CN116533997A - Vehicle braking method and device, vehicle and storage medium - Google Patents
Vehicle braking method and device, vehicle and storage medium Download PDFInfo
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- CN116533997A CN116533997A CN202310566080.6A CN202310566080A CN116533997A CN 116533997 A CN116533997 A CN 116533997A CN 202310566080 A CN202310566080 A CN 202310566080A CN 116533997 A CN116533997 A CN 116533997A
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- 238000012549 training Methods 0.000 claims abstract description 7
- 238000011084 recovery Methods 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a vehicle braking method, a device, a vehicle and a storage medium, wherein the method comprises the following steps: inputting pose information and vehicle parameter information into a preset vehicle safety strategy model based on map information to obtain the safety speed of the current vehicle, wherein the preset vehicle safety strategy model is obtained by training a target map, nine-axis sensing information of the target vehicle and preset safety passing speed; judging whether the current vehicle speed is greater than the safe vehicle speed or not, and braking the current vehicle according to the difference value between the current vehicle speed and the safe vehicle speed when the current vehicle speed is greater than the safe vehicle speed. Therefore, the problems that when a driver runs on a slope and a steep slope road, the speed of the vehicle is difficult to control according to the characteristics of the vehicle, safety accidents are easily caused under the condition of misjudgment and the like are solved, safety control can be carried out on the premise of ensuring the safety of passengers, and the vehicle is effectively prevented from being out of control due to too high speed.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a vehicle braking method and device, a vehicle, and a storage medium.
Background
The current automatic driving map of the vehicle collects vehicle information and is mostly provided by third parties such as manufacturers of God, hundred degrees and the like, but the traditional electronic map is used for obtaining the current vehicle position by means of vehicle-mounted GPS ((Global Positioning System, global positioning system) or mobile phone GPS) and is used for navigation by combining an established map model.
However, when the electronic map is ignored during automatic driving of the vehicle, the electronic map has detailed accurate priori data such as turning, slopes and the like, and when the vehicle makes a long slope or turns, the driver of the vehicle is difficult to control the speed of the vehicle according to the characteristics of the vehicle, so that safety accidents are easily caused under the condition of erroneous judgment, and life and property safety of the driver is greatly threatened.
In the related art, an up-down slope control system (publication number: CN 112109733A) based on an unmanned vehicle is provided, a vehicle body position is obtained through a crossed infrared ranging detector, a current vehicle speed is processed in real time, and the vehicle is controlled to be decelerated to a safe vehicle passing speed before going up and down a slope through a vehicle controller. However, the limitation of the method is that the timeliness of the processed information is too strong, the prior information control is not satisfied, and the safety accident of the vehicle is easily caused under the condition of misjudgment, so that the method is needed to be solved.
Disclosure of Invention
One of the purposes of the present invention is to provide a vehicle braking method, so as to solve the problem that when a driver runs on a slope or a steep slope road, the speed of the vehicle is difficult to control according to the characteristics of the vehicle, and safety accidents are easily caused under the condition of erroneous judgment; the second object is to provide a braking device for a vehicle; a third object is to provide a vehicle; a fourth object is to provide a computer-readable storage medium.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a method of braking a vehicle, comprising the steps of: map information of a road where a current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed are obtained; inputting the pose information and the vehicle parameter information into a preset vehicle safety strategy model based on the map information to obtain the safety speed of the current vehicle, wherein the preset vehicle safety strategy model is obtained by training a target map, nine-axis sensing information of the target vehicle and a preset safety passing speed; judging whether the current vehicle speed is greater than the safe vehicle speed or not, and braking the current vehicle according to the difference value between the current vehicle speed and the safe vehicle speed when the current vehicle speed is greater than the safe vehicle speed.
According to the technical means, the map information, the pose information, the vehicle parameter information and the current vehicle of the vehicle are taken as priori information, and the current vehicle reaches the safe speed by combining with the preset vehicle safety strategy model, so that safety control is performed on the premise of ensuring the safety of passengers, and the vehicle is effectively prevented from being out of control due to too high speed.
