CN112706729A - Vehicle brake control method, vehicle brake control device and electronic equipment - Google Patents
Vehicle brake control method, vehicle brake control device and electronic equipment Download PDFInfo
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- CN112706729A CN112706729A CN201911023898.3A CN201911023898A CN112706729A CN 112706729 A CN112706729 A CN 112706729A CN 201911023898 A CN201911023898 A CN 201911023898A CN 112706729 A CN112706729 A CN 112706729A
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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Abstract
Disclosed are a vehicle brake control method, a vehicle brake control device and an electronic apparatus. The vehicle brake control method comprises the following steps: detecting whether a first target vehicle is in a braking state; in response to detecting that the first target vehicle is in a braking state, determining first vehicle information of the first target vehicle based on the acquired image of the first target vehicle; determining a first braking distance of the first target vehicle based on the first vehicle information; and controlling the braking state of the vehicle based on the first braking distance. Therefore, reasonable braking of the vehicle can be realized, and vehicle damage and personnel injury caused by the vehicle can be reduced.
Description
Technical Field
The present application relates to the field of vehicle automatic control, and more particularly, to a vehicle brake control method, a vehicle brake control apparatus, and an electronic device.
Background
With the popularization of vehicles, vehicles on roads are increasing, traffic accidents are more frequent, and the conditions of vehicle damage and casualties often occur.
Due to the explosive development of infrastructure construction, many heavy vehicles, such as load-carrying trucks, are driven on roads at high speeds, and many of these heavy vehicles are overloaded, making them very susceptible to serious traffic accidents.
The vehicle often needs to brake when driving on the road, and reasonable braking will prolong the life of vehicle to, reasonable braking also can avoid taking place traffic accident to a certain extent to and reduce the harm of personnel and vehicle as far as possible when traffic accident appears.
Accordingly, it is desirable to provide improved vehicle brake control schemes.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. Embodiments of the present application provide a vehicle braking control method, a vehicle braking control device, and an electronic apparatus, which determine a braking distance of a target vehicle obtained based on image recognition to perform braking control of the host vehicle based on the braking distance, thereby achieving reasonable braking of the host vehicle, and reducing vehicle damage of the host vehicle and injury to people caused thereby.
According to an aspect of the present application, there is provided a vehicle brake control method including: detecting whether a first target vehicle is in a braking state; in response to detecting that the first target vehicle is in a braking state, determining first vehicle information of the first target vehicle based on the acquired image of the first target vehicle; determining a first braking distance of the first target vehicle based on the first vehicle information; and controlling the braking state of the vehicle based on the first braking distance.
According to another aspect of the present application, there is provided a vehicle brake control device including: a brake detection unit for detecting whether the first target vehicle is in a brake state; an information determination unit, configured to determine, in response to the brake detection unit detecting that the first target vehicle is in a brake state, first vehicle information of the first target vehicle based on the acquired image of the first target vehicle; a distance determining unit configured to determine a first braking distance of the first target vehicle based on the first vehicle information determined by the information determining unit; and a braking control unit for controlling the braking state of the vehicle based on the first braking distance determined by the distance determination unit.
According to still another aspect of the present application, there is provided an electronic apparatus including: a processor; and a memory having stored therein computer program instructions which, when executed by the processor, cause the processor to perform the vehicle braking control method as described above.
According to yet another aspect of the present application, there is provided a computer readable medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to execute the vehicle brake control method as described above.
The vehicle braking control method, the vehicle braking control device and the electronic equipment provided by the application determine the braking distance of the target vehicle through the vehicle information of the target vehicle obtained based on image recognition, so as to perform braking control on the vehicle based on the braking distance, realize reasonable braking of the vehicle, and reduce vehicle damage and injury to people caused by the vehicle.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 illustrates a flow chart of a vehicle braking control method according to an embodiment of the application.
Fig. 2 illustrates a flowchart of an example of determining vehicle information in a vehicle brake control method according to an embodiment of the present application.
Fig. 3 illustrates a flowchart of an example of the braking state control of the vehicle braking control method according to the embodiment of the present application.
Fig. 4 is a flowchart illustrating a first example of a collision-based vehicle control process in a vehicle brake control method according to an embodiment of the present application.
Fig. 5 is a flowchart illustrating a second example of a collision-based vehicle control process in the vehicle brake control method according to the embodiment of the present application.
Fig. 6 illustrates a block diagram of a vehicle brake control apparatus according to an embodiment of the present application.
Fig. 7 illustrates a block diagram of an example of an information determination unit of a vehicle brake control apparatus according to an embodiment of the present application.
