CN114954384B - Brake control method, device and system and vehicle - Google Patents
Brake control method, device and system and vehicle Download PDFInfo
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- CN114954384B CN114954384B CN202210529410.XA CN202210529410A CN114954384B CN 114954384 B CN114954384 B CN 114954384B CN 202210529410 A CN202210529410 A CN 202210529410A CN 114954384 B CN114954384 B CN 114954384B
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The application provides a brake control method, a device, a system and a vehicle, wherein the method comprises the following steps: determining a priority order respectively corresponding to at least one braking scenario under the condition that the braking triggering condition corresponding to the at least one braking scenario is detected; determining a target braking scene with the highest priority according to the priority sequence corresponding to at least one braking scene respectively; generating a target control instruction according to the braking emergency degree corresponding to the target braking scene; and sending the target control instruction to the matched target control component so that the target control component executes corresponding operation according to the target control instruction. According to the application, the target control instruction can be generated based on the braking scene with the highest priority in at least one braking scene, so that the braking control can be correctly performed under the condition that each braking scene of the AEB is independently developed and a plurality of scenes are triggered simultaneously, and the coupling property between different braking scenes can be reduced.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a braking control method, device, system, and vehicle.
Background
With the increasing amount of vehicle maintenance and the prominence of traffic safety issues, automatic emergency braking systems (Automatic Emergency Braking, AEB) have received increasing attention from vehicle enterprises as an active safety technique that can automatically brake or assist the driver in braking to effectively avoid collisions or mitigate injuries when there is a risk of collisions. AEB, as a safety technique for actively avoiding traffic accidents by assisting a driver in the event of an impending accident, mainly includes three major functions: a brake preparation function, an alarm function and a brake function.
The current AEB is developed mainly for the scenes of vehicles running in front of the vehicles and pedestrians and bicycles crossing roads, and as the requirements of people on driving safety are higher and higher, new scenes such as complex scenes of intersections and scenes of electric vehicles crossing roads are added. In order to meet the safety requirements of different scenes, the functions required to be developed by the AEB are more and more complex, different functions in different traffic scenes, or the coupling degree of different functions in the same scene is larger and larger, in order to effectively reduce the coupling degree between different functions, the different functions in different scenes can be independently developed, and on the basis, the problem that the correct and effective triggering of each function of the AEB is needed to be solved is solved.
Disclosure of Invention
The embodiment of the application provides a brake control method, a brake control device, a brake control system and a vehicle, which are used for solving the problem of how to correctly perform brake control under the condition that functions under all AEB scenes are independently developed.
In a first aspect, an embodiment of the present application provides a brake control method, applied to a control device, including:
determining a priority order respectively corresponding to at least one braking scenario under the condition that a braking triggering condition corresponding to the at least one braking scenario is detected, wherein the priority order corresponding to the braking scenario is positively related to the braking emergency degree of the braking scenario;
determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene respectively;
generating a target control instruction according to the braking emergency degree corresponding to the target braking scene;
and sending the target control instruction to a matched target control component so that the target control component executes corresponding operation according to the target control instruction.
In a second aspect, an embodiment of the present application further provides a brake control apparatus, applied to a control device, including:
the first determining module is used for determining the priority orders respectively corresponding to at least one braking scene under the condition that the braking triggering condition corresponding to the at least one braking scene is detected, wherein the priority orders corresponding to the braking scene are positively related to the braking emergency degree of the braking scene;
The second determining module is used for determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene respectively;
the generating module is used for generating a target control instruction according to the braking emergency degree corresponding to the target braking scene;
and the sending module is used for sending the target control instruction to the matched target control assembly so that the target control assembly executes corresponding operation according to the target control instruction.
In a third aspect, an embodiment of the present application further provides a brake control system, including:
a control device;
a detection device connected to the control device; and the acquisition equipment is connected with the detection equipment;
wherein, the acquisition device is used for: collecting first state information of a current vehicle and second state information of an obstacle object affecting normal running of the current vehicle, and sending the first state information and the second state information to the detection equipment;
wherein, the detection device is used for: judging the risk level of collision between the obstacle object and the current vehicle according to the received first state information and the second state information; determining that a braking triggering condition corresponding to at least one braking scene is detected under the condition that the risk level is greater than a preset risk level, and sending notification information to the control equipment; the obstacle object is at least one;
The control device is used for: determining that a braking triggering condition corresponding to at least one braking scene is detected according to the received notification information; determining the priority orders corresponding to the at least one braking scenario respectively, wherein the priority orders corresponding to the braking scenario are positively correlated with the braking emergency degree of the braking scenario; determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene respectively; generating a target control instruction according to the braking emergency degree corresponding to the target braking scene; and sending the target control instruction to a matched target control component so that the target control component executes corresponding operation according to the target control instruction.
