CN114347962A - Brake braking method and device and computer readable storage medium - Google Patents
Brake braking method and device and computer readable storage medium Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of vehicle safety, and discloses a brake braking method, a brake braking device and a computer readable storage medium, wherein the method comprises the following steps: in the running process of the vehicle, acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail; determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude; if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking. By applying the technical scheme of the invention, the current state of the vehicle can be determined according to the amplitudes of the head and the tail of the vehicle, and the brake system can be started according to the determined current state to realize braking. When the vehicle collides, the automatic auxiliary brake of the vehicle can be realized, and the safety of the vehicle and a driver in the driving process is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle safety, in particular to a brake braking method, a brake braking device and a computer readable storage medium.
Background
With the rapid development of automobile intelligent driving assistance technology, passenger cars begin to popularize driving assistance technology, and the current driving assistance technology mainly judges whether a vehicle is likely to collide or not through visual assistance, such as detection by a camera or a laser sensor, and assists braking when judging that the vehicle is likely to collide. There are few means to control the vehicle during or after a collision. Therefore, it is necessary to provide a method for taking measures for a vehicle in the event of a collision of the vehicle to ensure the safety of the vehicle and the driver.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a brake braking method, device and computer readable storage medium for solving the problem of improving safety of a vehicle and a driver in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a brake braking method, including:
in the running process of the vehicle, acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail;
determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
and if so, starting a brake system of the vehicle to realize braking.
In an optional manner, the step of determining whether the current state of the vehicle satisfies a braking condition according to the first amplitude and the second amplitude further includes:
determining whether the first amplitude and the second amplitude are both greater than a preset amplitude threshold;
and if so, judging that the current state of the vehicle meets the braking condition.
In an optional manner, the step of determining whether the current state of the vehicle satisfies a braking condition according to the first amplitude and the second amplitude further includes:
determining whether an amplitude difference value between the first amplitude and the second amplitude falls within a preset range when the vehicle satisfies a preset condition; determining whether the pressure of a brake pedal of the vehicle is greater than a preset pressure value;
and if the amplitude difference value is within a preset range and the pressure is greater than the preset pressure value, judging that the current state of the vehicle meets the braking condition.
In an optional manner, before determining whether the difference between the amplitudes of the first amplitude and the second amplitude falls within a preset range, the method further includes:
determining whether the first amplitude and the second amplitude are both less than or equal to a preset amplitude threshold;
and if so, determining that the vehicle meets the preset condition.
In an alternative form, the step of determining whether the pressure of the brake pedal of the vehicle is greater than a preset pressure value further includes:
acquiring the pressure of a brake pedal of the vehicle; and the number of the first and second groups,
and judging whether the pressure is greater than a preset pressure value or not.
In an optional manner, the step of obtaining the first amplitude of the vehicle head and the second amplitude of the vehicle tail further includes:
acquiring a first speed of a front wheel and a second speed of a rear wheel of the vehicle;
the first amplitude is obtained according to the first vehicle speed, and the second amplitude is obtained according to the second vehicle speed.
In an alternative manner, the step of obtaining the first amplitude according to the first vehicle speed and obtaining the second amplitude according to the second vehicle speed further includes:
obtaining the first amplitude according to the first vehicle speed and a first relational expression, and obtaining the second amplitude according to the second vehicle speed and the first relational expression;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two.
According to another aspect of embodiments of the present invention, there is provided a brake actuating apparatus, including:
the acquisition module is used for acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail in the running process of the vehicle;
the determining module is used for determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
and the execution module is used for starting a brake system of the vehicle to realize braking when the current state of the vehicle meets the brake condition.
According to another aspect of embodiments of the present invention, there is provided a brake actuating apparatus including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation of the brake braking method.
According to another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, in which at least one executable instruction is stored, and when the executable instruction is executed on a brake braking apparatus/device, the brake braking apparatus/device executes the operation of the brake braking method described above.
