CN115195680B - Vehicle braking parameter determining method, device, equipment and storage medium - Google Patents
Vehicle braking parameter determining method, device, equipment and storage medium Download PDFInfo
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- CN115195680B CN115195680B CN202210621165.5A CN202210621165A CN115195680B CN 115195680 B CN115195680 B CN 115195680B CN 202210621165 A CN202210621165 A CN 202210621165A CN 115195680 B CN115195680 B CN 115195680B
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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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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining vehicle braking parameters, wherein the method comprises the following steps: acquiring current running road condition information of a controlled vehicle, and determining a vehicle braking state according to the current running road condition information; when the vehicle braking state is a starting state, determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information; and determining a corresponding target braking control parameter according to the target braking deceleration value. The technical scheme of the embodiment of the invention solves the problems that the existing AEBS control function usually uses a set of fixed control parameters and the braking effect is poor, can enable the vehicle to have better braking effect, and improves the capability of the vehicle for avoiding or relieving collision.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method, a device, equipment and a storage medium for determining vehicle braking parameters.
Background
AEBS (AEBS, automatic Emergency Braking System, automatic emergency braking system) control functions are closely matched with a vehicle braking system, and generally, the AEBS master control module sends a braking deceleration request to be executed by the vehicle braking system, so that the braking capability of the vehicle braking system directly influences the control effect of the AEBS. However, the braking capability of the vehicle braking system is affected by two factors, namely, the running state and the current running road condition of the vehicle, and the current AEBS control function usually uses a set of fixed control parameters, so that the best matching effect with the braking system cannot be achieved.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining vehicle braking parameters, which can enable a vehicle to have a better braking effect.
In a first aspect, an embodiment of the present invention provides a method for determining a braking parameter of a vehicle, including:
acquiring current running road condition information of a controlled vehicle, and determining a vehicle braking state according to the current running road condition information;
when the vehicle braking state is a starting state, determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information;
and determining a corresponding target braking control parameter according to the target braking deceleration value.
In a second aspect, an embodiment of the present invention provides a vehicle brake parameter determining apparatus, including:
the braking state determining module is used for acquiring the current running road condition information of the controlled vehicle and determining the braking state of the vehicle according to the current running road condition information;
the braking deceleration determining module is used for determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information when the vehicle braking state is a starting state;
And the brake control parameter determining module is used for determining a corresponding target brake control parameter according to the target brake deceleration value.
In a third aspect, an embodiment of the present invention provides a computer apparatus, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle brake parameter determination method of any of the embodiments.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for determining a vehicle braking parameter according to any of the embodiments.
According to the technical scheme provided by the embodiment of the invention, the current running road condition information of the controlled vehicle is obtained, the vehicle braking state is determined according to the current running road condition information, when the vehicle braking state is the starting state, the target braking deceleration value of the controlled vehicle is determined according to the vehicle running state of the controlled vehicle and the current running road condition information, and finally the corresponding target braking control parameter is determined according to the target braking deceleration value. According to the technical scheme, the problem that a set of fixed control parameters is used for the existing AEBS control function, and the braking effect is poor is solved, and when the vehicle is subjected to braking control, the final braking control parameters can be determined by integrating the running state information of the vehicle and the real-time running road condition information, so that the vehicle has a better braking effect, and the capability of avoiding or relieving collision of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of a method for determining vehicle braking parameters according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for determining a braking parameter of a vehicle according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a method for determining a braking parameter of a vehicle according to a third embodiment of the present invention;
fig. 4 is a working flow chart of a whole vehicle controller AEBS according to the third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle braking parameter determining apparatus according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1 is a flowchart of a method for determining a braking parameter of a vehicle according to an embodiment of the present invention, where the method may be performed by a device for determining a braking parameter of a vehicle, and the device may be implemented in software and/or hardware.
As shown in fig. 1, the vehicle brake parameter determination method includes the steps of:
s110, acquiring current running road condition information of the controlled vehicle, and determining a vehicle braking state according to the current running road condition information.