In a fourth aspect, an embodiment of the present application further provides a vehicle, including the brake control system described above.
In a fifth aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program is executed by the processor to implement the braking control method described above.
In a sixth aspect, an embodiment of the present application further provides a computer readable storage medium having stored thereon a computer program that when executed by a processor implements the brake control method described above.
The embodiment of the application at least comprises the following technical effects:
according to the technical scheme, the braking scene with the highest priority in at least one braking scene corresponding to the braking triggering condition is determined to be the target braking scene, the target control instruction is determined according to the braking emergency degree of the target braking scene, and the target control instruction is sent to the target control component, so that the target control component executes corresponding operation according to the target control instruction, when the braking triggering condition corresponding to the at least one braking scene is detected, the target control instruction according to which the target control component is executed when the operation is executed is generated based on the braking emergency degree of the braking scene with the highest priority in the at least one braking scene, and therefore the purpose of correctly performing braking control under the conditions that each braking scene of the AEB is independently developed and a plurality of scenes are triggered simultaneously is achieved, the coupling between different braking scenes can be reduced, and new functions developed for the new braking scenes can be conveniently integrated into an existing AEB system.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic flow chart of a braking control method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a functional state machine corresponding to a braking scenario in a braking control method according to an embodiment of the present application;
FIG. 3 is a second schematic flow chart of a braking control method according to an embodiment of the present application;
fig. 4 is a schematic structural view of a brake control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a brake control system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present application, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
An embodiment of the present application provides a brake control method, which is applied to a control device, as shown in fig. 1, and the method may include:
step 101, determining the priority orders respectively corresponding to at least one braking scenario when the braking triggering condition corresponding to the at least one braking scenario is detected, wherein the priority orders corresponding to the braking scenario are positively related to the braking emergency degree of the braking scenario.
In the embodiment of the application, the vehicle provided with the control device can perform automatic emergency braking operation aiming at various braking scenes, wherein the braking scenes can comprise a sudden deceleration scene of a front vehicle, a scene that a bicycle or a pedestrian crosses a road, a scene that a vehicle suddenly appears at an intersection, and the like. There is a certain difference in the operations performed by the vehicle based on the difference in the degree of braking urgency corresponding to the braking scenario that triggers the vehicle to make an emergency braking. The braking emergency degree corresponding to each braking scene in at least one braking scene is different, so that the braking operation required to be executed by the vehicle for each braking scene is also different, and the braking emergency degree of each braking scene corresponding to the braking triggering condition needs to be determined.
And 102, determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene.
Specifically, after determining the priority order of each braking scenario, it is necessary to select the braking scenario with the highest priority from among them as the target braking scenario. In the case where the braking trigger condition corresponds to only 1 braking scenario, the braking scenario may be determined to be the target braking scenario. When the number of the braking scenes is greater than 1, the priority order, namely the braking emergency degree, corresponding to the braking scenes is determined firstly, and then the braking scene with the highest priority is selected as the target braking scene.
And step 103, generating a target control instruction according to the braking emergency degree corresponding to the target braking scene.
After determining the target braking scene, a target control command is required to be generated according to the braking emergency degree corresponding to the target braking scene, so that the target control component can perform corresponding braking operation based on the target control command.
And 104, sending the target control instruction to the matched target control component so that the target control component executes corresponding operation according to the target control instruction.
Specifically, after determining the target control instruction, the target control instruction needs to be sent to the matched target control component, so that the target control component executes a corresponding operation according to the target control instruction. Since the target control command is generated based on the braking urgency level corresponding to the target braking scenario, which is the braking scenario with the highest priority among the braking scenarios corresponding to the braking trigger conditions, the operation performed by the target control module is substantially the braking operation corresponding to the braking scenario with the highest braking urgency level among the braking scenarios causing the emergency braking of the vehicle.
According to the embodiment of the application, the braking scene with the highest priority in at least one braking scene corresponding to the braking triggering condition is determined as the target braking scene, the target control instruction is determined according to the braking emergency degree of the target braking scene, and the target control instruction is sent to the target control component, so that the target control component executes corresponding operation according to the target control instruction, when the braking triggering condition corresponding to the at least one braking scene is detected, the target control instruction according to which the target control component generates based on the braking emergency degree of the braking scene with the highest priority in the at least one braking scene when executing the operation, thereby realizing correct braking control under the conditions that each braking scene of the AEB is independently developed and a plurality of scenes are triggered simultaneously, reducing the coupling property among different braking scenes, and being convenient for integrating new functions developed for new braking scenes into the existing AEB system.