According to the embodiment of the invention, in the running process of the vehicle, a first amplitude of a vehicle head and a second amplitude of the vehicle tail are obtained; determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude; if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking. By applying the technical scheme of the invention, the current state of the vehicle can be determined according to the amplitudes of the head and the tail of the vehicle, and the brake system can be started according to the determined current state to realize braking. When the vehicle collides, the automatic braking of the vehicle can be realized, and the safety of the vehicle and a driver in the driving process is improved.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart illustrating a first embodiment of a brake application method of the present invention;
FIG. 2 is a flow chart illustrating a second embodiment of the brake application method of the present invention;
FIG. 3 is a flow chart showing a third embodiment of the brake application method of the present invention;
FIG. 4 is a schematic structural view showing an embodiment of the brake actuating apparatus of the present invention;
fig. 5 is a schematic structural view showing an embodiment of the brake actuating apparatus of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein.
Fig. 1 shows a flowchart of a first embodiment of the brake application method of the present invention, which is performed by a brake application apparatus. As shown in fig. 1, the method comprises the steps of:
step 110: in the running process of the vehicle, acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail;
considering that the vehicle body vibrates in the most direct mode when the vehicle collides, the design idea of the present application may be as follows: and judging whether the vehicle collides at the moment by acquiring the vibration of the vehicle and the change of the posture of the vehicle.
Specifically, when the vehicle vibrates, the simplest and most direct manner shows that the vehicle body vibrates, that is, the vehicle body generates an amplitude, and therefore, the manner of acquiring the vehicle vibration in the present application may be, but is not limited to, realized by acquiring the amplitudes of the front and the rear of the vehicle, that is, acquiring the first amplitude and the second amplitude respectively, and taking the first amplitude and the second amplitude as the basis for judging whether the vehicle collides.
Step 120: determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
specifically, after the first amplitude and the second amplitude are obtained, the current state of the vehicle is determined according to the two parameters, whether a braking condition is met or not is judged based on the determined state, if yes, braking is started, and if not, no processing is performed.
The current state of the vehicle may include, but is not limited to, a state in which the vehicle collides (for example, when both the first amplitude and the second amplitude of the vehicle are greater than a certain threshold value, the vehicle is determined to collide), the vehicle travels to a pothole or passes through a deceleration strip (for example, when the first amplitude and the second amplitude of the vehicle sequentially increase within a short time interval, the vehicle is determined to be in a positive state), and the current state may be another state.
Step 130: if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking.
Specifically, when the current state of the vehicle determined based on the first amplitude and the second amplitude meets the condition of braking, the vehicle is assisted to brake, wherein, the specific manner may be, but is not limited to, activating a brake system of the vehicle to implement a braking function.
The starting and braking system is an automatic process controlled by a processor, automatic braking can be realized without human participation, the process is the final guarantee of the braking system and cannot replace manual braking, and a layer of safety protection is provided for the final guarantee of behaviors that people take urgency to step on the brake after collision.
After the brake system is started, it can be determined whether human intervention is detected, for example, after the driver operates the brake pedal, the steps are automatically exited, subject to human operation. That is, the priority of the human operating system is greater than the priority of the processor operating system.
According to the method, in the driving process of the vehicle, a first amplitude of a vehicle head and a second amplitude of the vehicle tail are obtained; determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude; if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking. By applying the technical scheme of the invention, the current state of the vehicle can be determined according to the amplitudes of the head and the tail of the vehicle, and the brake system can be started according to the determined current state to realize braking. When the vehicle collides, the automatic auxiliary brake of the vehicle can be realized, and the safety of the vehicle and a driver in the driving process is improved.
Fig. 2 shows a flowchart of a second embodiment of the brake application method of the present invention, which is performed by the brake application apparatus. As shown in fig. 2, the method comprises the steps of:
step 210: a first vehicle speed of a front wheel and a second vehicle speed of a rear wheel of a vehicle are obtained.