Fig. 8 illustrates a block diagram of an example of a brake control unit of a vehicle brake control device according to an embodiment of the present application.
Fig. 9 illustrates a block diagram of a first example of a brake control subunit of the vehicle brake control device according to the embodiment of the present application.
Fig. 10 illustrates a block diagram of a second example of a brake control subunit of the vehicle brake control device according to the embodiment of the present application.
FIG. 11 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Summary of the application
As described above, when a vehicle travels on a road, a situation in which braking is required is often encountered. In particular, when the host vehicle is between the front vehicle and the rear vehicle, the host vehicle is exposed to the risk of a rear-end collision with the front vehicle and a rear-end collision with the rear vehicle.
At present, most brake control schemes are used for actively braking by sensing information such as vehicle speed and vehicle distance through sensors such as radars and the like so as to avoid rear-end collision. However, this method has a great limitation in that it cannot be determined that the rear vehicle cannot be braked within the effective distance because the detailed information of the rear vehicle cannot be recognized. Therefore, such a brake control scheme that simply avoids a collision with a front vehicle because the threat of the rear vehicle to the vehicle of my party cannot be predicted may have serious consequences, such as serious vehicle damage and injury to personnel due to a collision with the rear vehicle.
In addition, in the case of braking of the front vehicle, a reasonable braking scheme of the vehicle cannot be specified, and the fact that the reasonable braking scheme cannot be formulated is also harmful to prolonging the service life of the vehicle.
Based on the technical problem, the basic idea of the present application is to obtain vehicle information of a target vehicle based on an image recognition mode, and determine a braking distance of the target vehicle based on the vehicle information of the target vehicle, so as to perform braking control of the vehicle.
Specifically, the vehicle brake control method, the vehicle brake control device and the electronic device of the application firstly detect whether a first target vehicle is in a brake state, then in response to detecting that the first target vehicle is in the brake state, determine first vehicle information of the first target vehicle based on the acquired image of the first target vehicle, then determine a first brake distance of the first target vehicle based on the first vehicle information, and finally control the brake state of the vehicle based on the first brake distance.
In this way, the vehicle braking control method, the vehicle braking control device and the electronic equipment determine the braking distance of the target vehicle through the vehicle information of the target vehicle obtained based on the image recognition, so that reasonable braking control of the vehicle can be realized based on the braking distance of the target vehicle, and adverse effects of unreasonable braking schemes on the service life of the vehicle are avoided.
In addition, the vehicle brake control method, the vehicle brake control device and the electronic equipment can reduce the damage to the people on the vehicle caused by sudden braking, avoid the collision with other vehicles and reduce the damage to the people on the vehicle caused by the vehicle collision by realizing the reasonable brake control of the vehicle.
Having described the general principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.
Exemplary method
FIG. 1 illustrates a flow chart of a vehicle braking control method according to an embodiment of the application.
As shown in fig. 1, a vehicle brake control method according to an embodiment of the present application includes the following steps.
Step S110, it is detected whether the first target vehicle is in a braking state. In the embodiment of the present application, the first target vehicle may be a front vehicle of the own vehicle, or may be a rear vehicle of the own vehicle. In the case where the first target vehicle is in a braking state, the traveling state of the host vehicle may be affected, and braking control of the host vehicle may be performed.
Whether the first target vehicle is in a braking state may be detected in various ways, for example, whether a brake lamp of the first target vehicle is turned on may be determined by means of image recognition, whether the vehicle speed of the first target vehicle is sharply reduced may be detected by means of millimeter wave radar, or a combination of the two ways may be adopted.
That is, in the vehicle brake control method of the embodiment of the present application, detecting whether the first target vehicle is in a braking state includes: detecting whether the first target vehicle is in a braking state or not through the identification of the acquired image of the first target vehicle; and/or detecting whether the first target vehicle is in a braking state by determining a vehicle speed change of the first target vehicle by using a speed measurement mode.
Step S120, in response to detecting that the first target vehicle is in a braking state, determining first vehicle information of the first target vehicle based on the collected image of the first target vehicle. As described above, in the embodiment of the present application, in order to achieve reasonable braking control of the own vehicle, it is necessary to obtain specific first vehicle information of the first target vehicle, such as vehicle identification information, a distance from the own vehicle, a vehicle traveling speed, and the like.
Here, as will be understood by those skilled in the art, the host vehicle may acquire an image of the first target vehicle through the vehicle-mounted camera, and obtain information such as vehicle identification information of the first target vehicle, a distance to the host vehicle, a vehicle traveling speed, and the like through image recognition of the image, and further, may indirectly obtain other vehicle information of the first target vehicle based on the obtained image information, which will be described in detail below.