In an optional embodiment of the present application, the generating a target control instruction according to the braking emergency degree corresponding to the target braking scenario includes:
acquiring a first motion state of a target obstacle object corresponding to the target braking scene, a second motion state of a current vehicle and a first distance between the target obstacle object and the current vehicle;
determining a time difference between a first moment when the target obstacle object collides with the current vehicle and the current moment according to the first motion state, the second motion state and the first distance;
determining emergency parameters for representing the braking emergency degree corresponding to the target braking scene according to the time difference;
and determining the target control instruction according to the emergency parameter and a preset emergency threshold.
In the embodiment of the application, the detection of the braking triggering condition is essentially to detect an obstacle object which affects the normal running of the current vehicle and possibly collides with the current vehicle, the obstacle object can be a vehicle, a pedestrian, an electric vehicle and the like, and then a corresponding braking scene can be determined according to the characteristics of the obstacle object, for example, when the obstacle object is a vehicle, the vehicle runs in front of the current vehicle and has a sudden braking phenomenon, the vehicle braking scene caused by the vehicle is determined to be a sudden front vehicle deceleration scene. After determining the target braking scenario, a corresponding target obstacle object may be determined, for example, the braking triggering condition corresponds to two braking scenarios, namely, a front vehicle sudden deceleration scenario and an intersection with vehicle sudden appearance scenario, where the obstacle object in the front vehicle sudden deceleration scenario is a first vehicle, the obstacle object in the intersection with vehicle sudden appearance scenario is a second vehicle, where the priority order of the front vehicle sudden deceleration scenario is lower than the priority order of the intersection with vehicle sudden appearance scenario, and according to the priority orders respectively corresponding to the two braking scenarios, it may be determined that the target braking scenario is the intersection with vehicle sudden appearance scenario, and then the corresponding target obstacle object is the second vehicle.
By acquiring a first motion state of the target obstacle object, a second motion state of the current vehicle, and a first distance between the target obstacle object and the current vehicle, a time difference between a first time when the target obstacle object collides with the current vehicle and the current time when the current vehicle does not perform a braking operation in time can be determined, wherein the first motion state comprises a motion direction, a motion speed, a motion trend, and the like of the target obstacle object, and the second motion state comprises a motion direction, a motion speed, a motion trend, and the like of the current vehicle.
It should be noted that, the emergency degree of the target braking scene can be determined by the magnitude of the time difference, if the time difference is greater than the response time of the driver, the driver can be reminded of the time difference in an alarm mode, then the driver can control the vehicle to slow down through the autonomous emergency braking to avoid collision, and if the time difference is less than the response time of the driver, the vehicle can be controlled to slow down through the manner of directly starting the autonomous emergency braking to avoid collision or reduce the harm caused by collision. Therefore, based on the time difference, an emergency parameter for representing the emergency degree corresponding to the target braking scenario may be determined, specifically, the emergency parameter may be the time difference, or an emergency level determined by a time interval in which the time difference is located, for example, when the emergency parameter is the emergency level, the emergency parameter is first-order when the time difference is less than 1 second, the emergency parameter is second-order when the time difference is greater than 1 second and less than 2 seconds, and the emergency parameter is third-order when the time difference is greater than 2 seconds, and the present application is not limited specifically to the above-mentioned dividing time limit for dividing the emergency parameter level.
After determining the emergency parameter, the target control instruction can be determined according to the relation between the emergency parameter corresponding to the target braking scene and a preset emergency threshold. The preset emergency threshold is related to a specific form of the emergency parameter, and is a duration when the emergency parameter is a time difference, and is a class number when the emergency parameter is an emergency class.
According to the embodiment of the application, according to the first motion state of the target obstacle object corresponding to the target braking scene, the second motion state of the current vehicle and the first distance between the target obstacle object and the current vehicle, the time difference between the first moment when the target obstacle object collides with the current vehicle and the current moment is determined, then the emergency parameter used for representing the braking emergency degree corresponding to the target braking scene is determined according to the time difference, and the target control instruction is determined according to the emergency parameter and the preset emergency threshold value, so that the target control instruction can be determined based on the emergency degree of the target braking scene, the target control instruction can be determined more flexibly, the occurrence of the collision between the current vehicle and the target obstacle object is avoided, and the driving safety is improved.
In an alternative embodiment of the present application, determining the target control command according to the emergency parameter and a preset emergency threshold includes:
the target control instruction is used for instructing the target control component to sequentially execute an alarm operation, a brake preparation operation and a brake operation under the condition that the emergency parameter is smaller than the preset emergency threshold value;
and the target control command is used for indicating the target control component to simultaneously execute alarm operation and braking operation under the condition that the emergency parameter is greater than or equal to the preset emergency threshold.
