CN115465240A - Data processing method and device for vehicle, storage medium and vehicle - Google Patents

Data processing method and device for vehicle, storage medium and vehicle Download PDF

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Publication number
CN115465240A
CN115465240A CN202210995693.7A CN202210995693A CN115465240A CN 115465240 A CN115465240 A CN 115465240A CN 202210995693 A CN202210995693 A CN 202210995693A CN 115465240 A CN115465240 A CN 115465240A
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China
Prior art keywords
vehicle
data
braking
distance
distance data
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CN202210995693.7A
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Chinese (zh)
Inventor
宋新丽
杜建宇
刘清宇
李超
吴岗岗
李佳骏
黄显晴
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FAW Group Corp
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FAW Group Corp
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Priority to CN202210995693.7A priority Critical patent/CN115465240A/en
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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
    • 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
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a data processing method and device for a vehicle, a storage medium and the vehicle. Wherein, the method comprises the following steps: acquiring the driving data of a vehicle on a current road section; determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period; and sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data. The invention solves the technical problem of low safety of vehicle emergency braking.

Description

Data processing method and device for vehicle, storage medium and vehicle
Technical Field
The invention relates to a vehicle intelligent auxiliary driving technology, in particular to a data processing method and device of a vehicle, a storage medium and the vehicle.
Background
An automatic Emergency Braking system for backing a car (R _ AEB for short) is an intelligent device for preventing a car from colliding in the process of backing a car, but the accuracy of the Braking distance of Emergency Braking cannot be guaranteed due to delay errors caused by data transmission, so that the safety of the Emergency Braking of the car is low.
Aiming at the technical problem that the safety of vehicle emergency braking is low in the prior art, an effective scheme is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a data processing method and device for a vehicle, a storage medium and the vehicle, and at least solves the technical problem that the safety of emergency braking of the vehicle is low.
According to an aspect of an embodiment of the present invention, there is provided a data processing method of a vehicle, including: acquiring driving data of a vehicle on a current road section; determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period; and sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data.
Optionally, the sending a braking instruction to the vehicle based on the braking distance data includes: acquiring barrier data acquired by a vehicle on a current road section, wherein the barrier data at least comprise second distance data, and the second distance data are used for representing the distance between a barrier and the vehicle, which are in the same driving track with the vehicle; and sending a braking instruction to the vehicle based on the second distance data and the braking distance data.
Optionally, sending a braking instruction to the vehicle based on the second distance data and the braking distance data, including: and sending a braking instruction to the vehicle in response to the second distance data being less than or equal to the braking distance data.
Alternatively, an obstacle in the same travel track as the vehicle is determined based on the travel data and the obstacle data.
Optionally, determining braking distance data of the vehicle based on the travel data comprises: determining pre-braking distance data based on the driving data; and determining braking distance data based on the preset braking distance data and the first distance data.
Optionally, determining preset braking distance data of the vehicle based on the driving data comprises: and determining preset braking distance data based on the driving data and the preset braking acceleration data.
Optionally, in response to the preset braking distance data being less than or equal to a preset braking distance threshold, determining the preset braking acceleration data as braking acceleration data; the braking acceleration data is sent to the vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a data processing apparatus of a vehicle, including: the acquisition unit is used for acquiring the driving data of the vehicle on the current road section; the determining unit is used for determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period, and the first distance data is used for representing the driving distance of the vehicle in the data transmission time period; and the sending unit is used for sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data, and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data.
According to another aspect of the embodiment of the invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein the apparatus in which the computer-readable storage medium is stored is controlled to execute the data processing method of the vehicle of the embodiment of the present invention when the program is executed.
According to another aspect of the embodiments of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program executes the data processing method of the vehicle of the embodiment of the invention when running.
According to another aspect of the embodiment of the invention, a vehicle is also provided. The vehicle is used for executing the data processing method of the vehicle of the embodiment of the invention.
In the embodiment of the invention, the driving data of the vehicle on the current road section is acquired; determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period; and sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data. That is to say, in the embodiment of the present invention, the collected driving data of the current road section where the vehicle is located is analyzed during the driving process of the vehicle to determine the braking distance data of the vehicle, and if the distance between the vehicle and the obstacle is smaller than the braking distance data, a braking instruction is sent to the vehicle to achieve the purpose of emergency braking of the vehicle within the braking distance data range, so that the technical problem of low safety of emergency braking of the vehicle is solved, and the technical effect of improving the safety of emergency braking of the vehicle is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a flow chart of a method of data processing for a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an emergency braking distance definition according to an embodiment of the present invention;
FIG. 3 is a schematic view of a reverse automatic emergency braking system according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method of automatic emergency braking in reverse according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a data processing device of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a data processing method for a vehicle, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that presented herein.