The current driving road condition information refers to the information of the current driving road section of the controlled vehicle, and comprises the gradient and smoothness of the current driving road section, the relative position and relative speed of the controlled vehicle and the front vehicle of the controlled vehicle, and the like, which are acquired by the vehicle sensor. For example, the position information of the controlled vehicle and the current running road section of the controlled vehicle can be obtained through GPS signals, and then the gradient of the current running road section of the controlled vehicle relative to the position of the controlled vehicle can be found according to the position map; the smoothness of the current driving road section can be estimated by adopting a deep learning algorithm according to the dynamic visual signals acquired by the vehicle-mounted camera; the millimeter wave radar sensor can send electromagnetic waves to detect the front object of the controlled vehicle, the reflected electromagnetic waves are amplified and subjected to signal analysis and calculation, and the relative position and the relative speed of the controlled vehicle and the vehicle in front of the controlled vehicle can be known.
When the signals are collected, the sensor signals can be preprocessed, such as signal filtering, state hysteresis control and the like, so as to eliminate fault and interference information, so that the effectiveness of the sensor signals is ensured.
Based on the collected information of the gradient, smoothness degree, relative position and relative speed of the vehicle in front of the road section, whether the vehicle needs to enter a braking state or not can be judged. For example, when the controlled vehicle is faster than the front vehicle and the relative position is closer, and there is a risk of rear-end collision, the automatic emergency braking system is started, and the vehicle is braked. The vehicle braking state is a measure for avoiding or reducing collision damage through braking when the vehicle has collision risk, generally comprises three stages of a collision early warning stage, a partial braking stage and an emergency braking stage according to the risk degree, the vehicle can prompt the dangerous early warning of the collision risk in the collision early warning stage, the controlled vehicle can not be braked, a vehicle braking executing mechanism can brake the vehicle to the maximum extent in the partial braking stage, and the controlled vehicle can be braked to the maximum extent in the emergency braking stage.
And S120, when the vehicle braking state is a starting state, determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information.
The vehicle running state represents the current running state of the controlled vehicle, and comprises the current speed, acceleration, running mileage, vehicle load, vehicle oil consumption and the like of the controlled vehicle. The target braking deceleration value of the controlled vehicle is determined in consideration of the reference vehicle running state and the current running road condition information because the braking ability of the vehicle braking system directly affects the control effect of the AEBS. The braking capability of the vehicle braking system is influenced by two factors of the running state of the vehicle and the running road condition information of the vehicle. On one hand, the wear and aging of the braking system can cause the performance of the braking system to change along with the increase of the service time; on the other hand, when the vehicle is used in different scenes, factors such as vehicle load, road gradient, attachment coefficient and the like can also influence the braking effect of the braking system.
The target braking deceleration value represents the braking deceleration value of the controlled vehicle under the current vehicle running state and running road condition, and can be obtained through algorithm analysis according to the vehicle running state and the current running road condition information of the controlled vehicle. For example, according to the influence degree of different parameters on the braking effect, a function for determining the target braking deceleration according to a plurality of parameters is fitted in advance, and the plurality of collected parameters can be input into the corresponding function obtained through fitting, so that the corresponding target braking deceleration value is obtained.
In the prior art, a set of unified brake control parameters is usually set, and cannot be well matched with the actual running condition of a controlled vehicle. In this embodiment, considering the running state of the vehicle and the current running road condition information, an optimized target braking deceleration value is adaptively determined, so that an optimal target braking deceleration value under the current running state of the vehicle and the current running road condition can be obtained, and the vehicle has a better braking effect.
S130, corresponding target braking control parameters are determined according to the target braking deceleration value.