Specifically, the preset emergency threshold is a preset reference threshold, which can be used for judging the emergency degree of the target braking scene, so that the target control instruction for controlling the target control component can be determined according to the relation between the emergency parameter and the preset emergency threshold. The emergency degree of the target braking scene can be determined by comparing the emergency parameter with a preset emergency threshold, wherein under the condition that the emergency parameter is smaller than the preset emergency threshold, the driver can be reminded firstly, then the braking preparation is carried out, and finally the step of braking operation is carried out to control the vehicle to decelerate, and then the target control command is used for instructing the target control component to sequentially execute the alarm operation, the braking preparation operation and the braking operation; in the case that the emergency parameter is greater than or equal to the preset emergency threshold, at this time, the degree of emergency is relatively high, and the operation of reminding the driver and the braking operation need to be performed simultaneously, so as to ensure that the vehicle can brake in time, and then the target control command is used for instructing the target control component to perform the alarm operation and the braking operation simultaneously.
According to the embodiment of the application, the emergency degree of the target braking scene is determined by comparing the emergency parameter with the preset emergency threshold value, so that the operation content indicated by the target control instruction is determined, the purpose of taking different operations for the target braking scenes with different emergency degrees is realized, the vehicle can be better controlled to complete the deceleration operation, the collision between the current vehicle and the target obstacle object is avoided, and the driving safety is improved.
Specifically, a function state machine is set for each function corresponding to each braking scenario, so that whether the function corresponding to the function state machine is started or not can be determined according to the state of the function state machine. The states of the functional state machine include an off state, a standby state, and an active state. After the brake triggering condition is detected, the state of the functional state machine of the brake scene corresponding to the brake triggering condition is switched according to the scheme of the brake control, and the specific switching process is described in the following embodiments.
In an alternative embodiment of the present application, the method further comprises:
when a braking function starting instruction is received, controlling function state machines corresponding to N braking scenes to be switched from a shutdown state to a standby state, wherein the N braking scenes are all braking scenes corresponding to a current vehicle, each braking scene at least corresponds to an alarm function state machine, a braking preparation function state machine and a braking function state machine, and the target control component is an execution component for realizing functions of the function state machine corresponding to the target braking scene;
Under the condition that a braking triggering condition corresponding to at least one braking scene is detected, controlling all functional state machines corresponding to the at least one braking scene to be switched from a standby state to an active state, wherein the at least one braking scene is at least one part of the N braking scenes;
after the target braking scene is determined, controlling a functional state machine corresponding to the target braking scene to keep an activated state, and controlling all functional state machines corresponding to the braking scenes except the target braking scene in the at least one braking scene to be switched from the activated state to a standby state;
determining a target function state machine corresponding to the target braking scene according to the target control instruction;
controlling the target function state machine to keep an activated state, and controlling the function state machines except the target function state machine in the target braking scene to be switched from the activated state to a standby state;
the target function state machine is at least part of all function state machines corresponding to the target braking scene.
In particular, the automatic emergency braking function on the vehicle is on by default, but also allows the driver to choose to turn the function off and on in the vehicle settings of the vehicle's multifunction display. Under the condition of default starting, all the function state machines corresponding to all the braking scenes corresponding to the current vehicle automatically enter a standby state after the vehicle is started, and under the condition that the driver starts an automatic emergency braking function through operation, the control equipment receives a braking function starting instruction triggered by the driver and controls all the function state machines corresponding to all the braking scenes corresponding to the current vehicle to be switched from a shutdown state to the standby state.
Further, when a braking trigger condition corresponding to at least one braking scenario is detected, all the functional state machines corresponding to the at least one braking scenario are switched from a standby state to an active state, and the number of the braking scenarios specifically activated is determined by the number of the braking scenarios corresponding to the braking trigger condition. After determining the target braking scenario from the at least one braking scenario, the functional state machines corresponding to the target braking scenario need to be kept in an activated state, and the functional state machines corresponding to the braking scenarios except the target braking scenario in the at least one braking scenario are controlled to be switched from the activated state to a standby state.
Further, after the target braking scenario is determined, a target control instruction may be generated according to the braking emergency degree corresponding to the target braking scenario, where the target control instruction is used to indicate an operation that needs to be performed by a target control component that is matched with the target control instruction, and the target control component is an execution component that implements a function of a function state machine corresponding to the target braking scenario, and then the target function state machine corresponding to the target control instruction may be determined according to the target control instruction, where the target function state machine is a part of function state machines or all function state machines in all function state machines included in the target braking scenario.
