicle speed of the vehicle can continuously reduce. When the vehicle speed reduction amount of the vehicle is equal to the target reduction amount, at this time, the vehicle speed may be low, the driver may have a reaction time, and the vehicle speed is low, and the risk of the vehicle colliding with the target object is also reduced, the initial braking acceleration of the vehicle may be reduced according to the braking acceleration reduction gradient, so that the vehicle speed of the vehicle continues to be reduced until the vehicle speed of the vehicle is equal to the vehicle speed threshold value, at this time, the driver may have enough reaction time, and the driver may control the vehicle according to actual needs.
In addition, in the embodiment of the present application, after reducing the vehicle speed of the vehicle in accordance with the initial braking acceleration, the braking method may further include: the vehicle speed reduction amount of the vehicle is determined.
When the vehicle speed reduction amount of the vehicle can be determined, the vehicle speed reduction amount of the vehicle can be compared with the target reduction amount, and the vehicle speed of the vehicle can be reduced conveniently in the follow-up process.
The implementation manner of determining the vehicle speed reduction amount of the vehicle may be: an initial vehicle speed at which a vehicle speed of the vehicle starts to decrease in accordance with the initial braking acceleration is determined. The braking speed of the vehicle is detected in a process of reducing the speed of the vehicle in accordance with the initial braking acceleration. And taking the difference value of the initial vehicle speed and the braking vehicle speed as the vehicle speed reduction amount.
When braking of the vehicle is started, that is, when the vehicle speed of the vehicle starts to decrease in accordance with the initial braking acceleration, the vehicle speed at that time may be detected and used as the initial vehicle speed. In the process of reducing the vehicle speed of the vehicle in accordance with the braking acceleration of the vehicle, the vehicle speed of the vehicle may be detected, and the detected vehicle speed may be used as the braking vehicle speed of the vehicle, and then the braking vehicle speed may be subtracted from the initial vehicle speed, and the difference may be used as the vehicle speed reduction amount.
For example, when the braking of the vehicle is started, the initial vehicle speed of the vehicle is 80km/h, and when the braking vehicle speed of the vehicle is 30km/h during the braking of the vehicle, the vehicle speed drop amount is 50km/h.
Step 103: when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed.
In the related art, when the vehicle speed of the vehicle is decreased by the amount equal to the target decrease amount, braking of the vehicle is directly ended, that is, the vehicle speed of the vehicle is increased or the vehicle speed is kept constant, resulting in a high possibility that the vehicle may collide with the target object when there is the target object in front of the vehicle.
In the present embodiment, when the vehicle speed of the vehicle is decreased by the target decrease amount, the initial braking acceleration of the vehicle is decreased in accordance with the braking acceleration gradient so that the vehicle speed of the vehicle can be continuously decreased, the possibility that the vehicle will strike the target object can be reduced, and the possibility that the vehicle will strike the target object is made smaller.
It should be noted that, in the embodiment of the present application, the braking method provided in the embodiment of the present application may be applied to a vehicle, and may also be applied to an AEB in the vehicle.
In the embodiment of the present application, when a target object located in front of a vehicle is detected, state information between the vehicle and the target object is acquired, and the state information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of driving obstacles caused by the target object to the vehicle; when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration; when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed. That is, in the embodiment of the present application, when the vehicle speed of the vehicle is decreased by the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient, so that the vehicle speed of the vehicle is still decreased, and the vehicle speed is prevented from remaining unchanged or from increasing, thereby decreasing the possibility that the vehicle may collide with the target object, and making the possibility that the vehicle may collide with the target object smaller.
Referring to fig. 2, a schematic view of a braking device provided in an embodiment of the present application is shown, and as shown in fig. 2, the device 200 includes:
an obtaining module 201, configured to, when a target object located in front of a vehicle is detected, obtain status information between the vehicle and the target object, where the status information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of the driving obstacle of the vehicle caused by the target object;
the first reduction module 202 is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value;
and a second reducing module 203 for reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to the target vehicle speed when the vehicle speed of the vehicle is reduced by the target reduction amount.