Step S130, determining a first braking distance of the first target vehicle based on the first vehicle information. That is, in order to achieve reasonable braking control of the own vehicle, the first braking distance of the first target vehicle needs to be accurately determined, and the first braking distance of the first target vehicle can be accordingly determined through the first vehicle information determined in step S120, such as the distance to the own vehicle and the vehicle running speed.
And step S140, controlling the braking state of the vehicle based on the first braking distance. Here, the braking state includes a specific braking force in addition to indicating whether the host vehicle is braking. In the embodiment of the present application, the braking state of the vehicle refers to the braking force during the whole braking process, i.e., the deceleration process of the vehicle. That is, the braking force may not be uniform throughout the braking process, but may vary in magnitude, such that the vehicle is not decelerated uniformly. For example, the braking force may change from small to large and then from large to small during the entire deceleration process of the vehicle. Through the process that the brake force degree is at first from little grow, can be unlikely to make the user produce discomfort because of the brake of big dynamics at once, and the brake force degree is from the process that diminishes greatly afterwards, also makes the vehicle can end the brake with more steady state, for example smooth transition to the state of stopping to bring good experience for the user.
Specifically, the braking force of the vehicle can be controlled by mechanical or electronic means according to the specific condition of the vehicle. At present, the automobile of mainstream manufacturer is all through the dynamics that the user stepped on brake pedal to control brake dynamics through brake pedal's rate of motion, consequently, can control brake pedal's rate of motion with control brake dynamics through mechanical means. If the braking force of the vehicle is controlled by the electronic control system, the braking force can be controlled directly by the control instruction.
In the embodiment of the application, the control of the braking state of the vehicle based on the first braking distance is to adapt the braking state of the vehicle to the first braking distance, so that the braking force is not too large to cause damage to a user and the vehicle, and the braking force is not too small to cause collision. Specifically, if first braking distance is shorter, then need control the great thereby avoiding the collision of the braking dynamics of this car, and if first braking distance is longer, then need control the braking dynamics of this car less to realize gentle brake as far as possible under the prerequisite of guaranteeing not to collide.
That is, based on the first braking distance, the braking state of the vehicle can be controlled, so that collision avoidance through braking is ensured, and possible damage to the vehicle and personnel due to sudden braking can be avoided. That is, by controlling the braking state of the vehicle, the reasonable braking force can be selected and the braking distance can be prolonged as much as possible by combining with the vehicle braking system of the vehicle, thereby protecting key components of an engine, a chassis, a braking system and the like of the vehicle.
Fig. 2 illustrates a flowchart of an example of determining vehicle information in a vehicle brake control method according to an embodiment of the present application.
As shown in fig. 2, step S120 includes the following steps based on the embodiment shown in fig. 1.
Step S121, determining identification information, current running information, and tire deformation amount of the first target vehicle based on the recognition of the acquired image of the first target vehicle. That is, certain vehicle information of the first target vehicle may be directly determined through recognition of the captured image of the first target vehicle. For example, by recognizing the image of the first target vehicle, the identification information of the first target vehicle, including the vehicle model information, the license plate number, and the like, can be directly obtained.
Then, by recognizing the captured image of the first target vehicle, current traveling information such as a current traveling speed, a current traveling direction, and a distance to the host vehicle of the first target vehicle can be determined. In addition, the amount of tire deformation may be obtained by identification of a tire portion in the acquired image of the first target vehicle.
And step S122, acquiring detailed information of the first target vehicle based on the identification information, wherein the detailed information comprises standard braking distance, network access information, maintenance condition, age information and tire model of the first target vehicle. For example, by obtaining the license plate number of the first target vehicle as described above, public information of the first target vehicle, such as a standard braking distance, networking information, maintenance status, age information, tire model, and the like, may be queried based on the license plate number. In this way, the first braking distance of the first target vehicle can be determined relatively accurately by the detailed information of the first target vehicle, for example, the braking distance of the first target vehicle in the current service year can be calculated by the age information of the vehicle.
Step S123, determining an actual load capacity of the first target vehicle based on the tire deformation amount and the tire model of the first target vehicle. Further, since the standard braking distance is the braking distance in case the first target vehicle is not overweight, the actual load of the vehicle will influence the braking distance of the vehicle. Therefore, by determining the actual load capacity of the first target vehicle based on the tire deformation amount and the tire model of the first target vehicle, it is possible to contribute to further accurately determining the first braking distance of the first target vehicle. For example, in the case where the actual payload of the first target vehicle exceeds the standard payload of the first target vehicle, the first braking distance of the first target vehicle will also exceed the braking distance of the first target vehicle in the present year of use.