In view of the fact that the faster the vehicle speed is, the larger the corresponding amplitude is, and a certain proportional relationship exists between the vehicle speed and the amplitude of the vehicle, in this embodiment, the first amplitude is obtained by obtaining a first vehicle speed of a front wheel of the vehicle, and the second amplitude is obtained by obtaining a second vehicle speed of a rear wheel of the vehicle;
it should be noted that, during normal running, the first vehicle speed and the second vehicle speed corresponding to the front wheels and the rear wheels of the vehicle respectively should be the same, so that, during abnormal running or collision, the first vehicle speed and the second vehicle speed are suitably different, and this embodiment makes use of this. Specifically, but not limited to, the first vehicle speed and the second vehicle speed may be acquired by a speed sensor.
Step 220: obtaining a first amplitude according to the first vehicle speed and the first relational expression, and obtaining a second amplitude according to the second vehicle speed and the first relational expression;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two;
specifically, this step is intended to provide a specific implementation of how to obtain the first amplitude and the second amplitude according to the first vehicle speed and the second vehicle speed, respectively. The numerical relationship between the ith vehicle speed and the ith amplitude is the first relational expression in the above, in the first relational expression, the ith vehicle speed and the ith amplitude basically accord with a linear relationship, the faster the vehicle speed is, the larger the amplitude is, the percentage of the coefficient a used for adjusting the preset value is, namely the smaller a is, the higher the safety and the sensitivity is, the more frequent the system is accessed, and the correspondingly required power consumption is also larger. The specific value of a depends on the actual situation and is not limited herein.
Step 230: determining whether the first amplitude and the second amplitude are both larger than a preset amplitude value;
when the vehicle is in violent or large collision, the head and the tail of the vehicle can generate large vibration, which is represented as large first amplitude and large second amplitude, but when the vehicle passes through a low-lying area or a deceleration strip, the amplitudes of the head and the tail of the vehicle can be sequentially increased, namely the first amplitude and the second amplitude can be larger or smaller, but the condition does not need system access, namely auxiliary braking is not needed.
Therefore, the judgment conditions in the present application are: and determining whether the first amplitude and the second amplitude are both larger than a preset amplitude value or not so as to eliminate the situation that the vehicle passes through a low-lying area or a deceleration strip and the like, and avoid frequent intervention of the system.
Step 240: if so, judging that the current state of the vehicle meets the braking condition;
that is, if the first amplitude and the second amplitude are simultaneously greater than the preset amplitude value, it is determined that the posture of the vehicle at the time is greatly changed, and at the time, it is determined that the vehicle is in an abnormal form state, that is, the current state of the vehicle satisfies the braking condition.
Step 250: and starting a brake system of the vehicle to realize braking.
At the moment, a brake system is started, the brake operation is started in advance, the auxiliary brake is realized, and the safety of vehicles and personnel in the vehicles is ensured. For further details of this step, please refer to the previous embodiment.
According to the method, in the running process of the vehicle, the first vehicle speed of the front wheels is obtained to calculate the first amplitude, the first vehicle speed of the rear wheels is obtained to calculate the second amplitude, and therefore whether the current state of the vehicle meets the braking condition or not can be determined based on the first amplitude and the second amplitude; if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking. By applying the technical scheme of the invention, the first amplitude and the second amplitude can be simply and reliably calculated, and the scheme of the invention can avoid frequent system entry, can realize advanced automatic auxiliary braking of the vehicle when the vehicle has large collision on the basis of ensuring the normal running of the vehicle, and improves the safety of the vehicle and a driver in the running process.
Fig. 3 shows a flowchart of a third embodiment of the brake application method of the present invention, which is performed by the brake application apparatus. As shown in fig. 3, the method comprises the steps of:
step 310: a first vehicle speed of a front wheel and a second vehicle speed of a rear wheel of a vehicle are obtained.
Step 320: obtaining a first amplitude according to the first vehicle speed and the first relational expression, and obtaining a second amplitude according to the second vehicle speed and the first relational expression;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two;
for the detailed description of step 310 and step 320, refer to the description of the second embodiment, and the detailed description of the present invention is omitted here.
