CN113147712A - Adaptive braking method, device, equipment and storage medium - Google Patents
Adaptive braking method, device, equipment and storage medium Download PDFInfo
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- CN113147712A CN113147712A CN202110418351.4A CN202110418351A CN113147712A CN 113147712 A CN113147712 A CN 113147712A CN 202110418351 A CN202110418351 A CN 202110418351A CN 113147712 A CN113147712 A CN 113147712A
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the application discloses a self-adaptive braking method, a self-adaptive braking device, self-adaptive braking equipment and a storage medium, and aims to solve the problems that in the prior art, the braking performance of a vehicle is unstable, the driving difficulty is high, and the driving safety is low. The method comprises the following steps: responding to first braking information generated by a user on braking operation of a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time; if the first braking result does not accord with a preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle; and performing second braking processing on the vehicle based on the second braking information. According to the technical scheme, the self-adaptive braking of the vehicle can be realized by monitoring the braking result of the vehicle in real time, the stability of the braking performance of the vehicle is ensured, so that consistent driving experience is provided for a user, the driving difficulty of the user is reduced, and the driving safety is improved.
Description
Technical Field
The present application relates to the field of vehicle safety technologies, and in particular, to a method, an apparatus, a device, and a storage medium for adaptive braking.
Background
At present, a brake system of a vehicle is used for providing braking force for the vehicle according to a fixed conversion ratio calibrated in advance when a driver applies force to a brake pedal, so that the vehicle is decelerated or stopped.
However, during actual driving, factors such as idling and full load of the vehicle, weather and road conditions, and whether there is a problem with the braking force affect the braking performance. However, the current brake system cannot sufficiently consider factors affecting the braking performance, and thus there may be a case where the braking fails (e.g., the vehicle is not decelerated to a predetermined speed or stopped due to insufficient braking force), thereby causing a driving safety problem.
Disclosure of Invention
The embodiment of the application aims to provide a self-adaptive braking method, a self-adaptive braking device, self-adaptive braking equipment and a storage medium, and aims to solve the problems that in the prior art, the braking performance of a vehicle is unstable, the driving difficulty is high, and the driving safety is low.
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
in one aspect, an embodiment of the present application provides an adaptive braking method, including:
responding to first braking information generated by a user on braking operation of a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time;
if the first braking result does not accord with a preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
and performing second braking processing on the vehicle based on the second braking information.
In another aspect, an embodiment of the present application provides an adaptive braking device, including:
the processing and monitoring module is used for responding to first braking information generated by braking operation of a user on a vehicle, performing first braking processing on the vehicle and monitoring a first braking result of the first braking processing in real time;
the first determining module is used for determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle if the first braking result does not accord with a preset target braking result;
and the processing module is used for carrying out second braking processing on the vehicle based on the second braking information.
In another aspect, an embodiment of the present application provides an adaptive braking apparatus, which includes a processor and a memory electrically connected to the processor, where the memory stores a computer program, and the processor is configured to call and execute the computer program from the memory to implement the above adaptive braking method.
In yet another aspect, embodiments of the present application provide a storage medium for storing a computer program, where the computer program is executable by a processor to implement the adaptive braking method described above.
By adopting the technical scheme of the embodiment of the application, the vehicle is subjected to first braking processing by responding to first braking information generated by the braking operation of a user on the vehicle, the first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with a preset target braking result, second braking information corresponding to the vehicle is determined according to the first braking result and the current running environment information of the vehicle, so that the vehicle is subjected to second braking processing based on the second braking information. Therefore, according to the technical scheme, the self-adaptive braking of the vehicle can be realized by monitoring the braking result of the vehicle in real time, the stability of the braking performance of the vehicle is ensured, consistent driving experience is provided for a user, the influence of factors such as weather and roads on the braking result is not required to be considered when the user brakes, the driving difficulty of the user is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic flow chart diagram of an adaptive braking method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of an adaptive braking method according to another embodiment of the present application;
FIG. 3 is a schematic block diagram of an adaptive braking device according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an adaptive braking device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an adaptive braking device according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides a self-adaptive braking method, a self-adaptive braking device, self-adaptive braking equipment and a storage medium, and aims to solve the problems that in the prior art, the braking performance of a vehicle is unstable, the driving difficulty is high, and the driving safety is low.
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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.