Therefore, by the example of determining vehicle information as shown in fig. 2, detailed first vehicle information of the first target vehicle may be obtained, so that the first braking distance of the first target vehicle is accurately determined based on the first vehicle information, thereby improving the accuracy of braking control of the host vehicle to better protect the vehicle of the host vehicle and the people on the vehicle.
That is, in the vehicle brake control method according to the embodiment of the present application, determining the first braking distance of the first target vehicle based on the first vehicle information includes: determining a braking distance of the first target vehicle based on the current driving information, the detailed information and the actual load capacity of the first target vehicle.
Fig. 3 illustrates a flowchart of an example of the braking state control of the vehicle braking control method according to the embodiment of the present application.
As shown in fig. 3, the step S140 includes the following steps based on the embodiment shown in fig. 1.
Step S141, determining second vehicle information of a second target vehicle based on the acquired image of the second target vehicle. That is, in the case of the example shown in fig. 2, the host vehicle is between the first target vehicle and the second target vehicle, for example, the first target vehicle is a front vehicle of the host vehicle, and the second target vehicle is a rear vehicle of the host vehicle. Therefore, similarly to the above step S120, the second vehicle information of the second target vehicle is determined based on the acquired image of the second target vehicle. Here, the details of the second vehicle information will also be described in further detail below.
Step S142, determining a second braking distance of the second target vehicle based on the second vehicle information. That is, in order to control the host vehicle to perform appropriate braking, it is necessary to determine a second braking distance of the second target vehicle in addition to the first braking distance of the first target vehicle. Also, similarly to the above step S130, the second braking distance of the second target vehicle may be determined accordingly based on, for example, the distance to the host vehicle, the vehicle running speed, and the like.
And step S143, controlling the braking state of the vehicle based on the first braking distance and the second braking distance. That is, based on the braking distances of the front vehicle and the rear vehicle of the vehicle, it can be further determined whether the vehicle can not collide with the front vehicle or the rear vehicle, thereby achieving reasonable braking of the vehicle. For example, if the braking control of the host vehicle is performed based on only the braking distance of the host vehicle when the host vehicle is braked, there is a possibility that the host vehicle collides with a following vehicle which is not in time to brake. That is, the braking force of the vehicle needs to be controlled so that the vehicle running speed of the vehicle does not decrease too fast to cause the response time of the following vehicle without braking. Hereinafter, a case where damage to the host vehicle caused by braking is reduced by braking control of the host vehicle in a situation where a collision can be avoided will be further described.
In addition, if a collision with one of the front vehicle or the rear vehicle cannot be avoided, the braking process of the host vehicle may be reasonably controlled based on the first braking distance and the second braking distance so that the collision with the one of the front vehicle or the rear vehicle is as slight as possible to avoid excessive damage to people and vehicles. Even more, the impact on the vehicle can be shared by colliding with both the front vehicle and the rear vehicle, thereby ensuring the safety of the vehicle. Hereinafter, a case where collision damage to the host vehicle caused by the preceding vehicle and the following vehicle is reduced by brake control of the host vehicle in a case where a collision cannot be avoided will be further described.
Therefore, by the example of the brake state control shown in fig. 3, the stopping points of the preceding vehicle and the following vehicle can be predicted, so that the collision damage with the preceding vehicle and the following vehicle can be reduced as much as possible, and the safety of the vehicle occupant of the host vehicle can be improved.
The second vehicle information of the second target vehicle may be determined in the same manner as the example of determining the vehicle information shown in fig. 2, that is, the identification information, the current running information, and the tire deformation amount of the second target vehicle may be determined based on the recognition of the acquired image of the second target vehicle, and then, the detailed information of the second target vehicle including the standard braking distance of the following vehicle, the network entry information, the maintenance condition, the age information, the tire model number may be acquired based on the identification information, and the actual load capacity of the second target vehicle may be determined based on the tire deformation amount and the tire model number of the second target vehicle.
In this way, by obtaining detailed second vehicle information of the second target vehicle, the second braking distance of the second target vehicle can be accurately determined based on the second vehicle information, thereby improving the accuracy of braking control of the host vehicle to better protect the vehicle of the host vehicle and the personnel on the vehicle.
That is, in the vehicle brake control method according to the embodiment of the present application, determining the second braking distance of the second target vehicle based on the second vehicle information includes: determining a second braking distance of the second target vehicle based on the current driving information, the detailed information and the actual load capacity of the second target vehicle.