The target braking control parameter is determined according to the target braking deceleration value, and is used for controlling the vehicle braking system to execute vehicle braking operation, and the control parameter can be braking parameters such as starting time of a collision early warning stage, starting time of a part of braking stage, starting time of an emergency braking stage, partial braking deceleration value, emergency braking deceleration value and the like. The target braking control parameter may be adjusted accordingly in response to a change in the target braking deceleration value, such as when the target braking deceleration value is greater, the target braking control parameter may also be adjusted to enable a braking system of the vehicle to achieve greater braking deceleration.
According to the technical scheme provided by the embodiment of the invention, the current running road condition information of the controlled vehicle is obtained, the vehicle braking state is determined according to the current running road condition information, when the vehicle braking state is the starting state, the target braking deceleration value of the controlled vehicle is determined according to the vehicle running state of the controlled vehicle and the current running road condition information, and the corresponding target braking control parameter is determined according to the target braking deceleration value. According to the technical scheme provided by the embodiment of the invention, the optimal target braking deceleration value can be determined according to the running state of the vehicle and the adaptability of road condition information, and the target braking control parameter is determined according to the target braking deceleration, so that the vehicle has a better braking effect, and the capability of avoiding or relieving collision of the vehicle is improved.
Example two
Fig. 2 is a flowchart of a method for determining a braking parameter of a vehicle according to a second embodiment of the present invention, where the embodiment of the present invention is applicable to a scenario for controlling automatic driving of a moving vehicle, and further illustrates how to determine a target braking deceleration value of a controlled vehicle according to a vehicle driving state and current driving road condition information of the controlled vehicle based on the above embodiment.
As shown in fig. 2, the vehicle brake parameter determination method includes the steps of:
s210, acquiring current running road condition information of the controlled vehicle, and determining a vehicle braking state according to the current running road condition information.
The details of this step are the same as those of step S110 in the first embodiment, and will not be repeated here.
S220, when the vehicle braking state is a starting state, determining a braking parameter influence factor corresponding to at least one preset running state parameter in the running state of the vehicle and a braking parameter influence factor corresponding to at least one road condition parameter in the current running road condition information.
The braking parameter influence factors of the parameters reflect different influence degrees of the parameters on the braking effect of the vehicle, for example, the vehicle running state parameters comprise parameters such as vehicle running mileage, vehicle load and the like, the vehicle running mileage has corresponding vehicle running mileage influence factors, and the vehicle load has corresponding vehicle load influence factors; the driving road condition parameters comprise parameters such as road gradient, road adhesion coefficient and the like, wherein the road gradient has corresponding road gradient influence factors, and the road adhesion coefficient has corresponding road adhesion coefficient influence factors.
Specifically, the vehicle driving mileage can be obtained through the data of the instrument panel of the vehicle, and when the accumulated driving mileage of the vehicle is more, the braking performance of the vehicle is weakened; the vehicle load can be obtained through a gravity sensor arranged in the vehicle, the vehicle load can be divided into full load, half load, no-load and other conditions, the braking performance of the vehicle is weakened under the full load condition, and the braking performance of the vehicle is not greatly influenced when the vehicle is in the half load or no-load state; the road gradient can firstly acquire the position information of the controlled vehicle and the current running road section of the controlled vehicle through GPS signals, then acquire the gradient of the current running road section of the controlled vehicle relative to the position of the controlled vehicle according to a position map, when the road type is a downhill road, the braking performance of the vehicle is weakened, and when the road type is an uphill road or a flat road, the braking performance of the vehicle is not greatly influenced; the road adhesion coefficient is the friction coefficient of the current driving road, can be estimated and learned by adopting a deep learning algorithm according to a dynamic visual signal acquired by the vehicle-mounted camera, when the road adhesion coefficient is smaller, the braking performance of the vehicle is weakened, and when the road adhesion coefficient is larger, the braking performance of the vehicle is not greatly influenced.
S230, determining the target braking deceleration value according to the preset running state parameter, the road condition parameter and the corresponding braking parameter influence factor.