Fig. 1 is a flowchart of a data processing method of a vehicle according to an embodiment of the present invention, which may include the steps of, as shown in fig. 1:
and step S102, acquiring the driving data of the vehicle on the current road section.
In the technical solution provided by step S102 of the present invention, during the running process of the vehicle, the running data of the current road segment of the vehicle may be obtained, where the running data may include a vehicle speed, a running direction, a steering direction, and the like of the vehicle, and this is only an example, and no specific limitation is imposed on the running data.
For example, data such as the vehicle speed, the driving direction, and the like of the vehicle during the driving of the vehicle may be detected by sensors installed at various places of the vehicle, and the driving data of the vehicle on the current road section may be determined based on the detected data of the vehicle.
In step S104, the braking distance data of the vehicle is determined based on the traveling data.
In the technical solution provided by step S104 of the present invention, based on the driving data of the vehicle on the current road section, preset braking distance data, safety distance data of the vehicle and first distance data generated by the vehicle in the data transmission time period may be respectively determined, and a sum of the preset braking distance data, the safety distance data and the first distance data of the vehicle may be determined as the braking distance data of the vehicle, where the braking distance data is used to represent a distance that the vehicle can safely brake during driving, for example, a safety distance that the vehicle needs when backing up, and the first distance data is used to represent a distance that the vehicle travels during the data transmission time period, for example, a delay distance of the system.
Alternatively, the first distance data of the vehicle may be determined from the current speed of the vehicle in the current road section and the data transfer time between the various subsystems of the vehicle, for example, the system delay may be estimated based on the performance of the sensors and actuators, and then based on the current speed, the first distance data of the vehicle may be calculated by the following formula:
D d ＝V r *t d
wherein D is d Is first distance data, V r As the current vehicle speed, t d The system delay time.
Alternatively, a preset braking acceleration of the vehicle may be determined based on the driving data of the vehicle, and preset braking distance data of the vehicle may be determined based on the preset braking acceleration.
Optionally, the safety distance data may be a standard value set by the vehicle when the vehicle leaves the factory, or may be a value set by the driver, where the safety distance data may be used to represent a limit distance kept between the vehicle and the obstacle after the vehicle is braked safely.
For example, the safe distance data may be set to 20cm, which indicates that, beyond 20cm, it is guaranteed that the vehicle does not collide with the obstacle.
And step S106, sending a braking instruction to the vehicle based on the braking distance data.
In the technical solution provided in step S106 of the present invention, after determining the braking distance data according to the acquired driving data, the distance data between the vehicle and the obstacle may be compared with the braking distance data, and when the distance data between the vehicle and the obstacle is smaller than the braking distance data, a braking instruction may be sent to the vehicle; conversely, the vehicle may continue to run based on the running data at the current time, detect distance data and braking distance data between the obstacle and the vehicle in real time during the running of the vehicle, compare the distance data and the braking distance data until the distance data between the vehicle and the obstacle is smaller than the braking distance data, and send a braking instruction to the vehicle, where the braking instruction may include braking acceleration data, safety distance data, direction information, and the like, for example, control the vehicle to stop based on the received braking acceleration data, control a limit distance between the vehicle and the obstacle after braking based on the safety distance data, and control a braking direction of the vehicle based on the direction information, where this is merely an example, and the braking instruction is not specifically limited.
Alternatively, the braking instruction may be used to alert the vehicle that the distance between the vehicle and the obstacle is less than the braking distance and to instruct the vehicle to make an emergency brake.
In the present application, in the steps S102 to S106, the driving data of the vehicle on the current road section is obtained; determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period; and sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data. That is to say, in the embodiment of the present invention, the collected driving data of the current road section where the vehicle is located is analyzed during the driving process of the vehicle to determine the braking distance data of the vehicle, and if the distance between the vehicle and the obstacle is smaller than the braking distance data, a braking instruction is sent to the vehicle to achieve the purpose of emergency braking of the vehicle within the braking distance data range, so that the technical problem of low safety of emergency braking of the vehicle is solved, and the technical effect of improving the safety of emergency braking of the vehicle is achieved.
The above-described method of this embodiment is further described below.
As an alternative embodiment, step S104, determining braking distance data of the vehicle based on the traveling data, includes: determining preset braking distance data based on the driving data; and determining braking distance data based on the preset braking distance data and the first distance data.
In this embodiment, the preset braking distance data of the vehicle may be determined based on the vehicle speed and the preset braking acceleration data in the vehicle driving data, the first distance data may be determined based on the data transmission time of each subsystem in the vehicle and the vehicle speed of the vehicle in the current road section, and finally the braking distance data may be determined based on the preset braking distance data, the safety distance data and the first distance data.