Fig. 4 is a flowchart illustrating a first example of a collision-based vehicle control process in a vehicle brake control method according to an embodiment of the present application.
As shown in fig. 4, step S143 includes the following steps on the basis of that shown in fig. 3.
Step S1431, it is determined whether collision-free braking can be achieved based on the first braking distance and the second braking distance. That is, if the first braking distance of the preceding vehicle is greater than the second braking distance of the following vehicle, it is explained that it is possible to avoid a collision with both the preceding vehicle and the following vehicle by controlling the parking point of the own vehicle based on the first braking distance and the second braking distance, and therefore, it can be considered that collision-free braking can be achieved. However, if the first braking distance of the preceding vehicle is smaller than the second braking distance of the following vehicle, even if the collision of the preceding vehicle can be avoided by braking, the collision with the following vehicle cannot be avoided, and therefore, this may be considered as impossible to achieve collision-free braking.
Step S1432, in response to the non-collision braking being achieved, determining the longest braking distance of the vehicle based on the first braking distance and the second braking distance. That is, if collision with both the front vehicle and the rear vehicle can be avoided, the vehicle inspection distance should be extended as long as possible.
Step S1433, the braking state of the vehicle is controlled based on the longest braking distance. Therefore, by braking with the longest braking distance, the vehicle braking system of the vehicle can be controlled to work with reasonable braking force, so that key components such as an engine, a chassis, a braking system and the like of the vehicle are protected.
Fig. 5 is a flowchart illustrating a second example of a collision-based vehicle control process in the vehicle brake control method according to the embodiment of the present application.
As shown in fig. 5, step S143 further includes the following steps on the basis of that shown in fig. 3.
Step S1434, in response to non-collision braking being not achievable, determining a first degree of collision damage of the host vehicle with the first target vehicle and a second degree of collision damage with the second target vehicle based on the first vehicle information of the first target vehicle and the second vehicle information of the second target vehicle. That is, based on the specific first vehicle information of the first target vehicle and the specific second vehicle information of the second target vehicle as described above, the degree of collision damage of the first target vehicle and the second target vehicle with the own vehicle can be determined. For example, the first and second collision damage degrees may be determined by calculating the kinetic energy changes of the first and second target vehicles at the time of collision with the own vehicle, based on the vehicle masses and the vehicle running speeds of the first and second target vehicles. In addition, the first and second collision damage degrees are related to a specific vehicle type in addition to the kinetic energy change at the time of collision, and for example, if it is determined that the first and second target vehicles are energy-absorbing vehicles that are not likely to cause damage to the collided party, based on the vehicle models of the first and second target vehicles, it is possible to determine that the degree of collision damage to the own vehicle is small and the degree of collision damage to the first and second target vehicles is large, thereby comprehensively calculating the first and second degrees of collision damage.
Step S1435, determining the collision braking strategy of the vehicle based on the first collision damage degree and the second collision damage degree. For example, if the first degree of impact damage with the preceding vehicle is greater than the second degree of impact damage with the following vehicle, the braking effort may be increased to avoid as much as possible an impact with the preceding vehicle. And if the first degree of collision damage with the preceding vehicle is less than the second degree of collision damage with the following vehicle, the braking force may be reduced to avoid collision with the following vehicle as much as possible.
For example, if the vehicle masses of the front vehicle and the rear vehicle of the host vehicle are similar and the traveling speeds are similar, that is, the kinetic energies of the front vehicle and the rear vehicle when colliding with the host vehicle are similar, and it is determined that the rear vehicle cannot brake in time through the braking distances of the front vehicle and the rear vehicle, the vehicle types of the front vehicle and the rear vehicle may be further compared to determine the collision damage degree caused by the collision. If the rear vehicle can cause great damage to the vehicle, namely the collision damage degree is great, the braking force can be properly reduced, the vehicle speed is controlled to collide the front vehicle, the distance between the rear vehicle and the front vehicle is increased, and the damage is reduced.
For example, if the front vehicle is a light passenger car, the rear vehicle is also a light passenger car, and the vehicle speeds are close, it can be determined that the first collision damage degree and the second collision damage degree are equivalent in magnitude, and collision with the rear vehicle due to rear-end collision with the front vehicle can be avoided in the case where collision cannot be avoided. Or, if the front vehicle is a light passenger car, the rear vehicle is also a light passenger car, and the speed of the rear vehicle is significantly higher than that of the front vehicle, the rear vehicle may cause great damage to the vehicle, so that it is safer to control the vehicle speed to collide with the front vehicle.