Wherein, a first product of the accumulated driving range of the vehicle and a preset mileage parameter influence factor, a second product of the vehicle load and a preset load parameter influence factor, a third product of the road gradient and a preset gradient parameter influence factor, and a fourth product of the road attachment coefficient and a preset attachment coefficient parameter influence factor can be calculated respectively; and calculating the products of the first product, the second product, the third product and the fourth product and the maximum braking deceleration of the controlled vehicle under the maximum opening degree of the brake pedal as target braking deceleration values.
Further, the preset mileage parameter influence factor, the preset load parameter influence factor and the preset attachment coefficient parameter influence factor meet a preset function relation. The preset functional relation can be used for carrying out single influence factor analysis based on a large amount of data acquired by a driver during conventional braking in the driving process, so that the relation among the driving mileage, the vehicle load, the road gradient and the attachment coefficient can be obtained, and the relation can be a fitted polynomial or a MAP.
For example, the driving distance d, the vehicle load m, the road gradient s, the adhesion coefficient μ, the brake pedal opening p and the maximum brake deceleration a that can be achieved by the vehicle brake system can be selected M The actual braking deceleration of the vehicle is analyzed.
When the driver performs the regular braking, the actual braking deceleration a of the vehicle can be expressed as:
a＝f(d,m,s,μ)·p·a M
the driving mileage d can be determined by a vehicle speed signal and a GPS signal; the road gradient s and the vehicle load m can be determined by adopting a Kalman filtering algorithm according to the acceleration signal and the vehicle dynamics model, and the vehicle load value can be verified according to the full load/half load/no-load switch signal; the attachment coefficient mu can be determined by adopting a deep learning algorithm according to the dynamic visual signal of the camera; the brake pedal opening p can be determined by a brake opening sensor, the value of the brake pedal opening p is in the range of 0-1, the value of p in the range of 0-1 corresponds to the change condition of the brake pedal angle, the value of p is 0 to indicate that the brake pedal angle is not changed, namely, the vehicle brake is not carried out by the brake pedal, the value of p is 1 to indicate that the brake pedal angle is changed the largest, namely, the maximum vehicle brake is carried out by the brake pedal, and a M The maximum braking deceleration which can be realized by the vehicle braking system under ideal conditions is represented as a factory fixed value, and the maximum braking deceleration can be written into the controller in an off-line calibration mode.
Because the influence of 4 state parameters of the driving mileage d, the vehicle load m, the road gradient s and the attachment coefficient mu on the braking effect of the vehicle is mutually independent, the above method can be rewritten as:
a＝f 1 (d)·f 2 (m)·f 3 (s)·f 4 (μ)·p·a M
wherein f 1 (d) Polynomial representing the product of the mileage influence coefficient and the mileage d, f 2 (m) a polynomial representing the product of the vehicle load influence coefficient and the vehicle load m, f 3 (s) a product polynomial representing the road gradient influence coefficient and the road gradient s, f 4 And (mu) represents a product polynomial of the adhesion coefficient influence coefficient and the adhesion coefficient mu. The single influence factor analysis can be carried out on the above based on a large amount of data collected when a driver carries out conventional braking in the driving process, so as to obtain f 1 (d)、f 2 (m)、f 3 (s) and f 4 The relationship between (μ), which may be a fitted polynomial or MAP, may be modified as the acquired data increases.
The default value of the opening p of the brake pedal is equal to 1, namely, the maximum vehicle braking is carried out by changing the angle of the brake pedal to the maximum extent, and the maximum braking deceleration of the vehicle under different state parameters can be estimated as follows:
a max ＝f 1 (d)·f 2 (m)·f 3 (s)·f 4 (μ)·a M
At this time, the maximum braking deceleration a can be estimated by taking 4 state parameters of the driving distance d, the vehicle load m, the road gradient s and the adhesion coefficient mu into the upper form max Value and will estimate the maximum braking deceleration a max The value is taken as the target braking deceleration value.
S240, corresponding target braking control parameters are determined according to the target braking deceleration value.