Optionally, the apparatus further comprises:
the first determination module is used for determining the current speed of the vehicle when the target object is not detected;
and the third reducing module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reducing gradient when the current vehicle speed of the vehicle is greater than the preset vehicle speed threshold value until the vehicle speed of the vehicle is equal to the target vehicle speed.
Optionally, the apparatus further comprises:
the fourth reducing module is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed threshold;
and the fifth reducing module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reducing gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold when the vehicle speed reducing amount of the vehicle is equal to the target reducing amount.
Optionally, the apparatus further comprises:
and the sixth reducing module is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
Optionally, the apparatus further comprises:
and the seventh reducing module is used for reducing the speed of the vehicle according to the current braking acceleration of the vehicle when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
Optionally, the apparatus further comprises:
and the second determination module is used for determining the vehicle speed reduction amount of the vehicle.
Optionally, the second determining module includes:
a first determination unit that determines an initial vehicle speed at which a vehicle speed of the vehicle starts to be reduced in accordance with an initial braking acceleration;
a detection unit for detecting a braking speed of the vehicle in a process of reducing the speed of the vehicle in accordance with the initial braking acceleration;
and a second determination unit for determining a difference between the initial vehicle speed and the braking vehicle speed as a vehicle speed decrease amount.
In the embodiment of the present application, when a target object located in front of a vehicle is detected, state information between the vehicle and the target object is acquired, and the state information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of driving obstacles caused by the target object to the vehicle; when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration; when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed. That is, in the embodiment of the present application, when the vehicle speed of the vehicle is decreased by the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient, so that the vehicle speed of the vehicle is still decreased, and the vehicle speed is prevented from remaining unchanged or increasing, so that the possibility that the vehicle may collide with the target object is decreased, and the possibility that the vehicle may collide with the target object is made smaller.
The braking device in the embodiment of the present application may be a device, and may also be a component, an integrated circuit, or a chip in a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiment of the present application is not particularly limited.
The braking device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
The braking device provided in the embodiment of the present application can implement each process implemented by the method embodiment of fig. 1, and is not described here again to avoid repetition.
Optionally, as shown in fig. 3, an electronic device 300 is further provided in this embodiment of the present application, and includes a processor 301, a memory 302, and a program or an instruction stored in the memory 302 and capable of running on the processor 301, where the program or the instruction is executed by the processor 301 to implement each process of the foregoing braking method embodiment, and can achieve the same technical effect, and no further description is provided here to avoid repetition.
It should be noted that the electronic device in the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device described above.
Fig. 4 is a schematic diagram of a hardware structure of an electronic device implementing the embodiment of the present application.
The electronic device 400 includes, but is not limited to: radio unit 401, network module 402, audio output unit 403, input unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, and processor 410.
Those skilled in the art will appreciate that the electronic device 400 may further include a power source (e.g., a battery) for supplying power to various components, and the power source may be logically connected to the processor 410 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. Drawing (A)4The electronic device structures shown in the figures do not constitute limitations of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is not repeated here.
Wherein, the processor 410 is configured to, when a target object located in front of the vehicle is detected, acquire status information between the vehicle and the target object, and the status information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of the driving obstacle of the vehicle caused by the target object;
when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration;
when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed.
In the embodiment of the present application, when a target object located in front of a vehicle is detected, state information between the vehicle and the target object is acquired, and the state information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of driving obstacles caused by the target object to the vehicle; when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration; when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed. That is, in the embodiment of the present application, when the vehicle speed of the vehicle is decreased by the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient, so that the vehicle speed of the vehicle is still decreased, and the vehicle speed is prevented from remaining unchanged or from increasing, thereby decreasing the possibility that the vehicle may collide with the target object, and making the possibility that the vehicle may collide with the target object smaller.