Further, after braking the current vehicle according to the difference between the current vehicle speed and the safe vehicle speed, the method further includes: judging whether the braked vehicle speed is greater than the safe vehicle speed or not; and if the braked vehicle speed is greater than the safe vehicle speed, controlling the current vehicle to carry out deceleration reminding so as to remind a driver of actively braking the current vehicle.
According to the technical means, the braked vehicle speed is compared with the safe vehicle speed, the vehicle is subjected to deceleration reminding, and a driver is warned to actively brake, so that the vehicle is smoothly bent.
Further, after determining that the current vehicle speed is greater than the safe vehicle speed, it further includes: identifying a vehicle speed step to which a difference between the current vehicle speed and the safe vehicle speed belongs; and matching the optimal energy recovery strategy of the current vehicle according to the vehicle speed step to which the difference value belongs, and carrying out energy recovery based on the optimal energy recovery strategy.
According to the technical means, the energy recovery management module is used for storing the energy again, so that the economic benefit is greatly improved.
Further, before acquiring the map information of the road where the current vehicle is located, the pose information of the current vehicle, the vehicle parameter information and the current vehicle speed, the method further comprises: judging whether a whole vehicle safety strategy control button of the current vehicle is in an activated state or not; and if the whole vehicle safety strategy control button is in the activated state, acquiring map information of a road where the current vehicle is located, pose information of the current vehicle, vehicle parameter information and the current vehicle speed.
According to the technical means, when the whole vehicle safety strategy control button is activated, the map information, the pose information, the parameter information, the current vehicle speed and other information of the vehicle are obtained, so that the braking effect of the vehicle is more accurate.
Further, after determining whether the current vehicle speed is greater than the safe vehicle speed, further comprising: and if the current vehicle speed is not greater than the safe vehicle speed, controlling the current vehicle to run according to the current vehicle speed.
According to the technical means, when the speed of the vehicle is at the safe speed, the vehicle normally runs according to the current speed, and the preset vehicle safety strategy model is not interposed, so that the economic benefit of the vehicle is improved.
A braking device of a vehicle, comprising: the first acquisition module is used for acquiring map information of a road where a current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed; the second acquisition module is used for inputting the pose information and the vehicle parameter information into a preset vehicle safety strategy model based on the map information to obtain the safety speed of the current vehicle, wherein the preset vehicle safety strategy model is obtained by training a target map, nine-axis sensing information of the target vehicle and a preset safety passing speed; and the braking module is used for judging whether the current vehicle speed is greater than the safe vehicle speed or not, and braking the current vehicle according to the difference value between the current vehicle speed and the safe vehicle speed when the current vehicle speed is greater than the safe vehicle speed.
Further, after braking the current vehicle according to a difference between the current vehicle speed and the safe vehicle speed, the braking module is further configured to: judging whether the braked vehicle speed is greater than the safe vehicle speed or not; and if the braked vehicle speed is greater than the safe vehicle speed, controlling the current vehicle to carry out deceleration reminding so as to remind a driver of actively braking the current vehicle.
Further, after determining that the current vehicle speed is greater than the safe vehicle speed, the braking module is further configured to: identifying a vehicle speed step to which a difference between the current vehicle speed and the safe vehicle speed belongs; and matching the optimal energy recovery strategy of the current vehicle according to the vehicle speed step to which the difference value belongs, and carrying out energy recovery based on the optimal energy recovery strategy.
Further, before acquiring map information of a road where the current vehicle is located, pose information of the current vehicle, the vehicle parameter information, and the current vehicle speed, the acquiring module is further configured to: judging whether a whole vehicle safety strategy control button of the current vehicle is in an activated state or not; and if the whole vehicle safety strategy control button is in the activated state, acquiring map information of a road where the current vehicle is located, pose information of the current vehicle, vehicle parameter information and the current vehicle speed.