Fig. 1 is a schematic flow chart of an adaptive braking method according to an embodiment of the present application, as shown in fig. 1, the method including:
s102, responding to first brake information generated by the brake operation of a user on the vehicle, performing first brake processing on the vehicle, and monitoring a first brake result of the first brake processing in real time.
Wherein the first braking result may include a current speed of the vehicle after the first braking process.
And S104, if the first braking result does not accord with the preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle.
The target braking result may include, among other things, the speed that the vehicle should reach after the first braking process. The current traveling environment information of the vehicle may include current passenger weight information, traveling road information, traveling weather information, and the like of the vehicle.
And S106, performing second braking processing on the vehicle based on the second braking information.
It should be noted that the second braking process is executed on the basis of the first braking process, and when the current braking result matches the preset target braking result, the execution of the first braking process is stopped, and then the second braking process is also stopped.
In the embodiment of the application, first braking processing is performed on a vehicle through first braking information generated by a braking operation of a user on the vehicle, a first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with a preset target braking result, second braking information corresponding to the vehicle is determined according to the first braking result and current running environment information of the vehicle, so that second braking processing is performed on the vehicle based on the second braking information. Therefore, according to the technical scheme, the self-adaptive braking of the vehicle can be realized by monitoring the braking result of the vehicle in real time, the stability of the braking performance of the vehicle is ensured, consistent driving experience is provided for a user, the influence of factors such as weather and roads on the braking result is not required to be considered when the user brakes, the driving difficulty of the user is reduced, and the driving safety is improved.
In one embodiment, first braking information generated by a braking operation of a vehicle by a user may be determined according to the following steps A1-A3:
step A1, determining a first braking force coefficient corresponding to the stepping depth according to the stepping depth of the brake pedal of the vehicle by the user.
The vehicle is stored with a first corresponding relation between the braking force coefficient and the braking force in advance, and the first braking force corresponding to the first braking force coefficient can be determined according to the first corresponding relation.
Step A2, a target deceleration corresponding to the vehicle is calculated based on the first braking force coefficient and the first weight of the vehicle.
In this embodiment, the first weight of the vehicle may comprise the weight of the vehicle. According to the first braking force corresponding to the first braking force coefficient determined in the step A1 and the weight of the vehicle, by using a mechanical formula: f1＝m1A, a target deceleration corresponding to the vehicle can be calculated. Wherein, F1Is a first braking force, m1For the first weight, a is the target deceleration.
Step a3, the first braking force coefficient and the target deceleration are determined as first braking information.
Wherein the first braking force corresponding to the target deceleration and the first braking force coefficient may be determined as the first braking information.
In this embodiment, the first braking information is determined according to the braking operation of the user on the vehicle, and a data basis is provided for the subsequent first braking processing on the vehicle, so that the subsequent steps can be accurately executed conveniently.
In one embodiment, the first braking result may include a first speed of the vehicle, i.e., a current speed of the vehicle after the first braking process. The target braking result may include a target final speed of the vehicle corresponding to the first braking force coefficient, i.e., a speed that the vehicle should reach after the first braking process.
After the first braking process is performed on the vehicle in response to the first braking information generated by the user's braking operation on the vehicle, a target final speed of the vehicle corresponding to the first braking force coefficient may be calculated from the target deceleration, the initial speed of the vehicle, and the execution time of the first braking process, and the first speed of the vehicle may be acquired in real time.
Wherein, the formula can be calculated according to the final speed of the vehicle: vt＝V0+ a × t, calculating a target end speed of the vehicle. VtIs the target end velocity, V0The initial speed of the vehicle, a is the target deceleration, and t is the execution time of the first braking process. Collected from wheel speed sensors on the vehicleAnd (5) calculating to obtain the initial speed of the vehicle according to the wheel pulse signals.
In this embodiment, the target end speed of the vehicle may be calculated for each time in the execution time t of the first braking process, and the first speed of the vehicle corresponding to each time may be obtained in real time, so that based on the target end speed and the first speed at each time, it is determined whether the braking result corresponding to each time of the first braking process of the vehicle meets the preset target braking result.
In this embodiment, a data basis is provided for subsequently determining whether the braking result of the first braking process meets a preset target braking result by calculating the target final speed of the vehicle corresponding to the first braking force coefficient and acquiring the first speed of the vehicle in real time, so as to facilitate accurate execution of subsequent steps.