Step 330: determining whether the first amplitude and the second amplitude are both less than or equal to a preset amplitude threshold;
the second embodiment only describes an implementation manner that the current state of the vehicle meets the braking condition, that is, when both the first amplitude and the second amplitude are greater than the preset amplitude threshold, it is determined that the posture of the vehicle changes greatly, and at this time, it is determined that the braking condition is met. However, there is also a state in which the corresponding vehicle is abnormal when the first amplitude and the second amplitude are smaller than or equal to the preset amplitude threshold value.
Therefore, the present embodiment is intended to describe the state of such an abnormality. Specifically, the first amplitude and the second amplitude are excluded from being larger or smaller, that is, the vehicle passes through a depression or a speed bump, so as to avoid interference with the auxiliary brake. Therefore, the conditions for the next step are: if the first amplitude and the second amplitude are both smaller than or equal to the predetermined amplitude interval, step 340 is performed.
Step 340: if so, judging that the vehicle meets a preset condition;
that is, when both the first amplitude and the second amplitude are smaller than or equal to the preset amplitude threshold, it is determined that the vehicle satisfies the preset condition, and then the process proceeds to step 350.
Step 350: determining whether an amplitude difference value of the first amplitude and the second amplitude falls within a preset range;
specifically, when the vehicle meets a preset condition, that is, the first amplitude and the second amplitude are both within a preset range, whether the amplitude difference value of the first amplitude and the second amplitude is within the preset range is judged, if so, the first amplitude and the second amplitude are judged to be almost simultaneously and have similar values, the corresponding instantaneous vehicle speed of the vehicle is also changed, and at the moment, the vehicle is considered to be slightly collided, and the system is required to intervene for work.
Step 360: acquiring the pressure of a brake pedal of a vehicle;
at the moment, the pressure of the brake pedal of the vehicle is acquired, when the pressure exists, the operation of the brake pedal by the driver is judged, at the moment, a more determined judgment brake system needs to intervene to assist the driver to brake the vehicle, so that the time delay and uncertainty of the operation of the brake pedal by the driver are avoided, and the safety of the vehicle and the driver is further improved.
The pressure may be obtained by, but not limited to, providing a pressure sensor on a brake pedal of the vehicle, and obtaining the pressure of the brake pedal by obtaining an output parameter of the pressure sensor. Other implementations are possible and the application is not limited thereto.
Step 370: judging whether the pressure is greater than a preset pressure value or not;
after the pressure of the brake pedal of the vehicle is obtained, whether the pressure is greater than a preset pressure value or not is further judged, and particularly when the pressure value is not greater than the preset pressure value, a driver may drive the vehicle to pass through some unstable sections and need to slightly step on the brake to ensure that the vehicle can normally run. Therefore, the obtained pressure value is further judged in the application, whether the obtained pressure value meets the preset condition or not is judged, and whether the obtained pressure value meets the preset scene assumption or not is judged.
Wherein, the pressure value interval of predetermineeing can adjust according to actual conditions, realizes more accurate more effective brake control to the vehicle.
Step 380: if the amplitude difference value is within the preset range and the pressure is greater than the preset pressure value, judging that the current state of the vehicle meets the braking condition;
specifically, when the pressure of the brake pedal is within a pressure threshold interval, the first amplitude and the second amplitude both fall within a preset amplitude threshold interval, and the difference value between the first amplitude and the second amplitude falls within a preset range, and the above three conditions are all satisfied, it is determined that the current state of the vehicle satisfies the braking condition, and the vehicle is controlled.
The above are merely some specific examples listed in the present application, and other determination conditions may be included, and the present application is not limited herein.
Step 390: and starting a brake system of the vehicle to realize braking.
At the moment, the brake system is started, the brake operation is started, the auxiliary brake is realized, and the safety of the vehicle and personnel in the vehicle is ensured. For further details of this step, please refer to the above embodiment.