Alternatively, the braking distance data may be calculated by the following formula:
D a ＝D d +D b +D s
wherein D is a For the ideal braking distance, D d For the system delay distance, D b To preset the braking distance, D s Is a safe distance.
Alternatively, the preset braking distance data of the vehicle may be determined based on the driving data of the vehicle, for example, the preset braking distance data of the vehicle may be calculated according to the current vehicle speed and the preset braking acceleration data of the vehicle by the following formula:
D b ＝1/2*(-a e )*(V r /(-a e )) 2
wherein D is b For a predetermined braking distance, a e For presetting braking acceleration, V r Is the current vehicle speed.
Alternatively, the vehicle speed V is generally within 1m for a preset braking distance at low speed, irrespective of the road surface gradient and the ground adhesion coefficient r And a preset braking acceleration a e The method can be obtained by iterative matching according to simulation and experience values of real vehicles.
As an alternative embodiment, step S104, based on the driving data, determines preset braking distance data of the vehicle, including: and determining preset braking distance data based on the driving data and the preset braking acceleration data.
In this embodiment, the preset braking distance data may be determined based on the vehicle speed of the vehicle on the current road segment and the preset braking acceleration, where the preset braking acceleration may be obtained by iterative matching according to the driving data empirical values of vehicle simulation and real vehicle test.
Optionally, under the condition that the gradient and the ground adhesion coefficient are not considered, the vehicle speed and the preset braking acceleration of the vehicle can be obtained through iterative matching according to the empirical value, whether the preset braking deceleration obtained through iterative matching is within an acceptable range or not is judged, if not, the current preset braking acceleration is abandoned, and new preset braking acceleration is iteratively matched based on the empirical value; otherwise, the preset braking acceleration data at this time may be fixed, and the preset braking distance data may be determined based on the preset braking acceleration.
For example, the first and second liquid crystal display panels,the vehicle runs at low speed (the speed is lower than 10 km/h) without considering the gradient and the ground adhesion coefficient, and the range of the preset braking acceleration is-3.5 to-7 m/s 2 Here, the preset braking acceleration range is only an example and is not limited in particular.
As an alternative embodiment, in step S104, in response to that the preset braking distance data is less than or equal to the preset braking distance threshold, the preset braking acceleration data is determined as braking acceleration data; the braking acceleration data is sent to the vehicle.
In this embodiment, when the preset braking distance data is less than or equal to the preset braking distance threshold, the preset braking acceleration data may be determined as braking acceleration data, and the braking acceleration data may be sent to the vehicle, and further, the vehicle may perform emergency braking based on the braking acceleration, where the preset braking distance threshold may be used to characterize an alarm region where an obstacle is in front of or behind the vehicle, and the alarm region may be used to prompt the driver whether to turn on an automatic emergency braking function of the vehicle in response to the obstacle being in the region.
Alternatively, the front or rear of the vehicle is not limited to the warning area, but includes an emergency braking area, a safety area, and a detectable area, wherein the dividing of the areas may be performed by extending a straight line toward the front and rear of the vehicle based on the vehicle, dividing and marking the straight line by a target distance, naming the area closest to the vehicle, including the emergency braking area, the safety area, the warning area, and the detectable area, etc., or by dividing the extended straight line by the target distance by different colors (e.g., red, yellow, and green).
It should be noted that the above method for dividing the intervals and the naming method of the various intervals are only examples, and are not limited herein.
Optionally, the magnitude relation between the preset braking distance data and the preset braking distance data threshold is judged, when the preset braking distance data is larger than the preset braking distance threshold, the vehicle can continue to run based on the control of the driver due to the fact that the distance between the obstacle and the vehicle is larger at the moment, the running data of the vehicle on the current road section is detected in real time, and if the next preset braking distance data is smaller than or equal to the preset braking distance threshold, the preset braking acceleration data can be determined based on the running data at the moment, and the preset braking acceleration data are determined to be sent to the vehicle.
As an alternative embodiment, step S106, based on the braking distance data, sends a braking instruction to the vehicle, and includes: acquiring barrier data acquired by a vehicle on a current road section, wherein the barrier data at least comprise second distance data, and the second distance data are used for representing the distance between a barrier and the vehicle, which are in the same driving track with the vehicle; and sending a braking instruction to the vehicle based on the second distance data and the braking distance data.
In this embodiment, obstacle data acquired by a vehicle on a current road section is acquired, whether the obstacle and the vehicle are in the same driving track is determined, and if yes, a braking instruction can be sent to the vehicle based on the acquired obstacle data and braking distance data, wherein the obstacle data can include information such as the size, type, speed, position, second distance data and the like of the obstacle, and the second distance data can be used for representing the distance between the obstacle and the vehicle in the same driving track as the vehicle.