According to the technical scheme provided by the embodiment of the invention, the current running road condition information of the controlled vehicle is firstly obtained, the vehicle braking state is determined according to the current running road condition information, when the vehicle braking state is the starting state, the braking parameter influence factor corresponding to at least one preset running state parameter in the running state of the vehicle and the braking parameter influence factor corresponding to at least one road condition parameter in the current running road condition information are determined when the vehicle braking state is the starting state, then the first product of the accumulated running range of the vehicle and the preset mileage parameter influence factor, the second product of the load of the vehicle and the preset load parameter influence factor, the third product of the road gradient and the preset gradient parameter influence factor and the fourth product of the road attachment coefficient and the preset attachment coefficient parameter influence factor are respectively calculated, finally the product of the first product, the second product, the third product and the fourth product and the maximum braking deceleration of the controlled vehicle under the maximum opening degree of the brake pedal is calculated as a target braking deceleration value, and the corresponding target braking control parameter is determined according to the target braking deceleration value. According to the technical scheme provided by the embodiment of the invention, the target braking deceleration value can be determined according to the running state of the vehicle and the road condition information adaptability, and the target braking control parameter can be determined according to the target braking deceleration, so that the vehicle has a better braking effect, and the capability of avoiding or relieving the collision of the vehicle is improved.
Example III
Fig. 3 is a flowchart of a method for determining a braking parameter of a vehicle according to a third embodiment of the present invention, where the method may be performed by a device for determining a braking parameter of a vehicle, and the device may be implemented in software and/or hardware.
As shown in fig. 3, the vehicle brake parameter determination method includes the steps of:
s310, acquiring current running road condition information of the controlled vehicle, and determining a vehicle braking state according to the current running road condition information.
And S320, when the vehicle braking state is a starting state, determining a braking parameter influence factor corresponding to at least one preset running state parameter in the running state of the vehicle and a braking parameter influence factor corresponding to at least one road condition parameter in the current running road condition information.
S330, determining the target braking deceleration value according to the preset running state parameter, the road condition parameter and the corresponding braking parameter influence factor.
S340, determining a deceleration value interval corresponding to the target braking deceleration value, taking a braking control parameter value corresponding to the deceleration value interval as the target braking control parameter, and determining a corresponding target braking control parameter according to the target braking deceleration value.
In this embodiment, the target braking deceleration value is divided into a plurality of sections, a set of AEBS control parameters is formulated for each section, the AEBS control parameters of each section can be written into the controller in an off-line calibration mode, then the target braking deceleration section to which the target braking deceleration value belongs is determined according to the target braking deceleration value estimated in real time, and the AEBS control parameters corresponding to the target braking deceleration section are sent to the AEBS main control module.
Specifically, the target brake control parameters include a collision early warning stage start time, a partial brake stage start time, an emergency brake stage start time, a partial brake deceleration value, and an emergency brake deceleration value. The starting time of the collision early-warning stage represents the time for starting the collision early-warning when the vehicle keeps the current speed and collides; the partial braking stage starting time represents the time for starting partial braking when the current early warning speed is collided, the vehicle enters a partial braking state at the moment, and the partial braking deceleration value represents the deceleration value of the vehicle under partial braking; the emergency braking stage start time indicates a time at which the emergency braking is started while maintaining the current partial braking deceleration at which the collision occurs, and the emergency braking deceleration value indicates a maximum deceleration value of the vehicle under the emergency braking. When the target braking deceleration value is large, a large deceleration that can be achieved by the vehicle in a short time is indicated, and therefore, the collision warning stage start time, the partial braking stage start time, the emergency braking stage start time are correspondingly reduced, and the partial braking deceleration value and the emergency braking deceleration value are correspondingly increased.
Illustratively, table 1 below sets forth rules for AEBS control parameters at different target brake deceleration values:
TABLE 1
As shown in Table 1, the target braking deceleration a- max Divided into a 0 ～a n N intervals are total, and a set of AEBS control parameters is formulated for each interval, wherein the AEBS control parameters selected in the embodiment comprise the starting time T of a collision early warning stage w Start time T of partial braking phase p Time T for starting emergency braking phase e Partial braking deceleration request a p And an emergency braking deceleration request a e Each interval corresponds to a set of control parameters, when the maximum braking deceleration a- max Then, the maximum braking deceleration a- max And taking a set of control parameters of the section as target control parameters, and sending the target control parameters to the AEBS main control module to realize vehicle braking.