In one embodiment, after monitoring the first braking result of the first braking process in real time, it may be determined whether a first difference between a first speed of the vehicle and a target final speed of the vehicle corresponding to the first braking force coefficient is less than or equal to a first preset threshold.
And if the first difference is larger than a first preset threshold value, a step of determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle is executed, so that second braking processing is performed on the vehicle according to the second braking information in the subsequent steps, adaptive braking on the vehicle is realized, and the driving difficulty of a user is reduced. The first difference is calculated according to a first speed and a target final speed of the vehicle at each moment of the first braking process.
And if the first difference is smaller than or equal to a first preset threshold value and the first difference is obtained by calculation according to a first speed and a target final speed of the vehicle at each moment of the first braking processing, continuing to perform the first braking processing on the vehicle according to the first braking information until the execution time of the first braking processing is reached.
If the first difference is smaller than or equal to the first preset threshold value and the first difference is calculated from the first speed and the target final speed obtained when the execution time of the first braking processing is reached, the first braking processing is stopped being executed, and at this time, the vehicle can be considered to have reached the target braking result of the vehicle corresponding to the first braking force coefficient.
In this embodiment, after the vehicle is braked, corresponding subsequent operations are executed by judging the magnitude relation between the difference between the braking result and the target braking result and the preset threshold value, so that the stability of the braking performance of the vehicle is ensured, excessive consideration is not required to be carried out by a user in the process of braking the vehicle, consistent driving experience is provided for the user, the driving difficulty of the user is reduced, and the driving safety is improved.
In one embodiment, the driving environment information includes current passenger weight information of the vehicle, driving road information, driving weather information, and the like.
The current passenger weight information of the vehicle can be detected by a seat sensor on a seat in the vehicle. The driving road information can be obtained by acquiring road images in real time through a camera arranged on the vehicle and analyzing the road images. The traveling road information may include road types, for example, asphalt road, cement road, dirt road, and the like. The driving weather information can be obtained by communicating with the application for forecasting the weather. The driving weather information may include weather conditions, such as sunny days, rain, snow, and the like.
In this embodiment, determining the second braking information corresponding to the vehicle according to the first braking result and the current driving environment information of the vehicle may specifically be performed as the following steps B1-B2:
step B1, calculating the current second weight of the vehicle according to the current passenger weight information of the vehicle and the first weight of the vehicle; and determining the current friction coefficient of the vehicle according to the running road information and the running weather information.
Wherein, the friction coefficient is different under different driving weather information on the same road. For example, asphalt has a coefficient of friction of 0.8 on sunny days and a coefficient of friction of 0.2 on rainy days. Therefore, the current friction coefficient of the vehicle can be determined according to the real-time running road information and the running weather information, so that the accuracy of the subsequent calculation result is ensured.
And step B2, determining second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient.
In the embodiment, the accuracy of the determined second braking information is improved by calculating the total weight of the vehicle and the passengers, determining the current friction coefficient of the vehicle according to the running road information and the running weather information, and determining the second braking information corresponding to the vehicle by combining the first braking result.
In one embodiment, the second braking information includes a second braking force to be applied. The step B2 can be specifically executed as the following steps C1-C5:
and step C1, determining the size to be adjusted corresponding to the first speed of the vehicle according to the first difference between the first speed of the vehicle and the target final speed of the vehicle corresponding to the first braking force coefficient.
Step C2, determining a first deceleration corresponding to the vehicle based on the to-be-adjusted size corresponding to the first speed of the vehicle.
Wherein, the formula can be calculated according to the final speed of the vehicle: vt＝V1+a1T, calculating a corresponding first deceleration of the vehicle. VtFor adjusted speed of the first speed, V1At a first speed, a1For the first deceleration, t is the execution time of the first braking process. After determining the size to be adjusted corresponding to the first speed of the vehicle according to step C1, V can be determinedtThe size of (2). V1The pulse signal of the wheel can be obtained by calculation according to the wheel pulse signal collected by a wheel speed sensor on the vehicle.
And step C3, calculating the current friction force deceleration of the vehicle according to the current friction coefficient of the vehicle.
Wherein, the speed reduction formula can be according to the friction force: a is2And (4) calculating the current friction deceleration of the vehicle. a is2For friction deceleration, u is the coefficient of friction, g is the acceleration of gravity, and g is typically 9.8m/s 2 (meters per second square). When the friction coefficient is decreased, the road friction against the vehicle is decreased, and the braking force for stopping the vehicle needs to be increased.