Further, after determining whether the current vehicle speed is greater than the safe vehicle speed, the braking module is further configured to: and if the current vehicle speed is not greater than the safe vehicle speed, controlling the current vehicle to run according to the current vehicle speed.
A vehicle, comprising: the braking system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the braking method of the vehicle according to the embodiment.
A computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing the braking method of a vehicle as described in the above embodiments.
The invention has the beneficial effects that:
(1) According to the vehicle safety control method, the map information, the pose information, the vehicle parameter information and the current vehicle of the vehicle are taken as priori information, and the current vehicle reaches the safety speed by combining with the preset vehicle safety strategy model, so that safety control is performed on the premise of ensuring the safety of passengers, and the vehicle is effectively prevented from being out of control due to too high speed;
(2) The invention can restore the energy through the energy recovery management module, thereby greatly improving the economic benefit;
(3) According to the invention, the braked vehicle speed is compared with the safe vehicle speed, the deceleration reminding is carried out in the vehicle, and the driver is warned to actively brake, so that the vehicle can smoothly pass a slope.
Drawings
FIG. 1 is a flow chart of a method of braking a vehicle of the present invention;
FIG. 2 is a flow chart of the vehicle data processing according to the present invention;
FIG. 3 is a flow chart of a method of braking a vehicle according to the present invention;
FIG. 4 is a block schematic diagram of a braking device of the vehicle of the present invention;
fig. 5 is a schematic structural view of the vehicle of the present invention.
Wherein, 10-the braking device of the vehicle; 100-a first acquisition module; 200-a second acquisition module; 300-a brake module; 501-a memory; 502-a processor; 503-communication interface.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In this embodiment, a braking method of a vehicle is provided, and fig. 1 is a schematic flow chart of the braking method of the vehicle provided in the embodiment.
In this implementation, a vehicle includes: the system comprises a central computing controller, a terminal display module, an electronic navigation map and an energy recovery management module arranged on a vehicle, wherein the vehicle safety strategy vehicle control button is specifically shown in fig. 2.
The central computing controller is a high-reliability vehicle machine control unit, such as a Celldragon 8155 controller, and is used for running an electronic map of a vehicle machine and a command signal uploaded by a mobile phone and responding in time. And the terminal display module is used for providing an electronic navigation map and a vehicle safety strategy vehicle control button display, such as a 7.9 inch and above vehicle panel computer. The electronic navigation map is provided with an offline installation package by a provider or is interacted with the electronic map by a user in a man-machine Bluetooth mode and the like, the provider provided with a slope drawing prompt calculates the inclination of the current slope through the drawn slope and a nine-axis sensor of the vehicle. The energy recovery management module is provided by the host plant to recharge the battery by reversing the power generating function of the vehicle. The vehicle safety strategy vehicle-machine control button is a safety strategy model obtained by a series of experience data obtained through experiments on a target vehicle.
As shown in fig. 1, the braking method of the vehicle includes the steps of:
in step S101, map information of a road on which a current vehicle is located, pose information of the current vehicle, vehicle parameter information, and a current vehicle speed are acquired.
The vehicle is connected with the network to obtain a high-precision map of the current running, wherein the high-precision map comprises current road information such as slope gradient, curve radius, curve arc, long slope length and the like; the method comprises the steps of obtaining pose information of a current vehicle IMU (Inertial Measurement Unit, an inertial sensor) and carrying out filtering by a corresponding correlation algorithm, so that reliable pose information is obtained, wherein the pose information comprises linear speed, acceleration, angular speed and the like; the vehicle parameter information comprises the inherent model information of the current vehicle, such as vehicle parameter information including brake length, vehicle body length, maximum turning radius and the like; the current speed of the vehicle is obtained through a speed sensor of the vehicle.
Further, in some embodiments, before acquiring the map information of the road where the current vehicle is located, the pose information of the current vehicle, the vehicle parameter information, and the current vehicle speed, the method further includes: judging whether a whole vehicle safety strategy control button of the current vehicle is in an activated state or not; and if the whole vehicle safety strategy control button is in an activated state, acquiring map information of a road where the current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed.