Specifically, in the process of generating the target control command according to the braking emergency degree corresponding to the target braking scene, the target control command may be determined to instruct the target control component to sequentially perform the alarm operation, the braking preparation operation and the braking operation, or the target control command may be used to instruct the target control component to simultaneously perform the alarm operation and the braking operation. Under the condition that the target control command is used for indicating the target control component to sequentially execute the alarm operation, the brake preparation operation and the brake operation, the used function state machines are the alarm function state machine, the brake preparation function state machine and the brake function state machine, and at the moment, the target function state machines are the alarm function state machine, the brake preparation function state machine and the brake function state machine, so that the alarm function state machine, the brake preparation function state machine and the brake function state machine all need to be kept in an activated state; under the condition that the target control command is used for indicating the target control component to simultaneously execute the alarm operation and the brake operation, the used function state machines are the alarm function state machine and the brake function state machine, and at the moment, the target function state machines are the alarm function state machine and the brake function state machine, so that the alarm function state machine and the brake function state machine need to be kept in an activated state, and the brake function state machine needs to be switched to a standby state.
As shown in fig. 2, a state transition procedure of a functional state machine is listed, after initialization, the functional state machine is in a shutdown state, after the automatic emergency brake system is turned on, the functional state machine is switched to a standby state, if the AEB activation condition is detected to be satisfied, the functional state machine is switched to an activation state from the standby state, and if the functional state machine is in an activation state and the AEB exit condition is detected to be satisfied, the functional state machine is switched to a standby state from the activation state. When the function state machine is in a standby state or an activated state, if the system is detected to be closed, the function state machine is switched to a shutdown state. When the functional state machine is in a standby state, an active state or a shutdown state, if the system is detected to be faulty, the functional state machine is switched to the faulty state.
According to the embodiment of the application, the state of the functional state machine corresponding to all braking scenes respectively included in the current vehicle can be regulated in the working process of the automatic emergency braking system of the vehicle, so that the functional state machine in an activated state can be determined, the control of the functional state machines corresponding to a plurality of braking scenes respectively is facilitated, the coupling between different braking scenes and the coupling between different functions in the same braking scene are reduced, and meanwhile, as each braking scene is independently developed, after the function development of a new braking scene is completed, the corresponding functional state machine can be directly deployed into the control equipment.
In order to further explain the technical scheme of the application, the technical scheme is applied to specific scene description, and as shown in fig. 3, when a braking trigger condition is detected, a first braking scene, a second braking scene and a third braking scene corresponding to the braking trigger condition can be obtained. And switching the function state machine corresponding to the first braking scene, the function state machine corresponding to the second braking scene and the function state machine corresponding to the third braking scene into an activated state respectively. Specifically, a scene arbitration module and a function arbitration module are arranged in the control equipment. And then determining the braking scene with the highest priority, namely the highest emergency degree, in the three braking scenes as a target braking scene through a scene arbitration module, keeping the functional state machine corresponding to the target braking scene in an activated state, and simultaneously switching the functional state machines corresponding to the braking scenes except the target braking scene in the three braking scenes into a standby state. After the target braking scene is determined, a corresponding target function state machine can be determined through the function arbitration module, the target function state machine is kept in an activated state, and meanwhile, the function state machines except the target function state machine in the function state machines of the target braking scene are switched to a standby state.
Having described the braking control method provided by the embodiment of the present application, the braking control device provided by the embodiment of the present application will be described with reference to the accompanying drawings.
The embodiment of the application also provides a brake control device, which is applied to control equipment, as shown in fig. 4, and comprises:
a first determining module 401, configured to determine, when a brake triggering condition corresponding to at least one braking scenario is detected, a priority order corresponding to the at least one braking scenario, where the priority order corresponding to the braking scenario is positively related to a braking emergency degree of the braking scenario;
a second determining module 402, configured to determine a target braking scenario with a highest priority according to the priority order corresponding to the at least one braking scenario respectively;
a generating module 403, configured to generate a target control instruction according to a braking emergency degree corresponding to the target braking scenario;
and the sending module 404 is configured to send the target control instruction to the matched target control component, so that the target control component executes a corresponding operation according to the target control instruction.
Optionally, the generating module includes:
the acquisition sub-module is used for acquiring a first motion state of a target obstacle object corresponding to the target braking scene, a second motion state of a current vehicle and a first distance between the target obstacle object and the current vehicle;
A first determining submodule, configured to determine a time difference between a first time when the target obstacle object collides with the current vehicle and the current time according to the first motion state, the second motion state, and the first distance;
the second determining submodule is used for determining emergency parameters for representing the braking emergency degree corresponding to the target braking scene according to the time difference;
and the third determining submodule is used for determining the target control instruction according to the emergency parameter and a preset emergency threshold.
Optionally, the third determining submodule includes:
a first determining unit, configured to, when the emergency parameter is smaller than the preset emergency threshold, instruct the target control component to sequentially perform an alarm operation, a brake preparation operation, and a brake operation;
and the second determining unit is used for indicating the target control assembly to simultaneously execute alarm operation and braking operation when the emergency parameter is larger than or equal to the preset emergency threshold value.