Optionally, whether the obstacle and the vehicle are in the same driving track can be determined through the driving data of the vehicle on the current road section and the acquired obstacle data, and if the obstacle and the vehicle are judged to be in the same driving track, the distance between the obstacle and the vehicle can be further acquired and determined as second distance data; on the contrary, if the obstacle and the vehicle are not in the same driving track, the obstacle does not influence the driving of the vehicle based on the current driving data, the obstacle can be eliminated, and the obstacle data of other obstacles can be detected in real time.
As an alternative embodiment, step S106, based on the second distance data and the braking distance data, sends a braking instruction to the vehicle, and includes: and sending a braking instruction to the vehicle in response to the second distance data being less than or equal to the braking distance data.
In this embodiment, the vehicle may detect the second distance data of the obstacle in real time during the driving process, compare the second distance data with the braking distance data, determine a magnitude relationship between the second distance data and the braking distance data, and if it is determined that the second distance data at this time is less than or equal to the braking distance data, may directly send a braking instruction to the vehicle to control the vehicle to perform emergency braking, otherwise, the vehicle may continue to drive based on the current driving data, and during the driving process of the vehicle, the second distance data of the obstacle and the driving data of the vehicle may be detected in real time.
For example, in the process of backing up the vehicle, the second distance data of the obstacle can be detected in real time and compared with the obtained braking distance data, if the second distance data is larger than the braking distance data, the vehicle can be continuously controlled to back up according to the preset braking acceleration obtained through calculation, in the process of backing up the vehicle, the second distance data is continuously detected in real time and is continuously compared with the preset braking distance until the second distance data is smaller than or equal to the braking distance data, and a braking instruction can be sent to the vehicle.
For another example, when the second distance data is less than or equal to the braking distance data, the vehicle-mounted network may transmit a braking instruction to the vehicle-mounted network, and the vehicle-mounted network transmits the acquired braking instruction to the vehicle execution end, and the execution end controls the vehicle to perform automatic emergency braking, where the signal for transmitting the braking instruction may be a local area internet, a digital signal, an ethernet, or the like. It should be noted that the manner and signals for transmitting the commands are only exemplary and not limiting.
As an alternative embodiment, step S106 determines an obstacle in the same travel track as the vehicle based on the travel data and the obstacle data.
In this embodiment, based on the direction information in the travel data and the position information in the obstacle data, it is possible to determine whether the obstacle is in the same travel locus as the vehicle to determine an obstacle in the same travel locus as the vehicle.
Optionally, whether the obstacle is in the same driving track with the vehicle or not may be determined based on the driving directions and tracks of the vehicle and the obstacle, and if the obstacle is not in the same driving track with the vehicle, the obstacle is removed, so that obstacle data of other obstacles may be detected in real time; otherwise, it may be determined that the obstacle and the vehicle are in the same driving track, and further, second distance data of the obstacle may be determined.
In the embodiment of the invention, the driving data of the vehicle on the current road section is acquired; determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period; and sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data. That is to say, in the embodiment of the present invention, the collected driving data of the current road section where the vehicle is located is analyzed during the driving process of the vehicle to determine the braking distance data of the vehicle, and if the distance between the vehicle and the obstacle is smaller than the braking distance data, a braking instruction is sent to the vehicle to achieve the purpose of emergency braking of the vehicle within the braking distance data range, so that the technical problem of low safety of emergency braking of the vehicle is solved, and the technical effect of improving the safety of emergency braking of the vehicle is achieved.
Example 2
The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.
In the working condition of low-speed reversing, the vehicle and other obstacles have more collision conditions, and the automatic emergency braking function of reversing aims at solving the collision risk existing when the driver does not perform emergency braking in the process of low-speed reversing.
In the reverse automatic emergency braking system in the related technology, a delay error caused by data transmission is not considered, the structure and the implementation method of the system are more important than the system, and a braking control strategy is not mentioned, so that the problems of unsatisfactory reverse braking distance, low reverse safety and uncomfortable driving experience still exist.
In a related technology, a method for rapidly and intelligently backing a car and automatically braking emergently is specified, a car backing signal of a vehicle is obtained, a radar on the vehicle is used as a distance measuring sensor, collision distances between the current vehicle and an obstacle closest to the tail part of the car are respectively measured at two current frame time points, a time difference of two current frame distance measuring is simultaneously collected, a master controller clock arranged on the vehicle is used for calculating and obtaining the backing speed of the current vehicle, a preset brake data table is searched, and a parking brake strategy matched with the current vehicle is adopted according to a searching result.