Optionally, after reducing the vehicle speed of the vehicle according to the initial braking acceleration, the processor 410 is further configured to:
when the target object is not detected, determining the current vehicle speed of the vehicle;
and when the current speed of the vehicle is greater than the preset speed threshold, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the speed of the vehicle is equal to the target speed.
Optionally, after determining the current vehicle speed of the vehicle, the processor 410 is further configured to:
when the speed of the vehicle is less than or equal to a preset speed threshold value, reducing the speed of the vehicle according to the initial braking acceleration;
when the vehicle speed of the vehicle is decreased by an amount equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased in accordance with the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold value.
Optionally, before the vehicle speed of the vehicle is equal to the target vehicle speed, the processor 410 is further configured to:
when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient, the vehicle speed of the vehicle is reduced according to the initial braking acceleration.
Optionally, before the vehicle speed of the vehicle is equal to the target vehicle speed, the processor 410 is further configured to:
when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient, the vehicle speed of the vehicle is reduced according to the current braking acceleration of the vehicle.
Optionally, after reducing the vehicle speed of the vehicle according to the initial braking acceleration, the processor 410 is further configured to:
the vehicle speed reduction amount of the vehicle is determined.
Optionally, the processor 410 is further configured to:
determining an initial vehicle speed at which a vehicle speed of the vehicle starts to be reduced according to the initial braking acceleration;
detecting a braking speed of the vehicle in a process of reducing the speed of the vehicle according to the initial braking acceleration;
and taking the difference value of the initial vehicle speed and the braking vehicle speed as the vehicle speed reduction amount.
In the embodiment of the present application, when a target object located in front of a vehicle is detected, state information between the vehicle and the target object is acquired, and the state information includes: the estimated collision time of the vehicle and the target object, the confidence coefficient of the target object and the confidence coefficient of the target object are used for reflecting the degree of the driving obstacle of the vehicle caused by the target object; when the confidence coefficient of the target object is greater than the confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than the time threshold value, reducing the speed of the vehicle according to the initial braking acceleration; when the vehicle speed decrease amount of the vehicle is equal to the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient until the vehicle speed of the vehicle is equal to the target vehicle speed. That is, in the embodiment of the present application, when the vehicle speed of the vehicle is decreased by the target decrease amount, the initial braking acceleration of the vehicle is decreased according to the braking acceleration decrease gradient, so that the vehicle speed of the vehicle is still decreased, and the vehicle speed is prevented from remaining unchanged or increasing, so that the possibility that the vehicle may collide with the target object is decreased, and the possibility that the vehicle may collide with the target object is made smaller.
It should be understood that in the embodiment of the present application, the input Unit 404 may include a Graphics Processing Unit (GPU) 4041 and a microphone 4042, and the Graphics processor 4041 processes image data of a still picture or a video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 406 may include a display panel 4041, and the display panel 4041 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 407 includes a touch panel 4071 and other input devices 4072. A touch panel 4071, also referred to as a touch screen. The touch panel 4071 may include two parts, a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. The memory 409 may be used to store software programs as well as various data including, but not limited to, application programs and an operating system. The processor 410 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 410.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the process of the embodiment of the braking method is implemented, and the same technical effect can be achieved, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device in the above embodiment. Readable storage media, including computer-readable storage media, such as computer Read-Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, etc.
The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is configured to execute a program or an instruction to implement each process of the foregoing braking method embodiment, and can achieve the same technical effect, and for avoiding repetition, the details are not repeated here.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or terminal apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of additional like elements in an article or terminal equipment comprising the element.
The technical solutions provided in the present application are described in detail above, and the principles and embodiments of the present application are described herein by using specific examples, and meanwhile, for a person of ordinary skill in the art, according to the principles and implementation manners of the present application, changes may be made in the specific embodiments and application ranges.