It should be understood that, in this embodiment, whether the current vehicle activates the whole vehicle safety strategy control button is acquired, and the whole vehicle safety strategy control button is set in the driving function mode, and meets the intelligent driving mode with a certain probability. If the whole vehicle safety strategy control button is detected to be in an activated state, the vehicle starts to acquire map information of a road where the current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed by networking.
In step S102, pose information and vehicle parameter information are input to a preset vehicle safety strategy model based on map information, so as to obtain a safety speed of a current vehicle, wherein the preset vehicle safety strategy model is obtained by training a target map, nine-axis sensing information of the target vehicle and a preset safety passing speed.
It can be understood that the input parameters of the preset vehicle safety strategy model are map information, pose information and vehicle parameter information, and the output result is the safety speed of the current vehicle.
The central computing controller of the vehicle obtains long-slope or steep-slope signals which the vehicle is about to pass through corresponding SDK interfaces through a mapped electronic map, such as a third party provider of God, hundred degrees and the like, and obtains CAN digital signals of vehicle speed, pitching, rolling angles and the like through combination with a nine-axis sensor of the target vehicle, and a safety strategy obtained by a preset safety passing speed of a host factory.
In step S103, it is determined whether the current vehicle speed is greater than the safe vehicle speed, and when the current vehicle speed is greater than the safe vehicle speed, the current vehicle is braked according to the difference between the current vehicle speed and the safe vehicle speed.
Specifically, after the safe vehicle speed of the current vehicle is obtained through a preset vehicle safety strategy model, judging whether the current vehicle speed is greater than the safe vehicle speed, if so, acquiring a difference value according to the current vehicle speed and the safe vehicle speed by a central computing controller, outputting a deceleration instruction, and simultaneously sending the SOC information of the current vehicle to an MCU ((Microcontroller Unit, micro control unit) of the current vehicle, wherein the MCU brakes the current vehicle.
Further, in some embodiments, after braking the current vehicle according to the difference between the current vehicle speed and the safe vehicle speed, further comprising: judging whether the braked vehicle speed is greater than a safe vehicle speed or not; and if the braked vehicle speed is greater than the safe vehicle speed, controlling the current vehicle to carry out deceleration reminding so as to remind a driver of actively braking the current vehicle.
It can be understood that after the current vehicle brakes, if the braked vehicle speed is greater than the safe vehicle speed, the preset vehicle safety strategy model cannot realize the safety control of the vehicle at the slope end, the vehicle end is immediately prompted at the terminal display module (namely the vehicle machine end), the vehicle machine end displays a warning interface through a display screen, and a warning bell or a warning text and other deceleration reminding is sent out to remind a driver to actively brake the current vehicle so as to realize the smooth passing or turning of the current vehicle.
Further, in some embodiments, after determining that the current vehicle speed is greater than the safe vehicle speed, further comprising: identifying a vehicle speed step to which a difference value between a current vehicle speed and a safe vehicle speed belongs; and matching the optimal energy recovery strategy of the current vehicle according to the vehicle speed step to which the difference value belongs, and carrying out energy recovery based on the optimal energy recovery strategy.
It CAN be understood that after the current vehicle speed is determined to be greater than the safe vehicle speed, the CAN signal driving energy recovery management module is started to obtain a vehicle speed step to which a difference value between the current vehicle speed and the safe vehicle speed belongs, and the energy is recovered and stored according to an optimal energy recovery strategy of the vehicle speed step matching the current vehicle, so as to assist the vehicle to perform deceleration braking.
Further, in some embodiments, after determining whether the current vehicle speed is greater than the safe vehicle speed, further comprising: and if the current vehicle speed is not greater than the safe vehicle speed, controlling the current vehicle to run according to the current vehicle speed.
It can be understood that if the current speed of the current vehicle is not greater than the safe speed, the preset vehicle safety strategy model is not started, and the vehicle is normally driven by the driver according to the current speed.