In another related art, a vehicle automatic emergency braking control method and a vehicle are provided, in which a driving pattern of the vehicle is determined according to a vehicle speed of the vehicle, a duration of the vehicle speed, and environmental data, corresponding driving patterns are determined in different road sections, and a braking pattern for automatic emergency braking is determined according to a type of the driving pattern.
However, none of the above methods considers the delay error caused by the system data transmission, and there is still a technical problem of low reverse security.
The invention provides an automatic emergency braking system for backing, which is characterized in that when a vehicle runs in a low-speed backing mode, the information of an obstacle in the same lane behind the vehicle and the information of the vehicle at the same time are acquired, the acceleration and the collision distance expected to be braked are determined according to the two information, the ideal braking distance is determined under the condition of simultaneously considering the system delay and the safety distance, and if the distance between the vehicle and the obstacle at the time is smaller than the ideal braking distance, the vehicle is controlled to carry out emergency braking; otherwise, backing braking can be carried out according to the preset braking distance, and the technical problem of low backing safety is solved due to the fact that the delay error of the system is considered.
Next, a data processing method of a vehicle according to an embodiment of the present invention is described as an example, and specifically, a method of backing up a vehicle for automatic emergency braking may be taken as an example.
FIG. 2 is a schematic diagram of a emergency braking distance definition according to an embodiment of the present invention, as shown in FIG. 2, when the distance between the obstacle and the vehicle satisfies the emergency braking of the vehicle, the actual distance between the obstacleIs defined as D c The predetermined braking distance is defined as D b The safety distance is defined as D s The braking distance caused by the system delay is defined as D d 。
Fig. 3 is a schematic diagram of a reverse automatic emergency braking system according to an embodiment of the present invention, as shown in fig. 3, the reverse automatic emergency braking system 301 may include a vehicle condition recognition module 3011, an obstacle recognition module 3012, an adaptive braking decision module 3013 and a braking control module 3014, and the vehicle 302 may include a sensor 3021 and an actuator 3022, and the vehicle-mounted network 303.
Fig. 4 is a flowchart of a reverse automatic emergency braking method according to an embodiment of the present invention, and as shown in fig. 4, the modules of the reverse automatic emergency braking system may be implemented through the flowchart in fig. 4.
Next, the method for reverse automatic emergency braking shown in fig. 4 will be further described, and the method may include the following steps:
in step S401, vehicle information is acquired.
In step S401 of the present invention, vehicle information may be obtained through the vehicle condition recognition module 3011, where the vehicle information may include a driving condition of the vehicle and state information of other modules of the automatic emergency braking system for backing up, and the driving condition may include a vehicle speed, a direction, a steering direction, and the like of the vehicle, which are all exemplified herein and not specifically limited.
Optionally, the vehicle condition recognition module 3011 may be configured to obtain vehicle information and determine whether a reverse automatic emergency braking function may be activated, where the vehicle condition recognition module 3011 may include a detection device, a transmission device, a receiving device, and the like.
Optionally, the driver may select to turn on the automatic emergency braking system for backing up on a display of the vehicle, the sensor 3021 transmits the acquired information for turning on the system to the automatic emergency braking system for backing up through the vehicle-mounted network 303 as a medium, the receiving device in the vehicle condition identification module receives a signal that needs to be detected in real time, the detecting device may start to detect the driving condition of the vehicle and the status information of other modules in the system in real time, and may determine whether to activate the automatic emergency braking function for backing up.
Optionally, the vehicle condition recognition module 3011 may transmit the detected data to the adaptive braking decision module 3013 through a transmission device, where a signal of the transmitted data may be a local area internet, a digital signal, an ethernet, and the like, which is only for illustration and is not limited in particular.
In step S402, obstacle information is acquired.
In the step S402 of the present invention, the obstacle information may be obtained by the obstacle identification module 3012, where the obstacle information may include a type, a speed, a distance from the vehicle, a track of the obstacle, and the like of the obstacle, which is merely an example and is not limited herein.
Optionally, the obstacle identification module 3012 may be configured to obtain information of an obstacle, and according to the information, may identify whether the obstacle is on a driving track of the vehicle, and according to a relative position relationship between the obstacle and the vehicle, may divide an obstacle identification interval, so as to determine whether to perform braking prompt on the driver or whether to start automatic emergency braking.
Alternatively, the obstacle recognition module 3012 may include a recognition device, a receiving device, a transmitting device, a detecting device, and the like, where the recognition device may be a camera for recognizing the type of the obstacle, and the detecting device may be used for detecting the speed of the obstacle and the distance to the vehicle, and may perform interval detection and division on the distance to the vehicle.