Step C4 determines a second deceleration corresponding to the second braking force based on the first deceleration and the frictional deceleration.
Wherein the formula may be calculated from deceleration: a is3＝a1-a2And determining a second deceleration corresponding to the second braking force. a is3For the second deceleration, a1At a first deceleration, a2The speed is reduced for friction.
And step C5, calculating a second braking force corresponding to the vehicle according to the second deceleration and the current second weight of the vehicle, and using the second braking force as second braking information.
Wherein, a mechanical formula is utilized: f2＝m2*a2And calculating a second braking force corresponding to the vehicle. F2Is the second braking force, m2Is a second weight, a2Is the second deceleration.
In this embodiment, the current specific weight of the vehicle is determined through the perception of the vehicle on the actual passenger weight, and then the specific road friction coefficient and the self-adaptive adjustment braking force are determined according to the current weather condition and the road condition, so that when a user applies the same force to the brake pedal under different road conditions and different weather conditions, the braking effect is consistent, the braking distance is consistent, the consistent driving experience is provided for the user, the driving difficulty is reduced, and the driving safety is improved.
In one embodiment, after the second braking process is performed on the vehicle based on the second braking information, the following steps D1-D2 may be performed:
and D1, monitoring a second braking result of the second braking process in real time.
The second braking result may include a second speed of the vehicle, that is, a current speed of the vehicle after the second braking process.
And D2, judging whether a second difference value between the second speed of the vehicle and the target final speed of the vehicle corresponding to the first braking force coefficient is smaller than or equal to a second preset threshold value.
The second preset threshold may be the same as or different from the first preset threshold in the above embodiments, and this is not limited in this application. If the second difference is smaller than or equal to a second preset threshold, it can be determined that the speed of the vehicle has reached the target final speed of the vehicle corresponding to the first braking force coefficient after the second braking processing. If the second difference is larger than the second preset threshold, the vehicle can be considered to be abnormally braked at the moment, prompt information can be sent to a user, and/or third braking processing can be carried out on the vehicle according to a preset braking mode.
The vehicle braking system comprises a vehicle, a man-machine interaction interface, a warning message and a warning message, wherein the warning message can be sent out through the man-machine interaction interface on the vehicle, and the content of the warning message can comprise key information such as vehicle braking faults and braking measures taken as soon as possible so as to warn a user to decelerate as soon as possible. The preset braking mode can comprise measures of braking the vehicle such as motor reverse rotation and energy feedback.
In this embodiment, by monitoring the braking result of the braking process in real time, when the braking is abnormal, a prompt message can be sent to the user to prompt the user to perform additional braking process, or the vehicle is braked according to a preset braking mode, so that the driving safety is further improved.
Fig. 2 is a schematic flow chart of an adaptive braking method according to another embodiment of the present application, the method of fig. 2 can be applied to the adaptive braking device shown in fig. 3, and referring to fig. 3, the adaptive braking device can include: an input system 310, a brake calculation unit 320, a brake actuator 330 and a central control interface 340. The input system 310 includes, among other things, a vehicle information input device, an entertainment system input device, and a brake pedal.
And an input system 310 for determining parameters such as the current passenger weight information of the vehicle, the initial speed of the vehicle, etc. through the vehicle information input device. And determining the current running weather information and the current running road information of the vehicle through the entertainment system input device. The method comprises the steps of receiving treading of a user through a brake pedal, and determining a first braking force coefficient corresponding to the treading depth. And, send the above-mentioned information confirmed to the brake calculating unit 320.
And a brake calculation unit 320, configured to obtain the information sent by the input system 310, calculate a braking force to be applied (i.e., a second braking force) corresponding to the vehicle, and send the second braking force to the brake actuator 330. When the brake executing mechanism 330 performs the second braking process on the vehicle according to the second braking force, the second braking result of the second braking process is monitored in real time, and when the braking is abnormal, the braking abnormal information is sent to the central control interface 340.
And the brake executing mechanism 330 is used for acquiring the second braking force sent by the brake calculating unit 320 and performing second brake processing on the vehicle according to the second braking force.
And the central control interface 340 is configured to obtain the braking abnormality information sent by the braking executing mechanism 330, and send a prompt message to the user according to the braking abnormality information to prompt the user to decelerate as soon as possible, so as to ensure driving safety.