Optionally, the apparatus further includes:
the first control module is used for controlling the function state machines corresponding to N braking scenes to be switched from a shutdown state to a standby state when a braking function starting instruction is received, wherein the N braking scenes are all braking scenes corresponding to a current vehicle, each braking scene at least corresponds to an alarm function state machine, a braking preparation function state machine and a braking function state machine, and the target control component is an execution component for realizing the functions of the function state machine corresponding to the target braking scene;
The second control module is used for controlling all functional state machines corresponding to at least one braking scene to be switched from a standby state to an active state under the condition that a braking triggering condition corresponding to at least one braking scene is detected, wherein the at least one braking scene is at least one part of the N braking scenes;
and the third control module is used for controlling the functional state machines corresponding to the target braking scenes to keep an activated state after the target braking scenes are determined, and controlling all the functional state machines corresponding to the braking scenes except the target braking scenes in the at least one braking scene to be switched from the activated state to the standby state.
Optionally, the apparatus further includes:
the third determining module is used for determining a target function state machine corresponding to the target braking scene according to the target control instruction;
the fourth control module is used for controlling the target function state machine to keep an activated state and controlling the function state machines except the target function state machine in the target braking scene to be switched from the activated state to a standby state;
the target function state machine is at least part of all function state machines corresponding to the target braking scene.
According to the brake control device provided by the application, the brake scene with the highest priority in at least one brake scene corresponding to the brake triggering condition is determined as the target brake scene, the target control instruction is determined according to the brake emergency degree of the target brake scene, and the target control instruction is sent to the target control component, so that the target control component executes corresponding operation according to the target control instruction, when the brake triggering condition corresponding to the at least one brake scene is detected, the target control instruction according to which the target control component is executed when the operation is executed is generated based on the brake emergency degree of the brake scene with the highest priority in the at least one brake scene, thereby realizing correct brake control under the conditions that each brake scene of AEB is independently developed and a plurality of scenes are triggered simultaneously, reducing the coupling between different brake scenes, and being convenient for integrating new functions developed for new brake scenes into the existing AEB system.
The embodiment of the present application further provides a brake control system 500, as shown in fig. 5, including:
a control device 501;
a detection device 502 connected to the control device 501; and an acquisition device 503 connected to the detection device 502;
Wherein, the acquisition device 503 is configured to: collecting first state information of a current vehicle and second state information of an obstacle object affecting normal running of the current vehicle, and sending the first state information and the second state information to the detection device 502;
wherein, the detection device 502 is used for: judging the risk level of collision between the obstacle object and the current vehicle according to the received first state information and the second state information; in the case that the risk level is greater than a preset risk level, determining that a brake trigger condition corresponding to at least one brake scenario is detected, and transmitting notification information to the control device 501; the obstacle object is at least one;
the control device 501 is configured to: determining that a braking triggering condition corresponding to at least one braking scene is detected according to the received notification information; determining the priority orders corresponding to the at least one braking scenario respectively, wherein the priority orders corresponding to the braking scenario are positively correlated with the braking emergency degree of the braking scenario; determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene respectively; generating a target control instruction according to the braking emergency degree corresponding to the target braking scene; and sending the target control instruction to a matched target control component so that the target control component executes corresponding operation according to the target control instruction.
Specifically, the acquisition device 503 may acquire second state information of the obstacle object affecting normal running of the current vehicle through the intelligent front view camera, the front radar and the angular radar, and specifically, the second state information may include a movement speed, a movement direction, a running state, and the like of the obstacle object. The acquisition device 503 may also acquire the vehicle speed, wheel speed, lateral longitudinal acceleration, yaw rate, etc. of the current vehicle through the electronic stability system (Electronic Stability Program, ESP), and the actual vehicle speed, steering angle, steering angular velocity, lateral longitudinal acceleration, turn signal, brake pedal signal, accelerator pedal signal, etc. of the current vehicle through various sensors on the vehicle, and determine the first state information of the current vehicle through the above data. The acquisition device 503, after acquiring the first state information and the second state information, transmits them to the detection device 502.
The detection device 502 may include an information fusion module, a vehicle information evaluation module, and a risk evaluation module, so that it may determine whether there is a collision risk between the current vehicle and the obstacle object based on the received first state information and second state information processed by the information fusion module, the vehicle information evaluation module, and the risk evaluation module, determine whether to trigger an automatic emergency brake control system of the vehicle, and send notification information to the control device 501 if it is determined to trigger the automatic emergency brake control system.