Optionally, the driver may select to turn on the automatic emergency braking system for backing up on a display of the vehicle, the sensor 3021 transmits the acquired information for turning on the system to the automatic emergency braking system for backing up through the vehicle-mounted network as a medium, the receiving device in the obstacle identification module receives a signal that needs to be detected and identified in real time, the identifying device starts to identify the type of the obstacle in real time, the detecting device acquires the speed of the obstacle and the distance between the obstacle and the vehicle in real time, and the distance between the vehicles can be detected and divided.
Alternatively, the identification device in the obstacle identification module may identify the type of the obstacle, where the type of the obstacle may include a motor vehicle, a person, a non-motor vehicle, an animal, or a plant, and the detection device in the obstacle identification module detects a distance between the obstacle and the vehicle, and may divide the distance into zones, for example, a detectable zone, an alarm zone, a safety zone, and an emergency braking zone, which may be used to determine whether the driver needs an alarm for automatic emergency braking of the vehicle, and may also be used to determine whether to activate automatic emergency braking, and it should be noted that the type of the obstacle and the division of the distance between the vehicle and the obstacle are merely illustrative and not limited in particular.
For example, when the distance between the obstacle and the vehicle is in the detectable region, the obstacle recognition module may continue to recognize and detect the obstacle in real time; if the distance between the obstacle and the vehicle is in the alarm area, the obstacle identification module can prompt a driver to brake or not through the vehicle-mounted display; if the distance between the obstacle and the vehicle is in the emergency braking area, the distance between the vehicle and the obstacle is too close at the moment, and the vehicle directly carries out automatic emergency braking at the moment.
Alternatively, the obstacle identification module 3012 may transmit the identified and detected data to the adaptive braking decision module 3013 through a transmission device, where the signal for transmitting the data may be a local area internet, a digital signal, an ethernet, and the like, which is only an example and is not limited specifically here.
In step S403, it is determined whether the obstacle is on the travel track.
In the above step S403 of the present invention, it may be determined whether the trajectory of the obstacle is on the driving trajectory of the vehicle based on the trajectory of the obstacle detected by the obstacle recognition module 3012.
Alternatively, if it is determined that the trajectory of the obstacle is on the driving trajectory of the vehicle, step S404 is performed; otherwise, the obstacle is eliminated, the next obstacle can be found, and steps S401 and S402 are performed again.
And step S404, adaptive braking acceleration matching.
In step S404 of the present invention, the adaptive braking decision module 3013 may determine an optimal matching manner between the braking acceleration and the preset braking distance according to the acquired vehicle information and the acquired obstacle information.
Optionally, the adaptive braking decision module 3013 may include a receiving device, a transmitting device, a calculating device, and the like, wherein the calculating device may be configured to determine the braking acceleration and the preset braking distance.
Optionally, when the obstacle recognition detects that the obstacle distance from the vehicle has reached the alarm area, the receiving device of the adaptive braking decision module receives data from the vehicle condition recognition module and the obstacle recognition module, and the calculating device may calculate the preset braking distance according to the following formula:
D b ＝1/2*(-a e )*(V r /(-a e )) 2
wherein D is b To preset braking distance, a e For braking acceleration, V r Is the current vehicle speed. The vehicle speed V is generally within 1m for low-speed braking distance without considering road surface gradient and ground adhesion coefficient r And braking acceleration a e And iterative matching can be carried out according to the experience values of simulation and real vehicles.
Alternatively, the computing device of the adaptive braking decision module may estimate the system delay based on the performance of the vehicle sensors, actuators, and other subsystems, and may calculate the system delay distance according to the following equation:
D d ＝V r *t d
wherein D is d For system delay distance, V r As the current vehicle speed, t d The system delay time.
Optionally, a safety distance D s The safety distance is the ultimate distance between the vehicle and the obstacle after braking, and may be a fixed value set by the system or set by the driver.
Step S405, whether or not in the braking acceleration range.
In the above step S405 of the present invention, the adaptive braking decision module 3013 may determine whether the braking acceleration is within the range of the braking acceleration according to the calculated braking acceleration, and if not, may return to step S404 to recalculate the braking acceleration; if the value is within this range, step S406 may be performed.
For example, it is generally determined that the braking acceleration for reversing the vehicle at low speed ranges from 3.5 to 7m/s without considering the gradient and the ground adhesion coefficient 2 It may be determined whether the braking acceleration calculated by the adaptive braking decision module is within the interval, where it should be noted that the range of the braking acceleration is merely an example, and is not limited specifically.
Step S406, the target obstacle distance is confirmed in real time.