The method of fig. 2 may include the steps of:
s201, the input system determines a first braking force coefficient corresponding to the stepping depth according to the stepping depth of a brake pedal of the vehicle by a user, the brake calculation unit calculates a target deceleration corresponding to the vehicle according to the first braking force coefficient and the first weight of the vehicle, and determines the first braking force coefficient and the target deceleration as first brake information.
S202, the brake executing mechanism responds to first brake information generated by the brake operation of the vehicle by the user, and carries out first brake processing on the vehicle.
S203, the brake calculating unit calculates the target final speed of the vehicle corresponding to the first braking force coefficient according to the target deceleration, the initial speed of the vehicle and the execution time of the first brake processing, and acquires the first speed of the vehicle in real time.
S204, judging whether a first difference value between a first speed of the vehicle and a target final speed is smaller than or equal to a first preset threshold value by a brake calculation unit; if not, executing S205; if yes, go to S211.
S205, the brake calculating unit calculates the current second weight of the vehicle according to the current passenger weight information of the vehicle and the first weight of the vehicle; and determining the current friction coefficient of the vehicle according to the running road information and the running weather information.
And S206, the brake calculation unit determines second brake information corresponding to the vehicle according to the first speed, the second weight and the friction coefficient of the vehicle.
The first speed of the vehicle and the target final speed can be determined according to a first difference value, the size to be adjusted corresponding to the first speed of the vehicle is determined, the first deceleration corresponding to the vehicle is determined based on the size to be adjusted corresponding to the first speed of the vehicle, the current friction force deceleration of the vehicle is calculated according to the current friction coefficient of the vehicle, the second deceleration corresponding to the second braking force is determined according to the first deceleration and the friction force deceleration, the second braking force corresponding to the vehicle is calculated according to the second deceleration and the second weight, and the second braking force is used as second braking information.
And S207, the brake executing mechanism performs second brake processing on the vehicle based on the second brake information.
S208, the brake calculation unit monitors a second brake result of the second brake processing in real time, wherein the second brake result comprises a second speed of the vehicle.
S209, the brake calculation unit judges whether a second difference value between a second speed of the vehicle and the target final speed is less than or equal to a second preset threshold value; if not, executing S210; if yes, go to S211.
And S210, the central control interface sends prompt information, and/or the brake executing mechanism carries out third brake processing on the vehicle according to a preset brake mode.
S211, the brake actuator stops executing the first braking process.
The specific processes of S201 to S211 are described in detail in the above embodiments, and are not described herein again.
In the embodiment of the application, first braking processing is performed on a vehicle through first braking information generated by a braking operation of a user on the vehicle, a first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with a preset target braking result, second braking information corresponding to the vehicle is determined according to the first braking result and current running environment information of the vehicle, so that second braking processing is performed on the vehicle based on the second braking information. Therefore, according to the technical scheme, the self-adaptive braking of the vehicle can be realized by monitoring the braking result of the vehicle in real time, the stability of the braking performance of the vehicle is ensured, consistent driving experience is provided for a user, the influence of factors such as weather and roads on the braking result is not required to be considered when the user brakes, the driving difficulty of the user is reduced, and the driving safety is improved.
In summary, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
Based on the same idea, the adaptive braking method provided by the embodiment of the present application further provides an adaptive braking device.
Fig. 4 is a schematic structural diagram of an adaptive braking device according to an embodiment of the present application, and as shown in fig. 4, the adaptive braking device includes:
the processing and monitoring module 410 is used for responding to first braking information generated by braking operation of a user on a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time;
the first determining module 420 is configured to determine, if the first braking result does not meet a preset target braking result, second braking information corresponding to the vehicle according to the first braking result and current driving environment information of the vehicle;
and the processing module 430 is used for performing second braking processing on the vehicle based on the second braking information.
In one embodiment, the adaptive braking device further comprises:
the second determining module is used for determining a first braking force coefficient corresponding to the stepping depth according to the stepping depth of a brake pedal of the vehicle by a user;
the calculating module is used for calculating a target deceleration corresponding to the vehicle according to the first braking force coefficient and the first weight of the vehicle;
and the third determining module is used for determining the first braking force coefficient and the target deceleration as the first braking information.
In one embodiment, the first braking result includes a first speed of the vehicle; the target braking result comprises a target final speed of the vehicle corresponding to the first braking force coefficient; the processing and monitoring module 410 includes:
a calculating unit configured to calculate a target final speed of the vehicle corresponding to the first braking force coefficient, based on the target deceleration, the initial speed of the vehicle, and the execution time of the first braking process;
the acquiring unit is used for acquiring a first speed of the vehicle in real time.