Further, the vehicle brake parameter determination method further includes transmitting the target brake control parameter to a corresponding vehicle brake actuator.
The vehicle brake executing mechanism comprises a vehicle instrument, a pneumatic brake device, an engine controller, an automatic gearbox controller and the like, and when the AEBS main control module receives the target brake control parameters, the target brake control parameters are sent to the corresponding vehicle executing mechanism, so that the brake control of the controlled vehicle is realized.
Specifically, fig. 4 is a flowchart of an AEBS of a vehicle controller according to a fourth embodiment of the present invention, where, as shown in fig. 4, a vehicle speed sensor and a GPS may be used to estimate a driving range, a full/half load/no load switch and an acceleration sensor may be used to estimate a road gradient, a camera may be used to estimate a road attachment coefficient, a brake pedal opening sensor may be used to estimate a brake pedal opening, and other sensors are used to assist an AEBS main control module in braking a vehicle, and the execution structure of the vehicle braking includes devices such as an instrument, a pneumatic braking system, an engine controller, and an automatic gearbox controller, which are not described in detail herein.
The working flow of the AEBS of the whole vehicle controller is as follows: the sensor signal is first pre-processed, and the processed sensor signal is then used to estimate vehicle and road surface parameters including mileage, vehicle load, road gradient and adhesion coefficient. Then, according to the relation between the maximum braking deceleration determined by the sensor signals under the routine braking data of the driver and the estimated vehicle and road surface state parameters and the vehicle and road surface state parameters, the corresponding maximum braking deceleration under different vehicle and road surface state parameters, namely the target braking deceleration, is estimated. And then, calculating control parameters of the AEBS, namely target braking control parameters, according to the maximum braking deceleration, sending the control parameters of the AEBS to an AEBS main control module, and sending the control parameters of the AEBS to an execution mechanism of the vehicle by the AEBS main control module, wherein the execution mechanism of the vehicle realizes vehicle braking according to the received control parameters of the AEBS.
According to the technical scheme provided by the embodiment of the invention, the current running road condition information of the controlled vehicle is obtained, the vehicle braking state is determined according to the current running road condition information, when the vehicle braking state is the starting state, the target braking deceleration value of the controlled vehicle is determined according to the vehicle running state of the controlled vehicle and the current running road condition information, the deceleration value interval corresponding to the target braking deceleration value is determined, the braking control parameter value corresponding to the deceleration value interval is used as the target braking control parameter, and finally the target braking control parameter is sent to the corresponding vehicle braking executing mechanism. According to the technical scheme provided by the embodiment of the invention, the deceleration value interval corresponding to the target braking deceleration value can be determined, the braking control parameter value corresponding to the deceleration value interval is used as the target braking control parameter, and finally the target braking control parameter is sent to the corresponding vehicle braking executing mechanism, so that the vehicle has a better braking effect, and the capability of avoiding or relieving the collision of the vehicle is improved.
Example IV
Fig. 5 is a schematic structural diagram of a vehicle braking parameter determining apparatus according to a fourth embodiment of the present invention, where the embodiment of the present invention is applicable to a scenario for controlling automatic driving of a mobile vehicle, and the apparatus may be implemented in software and/or hardware, and integrated into a computer device having an application development function.
As shown in fig. 5, the vehicle brake parameter determination device includes: a brake state determination module 410, a brake deceleration determination module 420, and a brake control parameter determination module 430.
The braking state determining module 410 obtains current running road condition information of the controlled vehicle, and determines a vehicle braking state according to the current running road condition information; a braking deceleration determining module 420, configured to determine a target braking deceleration value of the controlled vehicle according to the vehicle running state and the current running road condition information of the controlled vehicle when the vehicle braking state is a start state; the brake control parameter determination module 430 is configured to determine a corresponding target brake control parameter according to the target brake deceleration value.