The method can determine whether the current state of the vehicle meets the braking condition or not based on the first amplitude, the second amplitude and the pressure of the brake pedal during the running process of the vehicle; if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking. By applying the technical scheme of the invention, the current state of the vehicle can be more comprehensively judged, the frequent entering of the system can be avoided, the automatic auxiliary braking of the vehicle can be realized when the vehicle has small collision on the basis of ensuring the normal running of the vehicle, and the safety of the vehicle and a driver in the running process is improved.
Fig. 4 is a schematic structural view showing an embodiment of the brake actuating apparatus of the present invention. As shown in fig. 4, the apparatus 400 includes:
the obtaining module 410 is configured to obtain a first amplitude of a vehicle head and a second amplitude of the vehicle tail in a vehicle driving process;
a determining module 420, configured to determine whether a current state of the vehicle satisfies a braking condition according to the first amplitude and the second amplitude;
and the executing module 430 is configured to start a brake system of the vehicle to implement braking when the current state of the vehicle meets the braking condition.
In an optional manner, the determining module is specifically configured to determine whether the first amplitude and the second amplitude are both greater than a preset amplitude threshold; and if so, judging that the current state of the vehicle meets the braking condition.
In an optional manner, the determining module is specifically configured to determine whether an amplitude difference value between the first amplitude and the second amplitude falls within a preset range when the vehicle meets a preset condition; determining whether the pressure of a brake pedal of the vehicle is greater than a preset pressure value; and if the amplitude difference value is within a preset range and the pressure is greater than a preset pressure value, judging that the current state of the vehicle meets the braking condition.
In an optional manner, the determining module is further configured to determine whether the first amplitude and the second amplitude are both smaller than or equal to a preset amplitude threshold; and if so, determining that the vehicle meets the preset condition.
In an optional manner, the method further comprises: the pressure acquisition module is used for acquiring the pressure of a brake pedal of the vehicle; and the pressure determining module is used for judging whether the pressure is greater than a preset pressure value or not.
In an optional mode, the obtaining module comprises a vehicle speed obtaining module and a calculating module, wherein the vehicle speed obtaining module is used for obtaining a first vehicle speed of front wheels and a second vehicle speed of rear wheels of the vehicle; the calculation module is used for obtaining the first amplitude according to the first vehicle speed and obtaining the second amplitude according to the second vehicle speed.
In an optional manner, the calculating unit is configured to obtain the first amplitude according to the first vehicle speed and a first relation, and obtain the second amplitude according to the second vehicle speed and the first relation;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two.
By applying the technical scheme of the invention, the current state of the vehicle can be determined according to the amplitudes of the head and the tail of the vehicle, and the brake system can be started according to the determined current state to realize braking. When the vehicle collides, the automatic auxiliary brake of the vehicle can be realized, and the safety of the vehicle and a driver in the driving process is improved.
Fig. 5 is a schematic structural diagram of an embodiment of the brake actuating apparatus of the present invention, and the specific embodiment of the present invention is not limited to the specific implementation of the brake actuating apparatus.
As shown in fig. 5, the brake actuating apparatus may include: a processor (processor)502, a Communications Interface 504, a memory 506, and a communication bus 508.
Wherein: the processor 502, communication interface 504, and memory 506 communicate with one another via a communication bus 508. A communication interface 504 for communicating with network elements of other devices, such as clients or other servers. The processor 502, configured to execute the program 510, may specifically execute the relevant steps in the embodiment of the brake braking method described above.
In particular, program 510 may include program code comprising computer-executable instructions.
The processor 502 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The one or more processors included in the brake braking device may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 506 for storing a program 510. The memory 506 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 510 may be specifically invoked by the processor 502 to cause the brake actuation device to perform the following operations:
in the running process of the vehicle, acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail;
determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking.
In an optional manner, the step of determining whether the current state of the vehicle satisfies the braking condition according to the first amplitude and the second amplitude further includes:
determining whether the first amplitude and the second amplitude are both greater than a preset amplitude threshold value;
and if so, judging that the current state of the vehicle meets the braking condition.