In one embodiment, the adaptive braking device further comprises:
the first judgment module is used for judging whether a first difference value between a first speed of the vehicle and a target final speed is smaller than or equal to a first preset threshold value or not;
the first execution module is used for determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle if the first braking result is not the current running environment information of the vehicle;
and the second execution module is used for stopping executing the first braking processing if the first braking processing is executed.
In one embodiment, the driving environment information includes at least one of current passenger weight information, driving road information, and driving weather information of the vehicle; the first determination module 420 includes:
the calculating and determining unit is used for calculating the current second weight of the vehicle according to the current passenger weight information of the vehicle and the first weight of the vehicle; determining the current friction coefficient of the vehicle according to the running road information and the running weather information;
and the determining unit is used for determining second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient.
In one embodiment, the second braking information includes a second braking force to be applied; the determination unit is specifically configured to:
determining the size to be adjusted corresponding to the first speed of the vehicle according to a first difference value between the first speed of the vehicle and the target final speed;
determining a first deceleration corresponding to the vehicle based on the size to be adjusted corresponding to the first speed of the vehicle;
calculating the current friction force deceleration of the vehicle according to the current friction coefficient of the vehicle;
determining a second deceleration corresponding to the second braking force according to the first deceleration and the friction force deceleration;
calculating a second braking force corresponding to the vehicle according to the second deceleration and the second weight; and taking the second braking force as second braking information.
In one embodiment, the adaptive braking device further comprises:
the monitoring module is used for monitoring a second braking result of the second braking processing in real time; the second braking result includes a second speed of the vehicle;
the second judgment module is used for judging whether a second difference value between a second speed of the vehicle and the target final speed is smaller than or equal to a second preset threshold value or not;
and the third execution module is used for sending out prompt information if the vehicle is not braked, and/or carrying out third braking processing on the vehicle according to a preset braking mode.
In the embodiment of the application, first braking processing is performed on a vehicle through first braking information generated by a braking operation of a user on the vehicle, a first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with a preset target braking result, second braking information corresponding to the vehicle is determined according to the first braking result and current running environment information of the vehicle, so that second braking processing is performed on the vehicle based on the second braking information. Therefore, the device can realize the self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensure the stability of the braking performance of the vehicle, provide consistent driving experience for users, enable the users not to consider the influence of factors such as weather, roads and the like on the braking result during braking, reduce the driving difficulty of the users and improve the driving safety.
It should be understood by those skilled in the art that the adaptive braking apparatus in fig. 4 can be used to implement the adaptive braking method described above, and the detailed description thereof should be similar to that of the foregoing method, and therefore, in order to avoid complexity, it is not repeated herein.
Based on the same concept, the embodiment of the present application further provides an adaptive braking device, as shown in fig. 5. The adaptive braking device may vary significantly depending on configuration or performance, and may include one or more processors 501 and memory 502, where the memory 502 may have one or more stored applications or data stored therein. Memory 502 may be, among other things, transient or persistent storage. The application program stored in memory 502 may include one or more modules (not shown), each of which may include a series of computer-executable instructions for an adaptive braking device. Still further, the processor 501 may be configured to communicate with the memory 502 to execute a series of computer-executable instructions in the memory 502 on the adaptive braking device. The adaptive braking apparatus may also include one or more power supplies 503, one or more wired or wireless network interfaces 504, one or more input-output interfaces 505, one or more keyboards 506.
In particular, in this embodiment, the adaptive braking device includes a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer-executable instructions for the adaptive braking device, and the one or more programs configured to be executed by the one or more processors include computer-executable instructions for:
responding to first braking information generated by a user on braking operation of a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time;
if the first braking result does not accord with a preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
and performing second braking processing on the vehicle based on the second braking information.
In the embodiment of the application, first braking processing is performed on a vehicle through first braking information generated by a braking operation of a user on the vehicle, a first braking result of the first braking processing is monitored in real time, and if the first braking result does not accord with a preset target braking result, second braking information corresponding to the vehicle is determined according to the first braking result and current running environment information of the vehicle, so that second braking processing is performed on the vehicle based on the second braking information. Therefore, the device can realize self-adaptive braking of the vehicle by monitoring the braking result of the vehicle in real time, ensure the stability of the braking performance of the vehicle, provide consistent driving experience for users, enable the users not to consider the influence of factors such as weather and roads on the braking result when braking, reduce the driving difficulty of the users and improve the driving safety.