In step S406, the adaptive braking decision module 3013 may determine an actual distance between the obstacle and the vehicle in real time, and determine a magnitude relationship between the actual distance between the current vehicle and the obstacle and an ideal braking distance in real time according to a preset braking distance, a system delay distance, and a safety distance.
Optionally, the actual distance between the obstacle and the vehicle is D c The ideal braking distance is the braking acceleration a of the vehicle e The ideal limit length for automatic emergency braking during backing can be calculated according to the following formula:
D a ＝D d +D b +D s
wherein D is a For an ideal braking distance, D d For system delay distance, D b To preset braking distance, D s Is a safe distance.
And step S407, making an emergency braking decision.
In step S407, the adaptive braking decision module 3013 may determine a magnitude relationship between an actual distance between the current vehicle and the obstacle and an ideal braking distance in real time, and may perform an emergency braking strategy based on the braking acceleration.
Step S408, whether the ideal braking distance is large.
In the above step S408 of the present invention, the method adaptsThe braking decision module 303 can determine the actual distance D between the current vehicle and the obstacle in real time c Distance D from ideal braking a The magnitude relationship between them, if D c ≥D a Then returning to step S406; otherwise, step S409 is performed.
Optionally, if the ideal braking distance is too large, the vehicle performs automatic emergency braking for backing according to the currently calculated braking acceleration, and then the obstacle collides with the vehicle, step S409 needs to be implemented, so as to further perform emergency braking, thereby ensuring safety; if the ideal braking distance is smaller, the vehicle continues to back up according to the currently calculated braking acceleration at the moment, and the step S406 is returned, the obstacle distance is continuously confirmed in real time until the vehicle backs up until the distance between the obstacle and the vehicle is smaller than or equal to the ideal braking distance, and then the step S409 is carried out.
For example, the actual distance D between the obstacle and the vehicle at this time is acquired c =1m, the calculated ideal braking distance is D a =0.5m, and the judgment result D is obtained a ≥D c If the vehicle can be automatically backed according to the calculated braking acceleration and collision can occur, the vehicle can be automatically and emergently braked in the backing process.
For another example, the actual distance D between the obstacle and the vehicle at this time is obtained c =1.5m, and the calculated ideal braking distance is D a =1.2m, in which case the determination result D is obtained c ≥D a And if the distance between the obstacle and the vehicle is monitored in real time, the vehicle is backed until the distance between the obstacle and the vehicle is smaller than or equal to the ideal braking distance, and the automatic emergency braking for backing is carried out.
Step S409, a braking request is sent.
In step S409 of the present invention, the adaptive braking decision module 3013 may send a braking request to the braking control module 3014, so as to perform automatic emergency braking for backing up.
Optionally, the brake control module 3014 may include at least a receiving device and a transmitting device, where the receiving device may be configured to receive a brake request signal from the transmitting device of the adaptive brake decision module, and the transmitting device may be configured to transmit a command for reverse automatic emergency braking to the vehicle-mounted network 303.
Optionally, the vehicle-mounted network 303 receives a reverse automatic emergency braking instruction from the brake control module, and may transmit the reverse automatic emergency braking instruction to the actuator 3022, where the actuator may control the brake device of the vehicle to stop the vehicle.
According to the embodiment of the invention, the collected driving data of the current road section where the vehicle is located is analyzed in the driving process of the vehicle, the braking distance data of the vehicle can be determined, the braking information is transmitted to the vehicle based on the braking distance data, and the vehicle is controlled to carry out backing braking, so that the technical problem of low safety of emergency braking of the vehicle is solved, and the technical effect of improving the safety of the emergency braking of the vehicle is realized.
Example 3
According to the embodiment of the invention, the data processing device of the vehicle is also provided. It should be noted that the data processing device of the vehicle may be used to execute the data processing method of the vehicle in embodiment 1.
Fig. 5 is a schematic diagram of a data processing device of a vehicle according to an embodiment of the present invention. As shown in fig. 5, the data processing device 500 of the vehicle may include: an acquisition unit 502, a determination unit 504, and a transmission unit 506.
An obtaining unit 502 is configured to obtain driving data of a vehicle on a current road segment.
A determining unit 504, configured to determine braking distance data of the vehicle based on the driving data, where the braking distance data includes at least preset braking distance data of the vehicle and first distance data generated by the vehicle during a data transmission period, and the first distance data is used to represent a distance driven by the vehicle during the data transmission period.
A sending unit 506, configured to send a specified instruction to the vehicle based on the braking distance data, where the braking instruction includes braking acceleration data, and configured to control the vehicle to brake the vehicle based on the received braking acceleration data.
Alternatively, the determining unit 504 may include: the first determining module is used for determining preset braking distance data based on the driving data.