In an optional manner, the step of determining whether the current state of the vehicle satisfies the braking condition according to the first amplitude and the second amplitude further includes:
determining whether an amplitude difference between the first amplitude and the second amplitude falls within a preset range when the vehicle satisfies a preset condition; determining whether the pressure of a brake pedal of the vehicle is greater than a preset pressure value;
and if the amplitude difference value is within the preset range and the pressure is greater than the preset pressure value, judging that the current state of the vehicle meets the braking condition.
In an optional manner, before determining whether the difference between the amplitudes of the first amplitude and the second amplitude falls within a preset range, the method further includes:
determining whether the first amplitude and the second amplitude are both less than or equal to a preset amplitude threshold;
and if so, judging that the vehicle meets the preset condition.
In an alternative form, the step of determining whether the pressure of the brake pedal of the vehicle is greater than a preset pressure value further comprises:
acquiring the pressure of a brake pedal of a vehicle; and the number of the first and second groups,
and judging whether the pressure is greater than a preset pressure value or not.
In an optional manner, the step of obtaining a first amplitude of the vehicle head and a second amplitude of the vehicle tail further comprises:
acquiring a first speed of a front wheel and a second speed of a rear wheel of a vehicle;
a first amplitude is obtained based on the first vehicle speed and a second amplitude is obtained based on the second vehicle speed.
In an alternative form, the step of obtaining the first amplitude based on the first vehicle speed and obtaining the second amplitude based on the second vehicle speed further comprises:
obtaining a first amplitude according to the first vehicle speed and the first relational expression, and obtaining a second amplitude according to the second vehicle speed and the first relational expression;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two.
By applying the technical scheme of the invention, the current state of the vehicle can be determined according to the amplitudes of the head and the tail of the vehicle, and the brake system can be started according to the determined current state to realize braking. When the vehicle collides, the automatic auxiliary brake of the vehicle can be realized, and the safety of the vehicle and a driver in the driving process is improved.
An embodiment of the present invention provides a computer-readable storage medium, where the storage medium stores at least one executable instruction, and when the executable instruction is executed on a brake braking apparatus/device, the brake braking apparatus/device executes a brake braking method in any method embodiment described above.
The executable instructions may be specifically configured to cause the brake braking apparatus/device to perform the following operations:
in the running process of the vehicle, acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail;
determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
if the brake pressure meets the requirement, a brake system of the vehicle is started to realize braking.
In an optional manner, the step of determining whether the current state of the vehicle satisfies the braking condition according to the first amplitude and the second amplitude further includes:
determining whether the first amplitude and the second amplitude are both greater than a preset amplitude threshold value;
and if so, judging that the current state of the vehicle meets the braking condition.
In an optional manner, the step of determining whether the current state of the vehicle satisfies the braking condition according to the first amplitude and the second amplitude further includes:
determining whether an amplitude difference between the first amplitude and the second amplitude falls within a preset range when the vehicle satisfies a preset condition; determining whether the pressure of a brake pedal of the vehicle is greater than a preset pressure value;
and if the amplitude difference value is within the preset range and the pressure is greater than the preset pressure value, judging that the current state of the vehicle meets the braking condition.
In an optional manner, before determining whether the difference between the amplitudes of the first amplitude and the second amplitude falls within a preset range, the method further includes:
determining whether the first amplitude and the second amplitude are both less than or equal to a preset amplitude threshold;
and if so, judging that the vehicle meets the preset condition.
In an alternative form, the step of determining whether the pressure of the brake pedal of the vehicle is greater than a preset pressure value further comprises:
acquiring the pressure of a brake pedal of a vehicle; and the number of the first and second groups,
and judging whether the pressure is greater than a preset pressure value or not.
In an optional manner, the step of obtaining a first amplitude of the vehicle head and a second amplitude of the vehicle tail further comprises:
acquiring a first speed of a front wheel and a second speed of a rear wheel of a vehicle;
a first amplitude is obtained based on the first vehicle speed and a second amplitude is obtained based on the second vehicle speed.