Alternatively, if the front vehicle is a light passenger car and the rear vehicle is a heavy truck, and the traveling speed of the rear vehicle is not significantly lower than that of the front vehicle, it is determined that the degree of collision damage to the vehicle by the rear vehicle will be significantly higher than that by the front vehicle.
In addition, in the embodiment of the application, the collision braking strategy also comprises a specific braking parking point and a collision posture of a collided vehicle, so that the damage of the vehicle and personnel caused by collision is reduced as much as possible. That is, under the condition that it is determined that a collision is unavoidable, weight distribution is performed on the preceding and following vehicles by estimating collision damage, and different damage caused by each parking point and each collision posture is calculated, so that an appropriate braking force is selected, the vehicle is braked and stopped near the lowest damage point, and the posture of the vehicle is controlled so as to collide with the target vehicle in the optimum collision posture.
That is, in the vehicle brake control method according to the embodiment of the present application, determining the collision braking strategy of the host vehicle based on the first collision damage degree and the second collision damage degree includes: and determining a braking parking point and a collision posture of the vehicle based on the first collision damage degree and the second collision damage degree.
In step S1436, the braking state of the host vehicle is controlled based on the collision braking strategy of the host vehicle. That is, the brake of the host vehicle is controlled by the determined optimal braking point and the optimal collision posture, so that the damage of the vehicle of the host vehicle and the personnel on the host vehicle caused by the collision can be reduced as much as possible.
In summary, according to the vehicle brake control method of the embodiment of the present application, it can be determined whether emergency braking is needed or not under the condition that collision can be avoided, if so, emergency braking is adopted, and if not, the parking point of the target vehicle is analyzed and predicted according to the vehicle information of the target vehicle, and the braking distance is extended as much as possible under the condition that collision is avoided to protect key components such as a vehicle engine, a chassis, a brake system, and the like.
In addition, according to the vehicle brake control method provided by the embodiment of the application, under the condition that collision is inevitable, collision weights of the front vehicle and the rear vehicle can be distributed according to collision damage degrees of the front vehicle and the rear vehicle, and a proper brake parking point and a proper collision posture are selected to reduce life and property loss.
Exemplary devices
Fig. 6 illustrates a block diagram of a vehicle brake control apparatus according to an embodiment of the present application.
As shown in fig. 6, the vehicle brake control device 200 according to the embodiment of the present application includes: a braking detection unit 210 for detecting whether the first target vehicle is in a braking state; an information determining unit 220, configured to determine first vehicle information of the first target vehicle based on the acquired image of the first target vehicle in response to the braking detecting unit 210 detecting that the first target vehicle is in a braking state; a distance determining unit 230 for determining a first braking distance of the first target vehicle based on the first vehicle information determined by the information determining unit 220; and a braking control unit 240 for controlling a braking state of the host vehicle based on the first braking distance determined by the distance determination unit 230.
In one example, in the vehicle brake control device 200 described above, the brake detection unit 210 is configured to: detecting whether the first target vehicle is in a braking state or not through the identification of the acquired image of the first target vehicle; and/or detecting whether the first target vehicle is in a braking state by determining a vehicle speed change of the first target vehicle by using a speed measurement mode.
Fig. 7 illustrates a block diagram of an example of an information determination unit of a vehicle brake control apparatus according to an embodiment of the present application.
As shown in fig. 7, on the basis of the embodiment shown in fig. 6, the information determining unit 220 includes: an image identifying subunit 221, configured to determine, based on the identification of the acquired image of the first target vehicle, identification information, current driving information, and a tire deformation amount of the first target vehicle in response to the brake detection unit 210 detecting that the first target vehicle is in a braked state; an information obtaining subunit 222, configured to obtain detailed information of the first target vehicle based on the identification information determined by the image identifying subunit 221, where the detailed information includes a standard braking distance, network access information, a maintenance condition, age information, and a tire model of the first target vehicle; and a load determining subunit 223 configured to determine an actual load capacity of the first target vehicle based on the tire deformation amount of the first target vehicle determined by the image identifying subunit 221 and the tire model acquired by the information acquiring subunit 222.
In one example, in the vehicle brake control device 200 described above, the brake control unit 240 is configured to: a first braking distance of the first target vehicle is determined based on the current travel information of the first target vehicle determined by the image recognition subunit 221, the detailed information acquired by the information acquisition subunit 222, and the actual load capacity determined by the load capacity determination subunit 223.
Fig. 8 illustrates a block diagram of an example of a brake control unit of a vehicle brake control device according to an embodiment of the present application.