According to the technical scheme provided by the embodiment of the invention, the current running road condition information of the controlled vehicle is obtained, the vehicle braking state is determined according to the current running road condition information, when the vehicle braking state is the starting state, the target braking deceleration value of the controlled vehicle is determined according to the vehicle running state of the controlled vehicle and the current running road condition information, and the corresponding target braking control parameter is determined according to the target braking deceleration value. According to the technical scheme, the target braking control parameters can be optimized in real time aiming at the target braking deceleration value, so that the vehicle has a better braking effect, and the capability of avoiding or relieving collision of the vehicle is improved.
In an alternative embodiment, the braking deceleration determination module 420 is specifically configured to:
and determining a brake parameter influence factor corresponding to at least one preset running state parameter in the running state of the vehicle and a brake parameter influence factor corresponding to at least one road condition parameter in the current running road condition information.
And determining a target braking deceleration value according to the preset running state parameter, the road condition parameter and the corresponding braking parameter influence factor.
In an alternative embodiment, the preset driving state parameters include a vehicle accumulated driving range and a vehicle load, and the road condition parameters include a road gradient and a road attachment coefficient.
In an alternative embodiment, the braking deceleration determination module 420 is specifically further configured to:
respectively calculating a first product of the accumulated driving range of the vehicle and a preset mileage parameter influence factor, a second product of the vehicle load and a preset load parameter influence factor, a third product of the road gradient and a preset gradient parameter influence factor, and a fourth product of the road attachment coefficient and a preset attachment coefficient parameter influence factor;
calculating the products of the first product, the second product, the third product and the fourth product and the maximum braking deceleration of the controlled vehicle under the maximum opening degree of the brake pedal as target braking deceleration values;
The preset mileage parameter influence factor, the preset load parameter influence factor and the preset attachment coefficient parameter influence factor meet a preset functional relation.
In an alternative embodiment, the brake control parameter determination module 430 is specifically configured to:
determining a deceleration value interval corresponding to a target braking deceleration value;
taking a brake control parameter value corresponding to the deceleration value interval as a target brake control parameter;
and sending the target braking control parameters to corresponding vehicle braking execution mechanisms to realize the braking control of the controlled vehicle.
In an alternative embodiment, the vehicle brake parameter determining device further comprises a brake control module for: and sending the target braking control parameters to corresponding vehicle braking execution mechanisms to realize the braking control of the controlled vehicle.
In an alternative embodiment, the target brake control parameters include: collision warning phase start time, partial brake phase start time, emergency brake phase start time, partial brake deceleration value, and emergency brake deceleration value.
The vehicle braking parameter determining device provided by the embodiment of the invention can execute the vehicle braking parameter determining method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example five
Fig. 6 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. The computer device 12 may be any terminal device having computing power and may be configured in a vehicle brake parameter determination device.
As shown in FIG. 6, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in fig. 6, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be appreciated that although not shown in fig. 6, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the vehicle brake parameter determination method provided by the embodiment of the present invention, the method includes:
acquiring current running road condition information of a controlled vehicle, and determining a vehicle braking state according to the current running road condition information;
when the vehicle braking state is a starting state, determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information;
and determining a corresponding target braking control parameter according to the target braking deceleration value.