Claims (8)

1. A braking method, characterized in that the braking method comprises:
upon detecting a target object located in front of a vehicle, acquiring status information between the vehicle and the target object, the status information including: the predicted collision time of the vehicle and the target object, the confidence level of the target object, and the confidence level of the target object are used for reflecting the degree of the vehicle driving obstacle caused by the target object;
when the confidence coefficient of the target object is greater than a confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is less than a time threshold value, reducing the speed of the vehicle according to the initial braking acceleration;
when the vehicle speed reduction amount of the vehicle is equal to a target reduction amount, reducing the initial braking acceleration of the vehicle according to a braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to a target vehicle speed;
wherein after the reducing the vehicle speed of the vehicle in accordance with the initial braking acceleration, the method further comprises:
when the target object is not detected, determining the current vehicle speed of the vehicle;
when the current speed of the vehicle is greater than a preset speed threshold, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the speed of the vehicle is equal to a target speed;
wherein after the determining the current vehicle speed of the vehicle, the method further comprises:
when the speed of the vehicle is less than or equal to a preset speed threshold value, reducing the speed of the vehicle according to the initial braking acceleration;
and when the vehicle speed reduction amount of the vehicle is equal to the target reduction amount, reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold value.
2. The braking method according to claim 1, characterized in that before the vehicle speed up to the vehicle is equal to a target vehicle speed, the method further comprises:
and reducing the vehicle speed of the vehicle according to the initial braking acceleration when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
3. The braking method according to claim 1, characterized in that before the vehicle speed up to the vehicle is equal to a target vehicle speed, the method further comprises:
and reducing the vehicle speed of the vehicle according to the current braking acceleration of the vehicle when the target object is detected again in the process of reducing the initial braking acceleration of the vehicle according to the braking acceleration reduction gradient.
4. The braking method according to claim 1, characterized in that after reducing the vehicle speed of the vehicle in accordance with an initial braking acceleration, the method further comprises:
determining a vehicle speed reduction amount of the vehicle.
5. The braking method of claim 4, wherein the determining a vehicle speed reduction of the vehicle comprises:
determining an initial vehicle speed at which a vehicle speed of the vehicle starts to be reduced in accordance with an initial braking acceleration;
detecting a braking speed of the vehicle in a process of reducing the speed of the vehicle according to an initial braking acceleration;
and taking the difference value of the initial vehicle speed and the braking vehicle speed as a vehicle speed reduction amount.
6. A brake device, characterized in that the brake device comprises:
an obtaining module, configured to, when a target object located in front of a vehicle is detected, obtain state information between the vehicle and the target object, where the state information includes: the predicted collision time of the vehicle and the target object, the confidence level of the target object, and the confidence level of the target object are used for reflecting the degree of the vehicle driving obstacle caused by the target object;
the first reduction module is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the confidence coefficient of the target object is larger than a confidence coefficient threshold value and the predicted collision time of the vehicle and the target object is smaller than a time threshold value;
the second reducing module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reducing gradient until the vehicle speed of the vehicle is equal to the target vehicle speed when the vehicle speed reducing amount of the vehicle is equal to the target reducing amount;
wherein the braking device further comprises:
the fourth reducing module is used for reducing the vehicle speed of the vehicle according to the initial braking acceleration when the vehicle speed of the vehicle is less than or equal to a preset vehicle speed threshold;
and the fifth reducing module is used for reducing the initial braking acceleration of the vehicle according to the braking acceleration reducing gradient until the vehicle speed of the vehicle is equal to the vehicle speed threshold value when the vehicle speed reducing amount of the vehicle is equal to the target reducing amount.
7. An electronic device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, which program or instructions, when executed by the processor, carry out the steps of the braking method according to any one of claims 1 to 5.
8. A readable storage medium, characterized in that it stores thereon a program or instructions which, when executed by a processor, implement the steps of the braking method according to any one of claims 1-5.
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