After receiving the notification information, the control device 501 may determine a braking trigger condition corresponding to at least one braking scenario according to the notification information, and determine a priority order corresponding to the at least one braking scenario, where the priority order corresponding to the braking scenario is positively related to a braking emergency degree of the braking scenario; determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene respectively; generating a target control instruction according to the braking emergency degree corresponding to the target braking scene; and sending the target control instruction to a matched target control component so that the target control component executes corresponding operation according to the target control instruction.
Specifically, the control device 501 is further configured to: acquiring a first motion state of a target obstacle object corresponding to the target braking scene, a second motion state of a current vehicle and a first distance between the target obstacle object and the current vehicle; determining a time difference between a first moment when the target obstacle object collides with the current vehicle and the current moment according to the first motion state, the second motion state and the first distance; determining emergency parameters for representing the braking emergency degree corresponding to the target braking scene according to the time difference; and determining the target control instruction according to the emergency parameter and a preset emergency threshold.
Specifically, the control device 501 is further configured to: the target control instruction is used for instructing the target control component to sequentially execute an alarm operation, a brake preparation operation and a brake operation under the condition that the emergency parameter is smaller than the preset emergency threshold value;
and the target control command is used for indicating the target control component to simultaneously execute alarm operation and braking operation under the condition that the emergency parameter is greater than or equal to the preset emergency threshold.
Specifically, the control device 501 is further configured to: when a braking function starting instruction is received, controlling function state machines corresponding to N braking scenes to be switched from a shutdown state to a standby state, wherein the N braking scenes are all braking scenes corresponding to a current vehicle, each braking scene at least corresponds to an alarm function state machine, a braking preparation function state machine and a braking function state machine, and the target control component is an execution component for realizing functions of the function state machine corresponding to the target braking scene; under the condition that a braking triggering condition corresponding to at least one braking scene is detected, controlling all functional state machines corresponding to the at least one braking scene to be switched from a standby state to an active state, wherein the at least one braking scene is at least one part of the N braking scenes; after the target braking scene is determined, controlling a functional state machine corresponding to the target braking scene to keep an activated state, and controlling all functional state machines corresponding to the braking scenes except the target braking scene in the at least one braking scene to be switched from the activated state to a standby state.
Specifically, the control device 501 is further configured to: after a target control instruction is generated, determining a target function state machine corresponding to the target braking scene according to the target control instruction; controlling the target function state machine to keep an activated state, and controlling the function state machines except the target function state machine in the target braking scene to be switched from the activated state to a standby state; the target function state machine is at least part of all function state machines corresponding to the target braking scene.
According to the brake control system provided by the application, the brake scene with the highest priority in at least one brake scene corresponding to the brake triggering condition is determined as the target brake scene, the target control instruction is determined according to the brake emergency degree of the target brake scene, and the target control instruction is sent to the target control component, so that the target control component executes corresponding operation according to the target control instruction, when the brake triggering condition corresponding to the at least one brake scene is detected, the target control instruction according to which the target control component is executed when the operation is executed is generated based on the brake emergency degree of the brake scene with the highest priority in the at least one brake scene, thereby realizing correct brake control under the conditions that each brake scene of the AEB is independently developed and a plurality of scenes are triggered simultaneously, reducing the coupling between different brake scenes, and being convenient for integrating new functions developed for new brake scenes into the existing AEB system.
The embodiment of the application also provides an electronic device, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program realizes the processes of the braking control method embodiment when being executed by the processor, and can achieve the same technical effects, and the repetition is avoided, so that the description is omitted.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the respective processes of the above-mentioned brake control method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (9)
1. A brake control method, characterized by being applied to a control apparatus, the method comprising:
when a braking function starting instruction is received, controlling function state machines corresponding to N braking scenes respectively to be switched from a shutdown state to a standby state, wherein the N braking scenes are all braking scenes corresponding to a current vehicle, and each braking scene at least corresponds to an alarm function state machine, a braking preparation function state machine and a braking function state machine;
under the condition that a braking triggering condition corresponding to at least one braking scene is detected, controlling all functional state machines corresponding to the at least one braking scene to be switched from a standby state to an active state, wherein the at least one braking scene is at least one part of the N braking scenes, determining priority orders corresponding to the at least one braking scene respectively, and the priority orders corresponding to the braking scenes are positively correlated with the braking emergency degree of the braking scenes;
Determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene, controlling a functional state machine corresponding to the target braking scene to keep an activated state, and controlling all functional state machines corresponding to the braking scenes except the target braking scene in the at least one braking scene to be switched from the activated state to a standby state;
generating a target control instruction according to the braking emergency degree corresponding to the target braking scene;
and sending the target control instruction to a matched target control component so that the target control component executes corresponding operation according to the target control instruction, wherein the target control component is an execution component for realizing the function of the function state machine corresponding to the target braking scene.