Alternatively, the determining unit 504 may include: and the second determining module is used for determining the braking distance data based on the preset braking distance data and the first distance data.
Optionally, the first determining module may include: and the determining submodule is used for determining preset braking distance data based on the driving data and the preset braking acceleration data.
Alternatively, the determining unit 504 may include: and the third determining module is used for responding to the situation that the preset braking distance data is smaller than or equal to the preset braking distance threshold value, and determining the preset braking acceleration data as braking acceleration data.
Alternatively, the determining unit 504 may include: the first sending module is used for sending the braking acceleration data to the vehicle.
Alternatively, the sending unit 506 may include: the acquisition module is used for acquiring barrier data acquired by the vehicle on the current road section, wherein the barrier data at least comprise second distance data, and the second distance data is used for representing the distance between a barrier and the vehicle, which are located on the same driving track as the vehicle.
Optionally, the sending unit 506 may include: a second sending module: and the controller is used for sending a braking instruction to the vehicle based on the second distance data and the braking distance data.
Optionally, the second sending module may include: and the sending submodule is used for responding to the second distance data smaller than or equal to the braking distance data and sending a braking instruction to the vehicle.
Alternatively, the sending unit 506 may include: a fourth determination module: and the obstacle determining unit is used for determining an obstacle in the same driving track as the vehicle based on the driving data and the obstacle data.
According to the embodiment of the invention, the acquisition unit is used for acquiring the driving data of the vehicle on the current road section; the determining unit is used for determining braking distance data of the vehicle based on the driving data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period, and the first distance data is used for representing the driving distance of the vehicle in the data transmission time period; and the sending unit is used for sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data, so that the technical problem of low safety of emergency braking of the vehicle is solved, and the technical effect of improving the safety of the emergency braking of the vehicle is realized.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the data processing method of the vehicle described in embodiment 1.
Example 5
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program executes the data processing method of the vehicle described in embodiment 1 when running.
Example 6
According to an embodiment of the present invention, there is also provided a vehicle for executing the data processing method of the vehicle of the embodiment of the present invention.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.

Claims (10)

1. A data processing method of a vehicle, characterized by comprising:
acquiring the driving data of a vehicle on a current road section;
determining braking distance data of the vehicle based on the traveling data, wherein the braking distance data at least comprise preset braking distance data of the vehicle and first distance data generated by the vehicle in a data transmission time period, and the first distance data is used for representing the distance traveled by the vehicle in the data transmission time period;
and sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data.
2. The method of claim 1, wherein sending a braking command to the vehicle based on the braking distance data comprises:
acquiring obstacle data acquired by the vehicle on the current road section, wherein the obstacle data at least comprise second distance data, and the second distance data are used for representing the distance between an obstacle in the same driving track with the vehicle and the vehicle;
and sending the braking instruction to the vehicle in response to the second distance data being less than or equal to the braking distance data.
3. The method of claim 2, further comprising:
determining the obstacle in the same travel track as the vehicle based on the travel data and the obstacle data.
4. The method of claim 1, wherein determining braking distance data for the vehicle based on the travel data comprises:
determining the preset braking distance data based on the driving data;
and determining the braking distance data based on the preset braking distance data and the first distance data.
5. The method of claim 4, wherein determining preset braking distance data for the vehicle based on the travel data comprises:
and determining the preset braking distance data based on the driving data and the preset braking acceleration data.
6. The method of claim 4, further comprising:
determining the preset braking acceleration data as the braking acceleration data in response to the preset braking distance data being less than or equal to a preset braking distance threshold value;
transmitting the braking acceleration data to the vehicle.
7. A data processing apparatus of a vehicle, characterized by comprising:
the acquisition unit is used for acquiring the driving data of the vehicle on the current road section;
a determining unit, configured to determine braking distance data of the vehicle based on the driving data, where the braking distance data at least includes preset braking distance data of the vehicle and first distance data generated by the vehicle during a data transmission time period, and the first distance data is used for representing a distance traveled by the vehicle during the data transmission time period;
and the sending unit is used for sending a braking instruction to the vehicle based on the braking distance data, wherein the braking instruction comprises braking acceleration data, and is used for controlling the vehicle to brake the vehicle based on the received braking acceleration data.
8. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 6.
9. A processor, characterized in that the processor is configured to run a program, wherein the program, when executed by the processor, performs the method of any one of claims 1 to 6.
10. A vehicle characterized by being configured to execute a data processing method of the vehicle according to any one of claims 1 to 6.
CN202210995693.7A 2022-08-18 2022-08-18 Data processing method and device for vehicle, storage medium and vehicle Pending CN115465240A (en)

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