As shown in fig. 8, on the basis of the embodiment shown in fig. 6, the brake control unit 240 includes: an information determining subunit 241, configured to determine second vehicle information of a second target vehicle based on the acquired image of the second target vehicle; a distance determining subunit 242, configured to determine a second braking distance of the second target vehicle based on the second vehicle information determined by the information determining subunit 241; and a braking control subunit 243 configured to control a braking state of the host vehicle based on the first braking distance determined by the distance determination unit 230 and the second braking distance determined by the distance determination subunit 242.
In one example, in the vehicle brake control device 200 described above, the information determination subunit 241 is configured to: determining identification information, current driving information and tire deformation amount of the second target vehicle based on the recognition of the acquired image of the second target vehicle; acquiring detailed information of the second target vehicle based on the identification information, wherein the detailed information comprises standard braking distance of a rear vehicle, network access information, maintenance conditions, age information and tire models; and determining an actual load capacity of the second target vehicle based on the tire deformation amount and the tire model of the second target vehicle.
In one example, in the vehicle brake control device 200 described above, the distance determining subunit 242 is configured to: determining a second braking distance of the second target vehicle based on the current driving information, the detailed information and the actual load capacity of the second target vehicle.
Fig. 9 illustrates a block diagram of a first example of a brake control subunit of the vehicle brake control device according to the embodiment of the present application.
As shown in fig. 9, based on the embodiment shown in fig. 8, the brake control subunit 243 includes: a collision determination module 2431 for determining whether collision-free braking can be achieved based on the first braking distance determined by the distance determination unit 230 and the second braking distance determined by the distance determination subunit 242; a longest distance determination module 2432 for determining a longest braking distance of the host vehicle based on the first braking distance and the second braking distance in response to the collision determination module 2431 determining that collision-free braking is achievable; and a first braking control module 2433, configured to control a braking state of the host vehicle based on the longest braking distance determined by the longest distance determination module 2432.
Fig. 10 illustrates a block diagram of a second example of a brake control subunit of the vehicle brake control device according to the embodiment of the present application.
As shown in fig. 10, on the basis of the embodiment shown in fig. 9, the brake control subunit 243 further includes: a collision damage determination module 2434 for determining a first degree of collision damage of a host vehicle with the first target vehicle and a second degree of collision damage with the second target vehicle based on the first vehicle information of the first target vehicle and the second vehicle information of the second target vehicle in response to the collision determination module 2431 determining that collision-free braking is not achievable; a braking strategy determination module 2435 for determining a collision braking strategy for the host vehicle based on the first and second collision damage degrees determined by the collision damage determination module 2434; and a second braking control module 2436 configured to control a braking state of the host vehicle based on the collision braking strategy of the host vehicle determined by the braking strategy determination module 2435.
In one example, in the vehicle brake control device 200 described above, the braking strategy determination module 2435 is configured to: and determining a braking parking point and a collision posture of the vehicle based on the first collision damage degree and the second collision damage degree.
Here, it will be understood by those skilled in the art that the specific functions and operations of the respective units and modules in the vehicle brake control device 200 described above have been described in detail in the description of the vehicle brake control method with reference to fig. 1 to 5, and thus, a repetitive description thereof will be omitted.
As described above, the vehicle brake control apparatus 200 according to the embodiment of the present application may be implemented in various terminal devices, such as an in-vehicle automatic driving system and the like. In one example, the vehicle brake control apparatus 200 according to the embodiment of the present application may be integrated into a terminal device as one software module and/or hardware module. For example, the vehicle brake control apparatus 200 may be a software module in the operating system of the terminal device, or may be an application developed for the terminal device; of course, the vehicle brake control device 200 may also be one of many hardware modules of the terminal device.
Alternatively, in another example, the vehicle brake control apparatus 200 and the terminal device may be separate devices, and the vehicle brake control apparatus 200 may be connected to the terminal device through a wired and/or wireless network and transmit the interactive information according to an agreed data format.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 11.
FIG. 11 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 11, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 13 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 13 may include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including a brake control scheme, etc. to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for the sake of simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 11, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle brake control method according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle brake control method according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (12)
1. A vehicle brake control method, comprising:
detecting whether a first target vehicle is in a braking state;
in response to detecting that the first target vehicle is in a braking state, determining first vehicle information of the first target vehicle based on the acquired image of the first target vehicle;
determining a first braking distance of the first target vehicle based on the first vehicle information; and
and controlling the braking state of the vehicle based on the first braking distance.
2. The vehicle brake control method according to claim 1, wherein controlling the braking state of the host vehicle based on the first braking distance includes:
determining second vehicle information of a second target vehicle based on the acquired image of the second target vehicle;
determining a second braking distance of the second target vehicle based on the second vehicle information; and
and controlling the braking state of the vehicle based on the first braking distance and the second braking distance.