In an alternative form, the step of obtaining the first amplitude based on the first vehicle speed and obtaining the second amplitude based on the second vehicle speed further comprises:
obtaining a first amplitude according to the first vehicle speed and the first relational expression, and obtaining a second amplitude according to the second vehicle speed and the first relational expression;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two.
By applying the technical scheme of the invention, the current state of the vehicle can be determined according to the amplitudes of the head and the tail of the vehicle, and the brake system can be started according to the determined current state to realize braking. When the vehicle collides, the automatic auxiliary brake of the vehicle can be realized, and the safety of the vehicle and a driver in the driving process is improved.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. Where the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.
Claims (10)
1. A method of braking a brake, the method comprising:
in the running process of the vehicle, acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail;
determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
and if so, starting a brake system of the vehicle to realize braking.
2. The method of claim 1, wherein the step of determining whether the current state of the vehicle satisfies a braking condition based on the first amplitude and the second amplitude further comprises:
determining whether the first amplitude and the second amplitude are both greater than a preset amplitude threshold;
and if so, judging that the current state of the vehicle meets the braking condition.
3. The method of claim 1, wherein the step of determining whether the current state of the vehicle satisfies a braking condition based on the first amplitude and the second amplitude further comprises:
determining whether an amplitude difference value between the first amplitude and the second amplitude falls within a preset range when the vehicle satisfies a preset condition; determining whether the pressure of a brake pedal of the vehicle is greater than a preset pressure value;
and if the amplitude difference value is within a preset range and the pressure is greater than the preset pressure value, judging that the current state of the vehicle meets the braking condition.
4. The method of claim 3, wherein before determining whether the difference in the amplitudes of the first and second amplitudes falls within a predetermined range, further comprising:
determining whether the first amplitude and the second amplitude are both less than or equal to a preset amplitude threshold;
and if so, determining that the vehicle meets the preset condition.
5. The method of claim 3, wherein the step of determining whether the pressure of the brake pedal of the vehicle is greater than a preset pressure value comprises:
acquiring the pressure of a brake pedal of the vehicle; and the number of the first and second groups,
and judging whether the pressure is greater than the preset pressure value.
6. The method of any of claims 1-5, wherein the step of obtaining a first amplitude of the nose and a second amplitude of the tail further comprises:
acquiring a first speed of a front wheel and a second speed of a rear wheel of the vehicle;
the first amplitude is obtained according to the first vehicle speed, and the second amplitude is obtained according to the second vehicle speed.
7. The method of claim 6, wherein the step of obtaining the first amplitude based on the first vehicle speed and the second amplitude based on the second vehicle speed further comprises:
obtaining the first amplitude according to the first vehicle speed and a first relational expression, and obtaining the second amplitude according to the second vehicle speed and the first relational expression;
the first relation is: zi＝F*Vi*a；
Wherein Z isiIs the ith vehicle speed, F is the weight of the vehicle, ViThe ith vehicle speed is, a is a coefficient, and i is one or two.
8. A brake actuating apparatus, comprising:
the acquisition module is used for acquiring a first amplitude of a vehicle head and a second amplitude of a vehicle tail in the running process of the vehicle;
the determining module is used for determining whether the current state of the vehicle meets a braking condition according to the first amplitude and the second amplitude;
and the execution module is used for starting a brake system of the vehicle to realize braking when the current state of the vehicle meets the brake condition.
9. A brake actuating apparatus, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the brake braking method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having stored therein at least one executable instruction, which when run on a brake actuating apparatus/device, causes the brake actuating apparatus/device to perform the operations of the brake actuating method according to any one of claims 1 to 7.
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| CN202210163496.9A CN114347962A (en) | 2022-02-22 | 2022-02-22 | Brake braking method and device and computer readable storage medium |
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| CN202210163496.9A CN114347962A (en) | 2022-02-22 | 2022-02-22 | Brake braking method and device and computer readable storage medium |
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