2. The brake control method according to claim 1, wherein the generating a target control command according to the brake emergency degree corresponding to the target brake scenario includes:
acquiring a first motion state of a target obstacle object corresponding to the target braking scene, a second motion state of a current vehicle and a first distance between the target obstacle object and the current vehicle;
Determining a time difference between a first moment when the target obstacle object collides with the current vehicle and the current moment according to the first motion state, the second motion state and the first distance;
determining emergency parameters for representing the braking emergency degree corresponding to the target braking scene according to the time difference;
and determining the target control instruction according to the emergency parameter and a preset emergency threshold.
3. The brake control method according to claim 2, wherein determining the target control command based on the emergency parameter and a preset emergency threshold includes:
the target control instruction is used for instructing the target control component to sequentially execute an alarm operation, a brake preparation operation and a brake operation under the condition that the emergency parameter is smaller than the preset emergency threshold value;
and the target control command is used for indicating the target control component to simultaneously execute alarm operation and braking operation under the condition that the emergency parameter is greater than or equal to the preset emergency threshold.
4. The brake control method according to claim 1, characterized in that after the generation of the target control command, the method further comprises:
Determining a target function state machine corresponding to the target braking scene according to the target control instruction;
controlling the target function state machine to keep an activated state, and controlling the function state machines except the target function state machine in the target braking scene to be switched from the activated state to a standby state;
the target function state machine is at least part of all function state machines corresponding to the target braking scene.
5. A brake control apparatus, characterized by being applied to a control device, comprising:
the control module is used for controlling the function state machines corresponding to N braking scenes to be switched from a shutdown state to a standby state when a braking function starting instruction is received, wherein the N braking scenes are all braking scenes corresponding to the current vehicle, and each braking scene at least corresponds to an alarm function state machine, a braking preparation function state machine and a braking function state machine;
the first determining module is used for controlling all functional state machines corresponding to at least one braking scene to be switched from a standby state to an active state under the condition that a braking triggering condition corresponding to at least one braking scene is detected, wherein the at least one braking scene is at least one part of the N braking scenes, the priority order corresponding to the at least one braking scene is determined, and the priority order corresponding to the braking scenes is positively correlated with the braking emergency degree of the braking scenes;
The second determining module is used for determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene respectively, controlling a functional state machine corresponding to the target braking scene to keep an activated state, and controlling all functional state machines corresponding to the braking scenes except the target braking scene in the at least one braking scene to be switched from the activated state to a standby state;
the generating module is used for generating a target control instruction according to the braking emergency degree corresponding to the target braking scene;
and the sending module is used for sending the target control instruction to the matched target control assembly so that the target control assembly executes corresponding operation according to the target control instruction, and the target control assembly is an execution assembly for realizing the function of the function state machine corresponding to the target braking scene.
6. A brake control system, comprising:
a control device;
a detection device connected to the control device; and
the acquisition equipment is connected with the detection equipment;
the acquisition device is used for: collecting first state information of a current vehicle and second state information of an obstacle object affecting normal running of the current vehicle, and sending the first state information and the second state information to the detection equipment;
The detection device is used for: judging the risk level of collision between the obstacle object and the current vehicle according to the received first state information and the second state information; determining that a braking triggering condition corresponding to at least one braking scene is detected under the condition that the risk level is greater than a preset risk level, and sending notification information to the control equipment; the obstacle object is at least one;
the control device is used for: when a braking function starting instruction is received, controlling function state machines corresponding to N braking scenes respectively to be switched from a shutdown state to a standby state, wherein the N braking scenes are all braking scenes corresponding to a current vehicle, and each braking scene at least corresponds to an alarm function state machine, a braking preparation function state machine and a braking function state machine; determining that a braking triggering condition corresponding to at least one braking scene is detected according to the received notification information, and controlling all functional state machines respectively corresponding to the at least one braking scene to be switched from a standby state to an active state, wherein the at least one braking scene is at least one part of the N braking scenes; determining the priority orders corresponding to the at least one braking scenario respectively, wherein the priority orders corresponding to the braking scenario are positively correlated with the braking emergency degree of the braking scenario; determining a target braking scene with the highest priority according to the priority sequence corresponding to the at least one braking scene, controlling a functional state machine corresponding to the target braking scene to keep an activated state, and controlling all functional state machines corresponding to the braking scenes except the target braking scene in the at least one braking scene to be switched from the activated state to a standby state; generating a target control instruction according to the braking emergency degree corresponding to the target braking scene; and sending the target control instruction to a matched target control component so that the target control component executes corresponding operation according to the target control instruction, wherein the target control component is an execution component for realizing the function of the function state machine corresponding to the target braking scene.
7. A vehicle comprising the brake control system according to claim 6.
8. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the brake control method according to any one of claims 1 to 4.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the brake control method according to any one of claims 1 to 4.
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