3. The vehicle brake control method according to claim 1, wherein detecting whether the first target vehicle is in a braking state includes:
detecting whether the first target vehicle is in a braking state or not through the identification of the acquired image of the first target vehicle; and/or
Detecting whether the first target vehicle is in a braking state by determining a change in vehicle speed of the first target vehicle using a speed measurement manner.
4. The vehicle brake control method of claim 1, wherein determining first vehicle information of the first target vehicle based on the acquired image of the first target vehicle comprises:
determining identification information, current driving information, and tire deformation amount of the first target vehicle based on the recognition of the acquired image of the first target vehicle;
acquiring detailed information of the first target vehicle based on the identification information, wherein the detailed information comprises standard braking distance, network access information, maintenance condition, age information and tire model of the first target vehicle; and
determining an actual load capacity of the first target vehicle based on the tire deformation amount and the tire model of the first target vehicle.
5. The vehicle brake control method as claimed in claim 2, wherein determining second vehicle information of the second target vehicle based on the acquired image of the second target vehicle includes:
determining identification information, current driving information and tire deformation amount of the second target vehicle based on the recognition of the acquired image of the second target vehicle;
acquiring detailed information of the second target vehicle based on the identification information, wherein the detailed information comprises standard braking distance of a rear vehicle, network access information, maintenance conditions, age information and tire models; and
determining an actual load capacity of the second target vehicle based on the tire deformation amount and the tire model of the second target vehicle.
6. The vehicle brake control method of claim 1, wherein determining a first braking distance of the first target vehicle based on the first vehicle information comprises:
determining a first braking distance of the first target vehicle based on the current driving information, the detailed information and the actual load capacity of the first target vehicle.
7. The vehicle brake control method according to claim 2, wherein determining a second braking distance of the second target vehicle based on the second vehicle information includes:
determining a second braking distance of the second target vehicle based on the current driving information, the detailed information and the actual load capacity of the second target vehicle.
8. The vehicle braking control method of claim 2, wherein controlling the braking state of the host vehicle based on the first braking distance and the second braking distance comprises:
determining whether collision-free braking can be achieved based on the first braking distance and the second braking distance;
in response to the collision-free braking being achievable, determining a longest braking distance of the host vehicle based on the first braking distance and the second braking distance; and
and controlling the braking state of the vehicle based on the longest braking distance.
9. The vehicle braking control method of claim 8, wherein controlling the braking state of the host vehicle based on the first braking distance and the second braking distance further comprises:
in response to non-achievable collision-free braking, determining a first degree of collision damage of a host vehicle with the first target vehicle and a second degree of collision damage with the second target vehicle based on first vehicle information of the first target vehicle and second vehicle information of the second target vehicle;
determining a collision braking strategy of the host vehicle based on the first collision damage degree and the second collision damage degree; and
and controlling the braking state of the vehicle based on the collision braking strategy of the vehicle.
10. The vehicle brake control method of claim 9, wherein determining the collision braking strategy for the host vehicle based on the first and second collision damage degrees comprises:
and determining a braking parking point and a collision posture of the vehicle based on the first collision damage degree and the second collision damage degree.
11. A vehicle brake control device comprising:
a brake detection unit for detecting whether the first target vehicle is in a brake state;
an information determination unit, configured to determine, in response to the brake detection unit detecting that the first target vehicle is in a brake state, first vehicle information of the first target vehicle based on the acquired image of the first target vehicle;
a distance determining unit configured to determine a first braking distance of the first target vehicle based on the first vehicle information determined by the information determining unit; and
and the braking control unit is used for controlling the braking state of the vehicle based on the first braking distance determined by the distance determination unit.
12. An electronic device, comprising:
a processor; and
a memory having stored therein computer program instructions which, when executed by the processor, cause the processor to carry out the vehicle brake control method of any one of claims 1-10.
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| CN201911023898.3A CN112706729B (en) | 2019-10-25 | 2019-10-25 | Vehicle brake control method, vehicle brake control device and electronic equipment |
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| CN201911023898.3A CN112706729B (en) | 2019-10-25 | 2019-10-25 | Vehicle brake control method, vehicle brake control device and electronic equipment |
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| CN112706729B CN112706729B (en) | 2022-05-24 |
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Cited By (1)
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| CN114004143A (en) * | 2021-10-18 | 2022-02-01 | 星河智联汽车科技有限公司 | Method and device for predicting tire life, terminal device and storage medium |
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