The present application further provides a storage medium storing one or more computer programs, where the one or more computer programs include instructions, and when the instructions are executed by an adaptive braking device including multiple application programs, the adaptive braking device can execute the processes of the adaptive braking method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An adaptive braking method, comprising:
responding to first braking information generated by a user on braking operation of a vehicle, performing first braking processing on the vehicle, and monitoring a first braking result of the first braking processing in real time;
if the first braking result does not accord with a preset target braking result, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
and performing second braking processing on the vehicle based on the second braking information.
2. The method of claim 1, wherein before the first braking information generated in response to the braking operation of the vehicle by the user is used for performing the first braking process on the vehicle and monitoring the first braking result of the first braking process in real time, the method further comprises:
determining a first braking force coefficient corresponding to the stepping depth according to the stepping depth of the user on a brake pedal of the vehicle;
calculating a target deceleration corresponding to the vehicle according to the first braking force coefficient and the first weight of the vehicle;
determining the first braking force coefficient and the target deceleration as the first braking information.
3. The method of claim 2, wherein the first braking result comprises a first speed of the vehicle; the target braking result comprises a target final speed of the vehicle corresponding to the first braking force coefficient; after the first braking processing is performed on the vehicle in response to the first braking information generated by the braking operation of the vehicle by the user, the method further includes:
calculating the target final speed of the vehicle corresponding to the first braking force coefficient according to the target deceleration, the initial speed of the vehicle and the execution time of the first braking process;
the monitoring, in real time, a first braking result of the first braking process includes:
acquiring the first speed of the vehicle in real time.
4. The method of claim 3, wherein after the monitoring in real-time a first braking result of the first braking process, the method further comprises:
determining whether a first difference between the first speed and the target final speed of the vehicle is less than or equal to a first preset threshold;
if not, determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle;
and if so, stopping executing the first braking processing.
5. The method according to claim 4, wherein the driving environment information includes at least one of current passenger weight information, driving road information, and driving weather information of the vehicle; the determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle comprises the following steps:
calculating a current second weight of the vehicle based on the current passenger weight information of the vehicle and the first weight of the vehicle; determining the current friction coefficient of the vehicle according to the running road information and the running weather information;
and determining second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient.
6. The method of claim 5, wherein the second braking information includes a second braking force to be applied; the determining the second braking information corresponding to the vehicle according to the first braking result, the second weight and the friction coefficient includes:
determining the size to be adjusted corresponding to the first speed of the vehicle according to the first difference between the first speed and the target final speed of the vehicle;
determining a first deceleration corresponding to the vehicle based on the size to be adjusted corresponding to the first speed of the vehicle;
calculating the current friction force deceleration of the vehicle according to the current friction coefficient of the vehicle;
determining a second deceleration corresponding to the second braking force according to the first deceleration and the friction force deceleration;
calculating the second braking force corresponding to the vehicle according to the second deceleration and the second weight; and taking the second braking force as the second braking information.
7. The method of claim 3, wherein after the second braking process is performed on the vehicle based on the second braking information, the method further comprises:
monitoring a second braking result of the second braking processing in real time; the second braking result comprises a second speed of the vehicle;
determining whether a second difference between the second speed of the vehicle and the target final speed is less than or equal to a second preset threshold;
if not, sending prompt information, and/or carrying out third braking processing on the vehicle according to a preset braking mode.
8. An adaptive braking device, comprising:
the processing and monitoring module is used for responding to first braking information generated by braking operation of a user on a vehicle, performing first braking processing on the vehicle and monitoring a first braking result of the first braking processing in real time;
the first determining module is used for determining second braking information corresponding to the vehicle according to the first braking result and the current running environment information of the vehicle if the first braking result does not accord with a preset target braking result;
and the processing module is used for carrying out second braking processing on the vehicle based on the second braking information.
9. An adaptive braking apparatus comprising a processor and a memory electrically connected to the processor, the memory storing a computer program, the processor being configured to invoke and execute the computer program from the memory to implement an adaptive braking method according to any one of claims 1 to 7.
10. A storage medium for storing a computer program for execution by a processor to implement the adaptive braking method of any one of claims 1 to 7.
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