Example five
The fifth embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle brake parameter determination method as provided by any embodiment of the present invention, including:
acquiring current running road condition information of a controlled vehicle, and determining a vehicle braking state according to the current running road condition information;
when the vehicle braking state is a starting state, determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information;
And determining a corresponding target braking control parameter according to the target braking deceleration value.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. A method of determining a vehicle braking parameter, the method comprising:
acquiring current running road condition information of a controlled vehicle, and determining a vehicle braking state according to the current running road condition information;
when the vehicle braking state is a starting state, determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information;
determining a corresponding target brake control parameter according to the target brake deceleration value;
wherein the determining the target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information comprises the following steps:
determining a braking parameter influence factor corresponding to at least one preset running state parameter in the running state of the vehicle and a braking parameter influence factor corresponding to at least one road condition parameter in the current running road condition information;
determining the target braking deceleration value according to the preset running state parameter, the road condition parameter and the corresponding braking parameter influence factor;
the preset driving state parameters comprise accumulated driving mileage of the vehicle and load of the vehicle, and the road condition parameters comprise road gradient and road attachment coefficient;
The determining the target braking deceleration value according to the preset running state parameter, the road condition parameter and the corresponding braking parameter influence factor comprises the following steps:
respectively calculating a first product of the accumulated driving range of the vehicle and a preset mileage parameter influence factor, a second product of the load of the vehicle and a preset load parameter influence factor, a third product of the road gradient and a preset gradient parameter influence factor, and a fourth product of the road attachment coefficient and a preset attachment coefficient parameter influence factor;
calculating the products of the first product, the second product, the third product, the fourth product and the maximum braking deceleration of the controlled vehicle under the maximum opening degree of a brake pedal as the target braking deceleration value;
the preset mileage parameter influence factor, the preset load parameter influence factor and the preset attachment coefficient parameter influence factor meet a preset functional relation.
2. The method of claim 1, wherein said determining a corresponding target brake control parameter from said target brake deceleration value comprises:
Determining a deceleration value interval corresponding to the target braking deceleration value;
and taking the brake control parameter value corresponding to the deceleration value interval as the target brake control parameter.
3. The method according to claim 1, wherein the method further comprises:
and sending the target braking control parameters to corresponding vehicle braking execution mechanisms to realize the braking control of the controlled vehicle.
4. A method according to any one of claims 1-3, wherein the target brake control parameter comprises:
collision warning phase start time, partial brake phase start time, emergency brake phase start time, partial brake deceleration value, and emergency brake deceleration value.
5. A vehicle braking parameter determination apparatus, characterized by comprising:
the braking state determining module is used for acquiring the current running road condition information of the controlled vehicle and determining the braking state of the vehicle according to the current running road condition information;
the braking deceleration determining module is used for determining a target braking deceleration value of the controlled vehicle according to the vehicle running state of the controlled vehicle and the current running road condition information when the vehicle braking state is a starting state;
The brake control parameter determining module is used for determining corresponding target brake control parameters according to the target brake deceleration value;
the braking deceleration determination module is further configured to: determining a braking parameter influence factor corresponding to at least one preset running state parameter in the running state of the vehicle and a braking parameter influence factor corresponding to at least one road condition parameter in the current running road condition information;
determining the target braking deceleration value according to the preset running state parameter, the road condition parameter and the corresponding braking parameter influence factor;
the preset driving state parameters comprise accumulated driving mileage of the vehicle and load of the vehicle, and the road condition parameters comprise road gradient and road attachment coefficient;
the braking deceleration determination module is further configured to: respectively calculating a first product of the accumulated driving range of the vehicle and a preset mileage parameter influence factor, a second product of the load of the vehicle and a preset load parameter influence factor, a third product of the road gradient and a preset gradient parameter influence factor, and a fourth product of the road attachment coefficient and a preset attachment coefficient parameter influence factor;
calculating the products of the first product, the second product, the third product, the fourth product and the maximum braking deceleration of the controlled vehicle under the maximum opening degree of a brake pedal as the target braking deceleration value;
The preset mileage parameter influence factor, the preset load parameter influence factor and the preset attachment coefficient parameter influence factor meet a preset functional relation.
6. A computer device, the computer device comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle braking parameter determination method of any one of claims 1-4.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle brake parameter determination method as claimed in any one of claims 1-4.
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| CN202210621165.5A CN115195680B (en) | 2022-06-01 | 2022-06-01 | Vehicle braking parameter determining method, device, equipment and storage medium |
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