In order for those skilled in the art to further understand the braking method of the vehicle of the present embodiment, the following description will be made in detail with reference to the specific embodiment, as shown in fig. 3.
In step S301, the driver activates the vehicle safety strategy control button when a slope or a turn is made.
In step S302, vehicle data and a current vehicle speed are acquired by a nine-axis sensor.
In step S303, a preset vehicle security policy model is loaded.
In step S304, it is determined whether the current vehicle speed is greater than the safe vehicle speed. If yes, step S305 is executed, and if no, step S308 is executed.
In step S305, the energy recovery management module is started to assist the vehicle in deceleration braking.
In step S306, it is determined whether the vehicle speed after braking is greater than the safe vehicle speed. If yes, step S307 is executed, and if no, step S308 is executed.
In step S307, the terminal display module performs a deceleration reminding.
In step S308, the vehicle runs at the current vehicle speed.
According to the vehicle braking method, pose information and vehicle parameter information are input into a preset vehicle safety strategy model based on map information, so that the safety speed of a current vehicle is obtained, and when the current speed is greater than the safety speed, the current vehicle is braked according to the difference value between the current speed and the safety speed. Therefore, through combining the prior information of the electronic map, the vehicle body sensor, the energy recovery unit and the safety strategy model, the problems that when a driver runs on a slope and a steep slope road, the speed of the vehicle is difficult to control according to the characteristics of the vehicle, safety accidents are easily caused under the condition of misjudgment and the like are solved, safety control can be carried out on the premise of ensuring the safety of passengers, and the vehicle is effectively prevented from being out of control due to the fact that the speed is too fast.
The present embodiment proposes a braking device for a vehicle, and fig. 4 is a block schematic diagram of the braking device for a vehicle of the present embodiment.
The braking device 10 of the vehicle includes: a first acquisition module 100, a second acquisition module 200, and a braking module 300.
Specifically, the first obtaining module 100 is configured to obtain map information of a road where a current vehicle is located, pose information of the current vehicle, vehicle parameter information, and a current vehicle speed; the second obtaining module 200 is configured to input pose information and vehicle parameter information to a preset vehicle security policy model based on map information, to obtain a security speed of a current vehicle, where the preset vehicle security policy model is obtained by training a target map, nine-axis sensing information of the target vehicle, and a preset security passing speed; the braking module 300 is configured to determine whether the current vehicle speed is greater than a safe vehicle speed, and brake the current vehicle according to a difference between the current vehicle speed and the safe vehicle speed when the current vehicle speed is greater than the safe vehicle speed.
Further, in some embodiments, after braking the current vehicle according to the difference between the current vehicle speed and the safe vehicle speed, the braking module 300 is further configured to: judging whether the braked vehicle speed is greater than a safe vehicle speed or not; and if the braked vehicle speed is greater than the safe vehicle speed, controlling the current vehicle to carry out deceleration reminding so as to remind a driver of actively braking the current vehicle.
Further, in some embodiments, after determining that the current vehicle speed is greater than the safe vehicle speed, the braking module 300 is further configured to: identifying a vehicle speed step to which a difference value between a current vehicle speed and a safe vehicle speed belongs; and matching the optimal energy recovery strategy of the current vehicle according to the vehicle speed step to which the difference value belongs, and carrying out energy recovery based on the optimal energy recovery strategy.
Further, in some embodiments, before acquiring map information of a road on which the current vehicle is located, pose information of the current vehicle, vehicle parameter information, and current vehicle speed, the first acquisition module 100 is further configured to: judging whether a whole vehicle safety strategy control button of the current vehicle is in an activated state or not; and if the whole vehicle safety strategy control button is in an activated state, acquiring map information of a road where the current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed.
Further, in some embodiments, after determining whether the current vehicle speed is greater than the safe vehicle speed, the braking module 300 is further configured to: and if the current vehicle speed is not greater than the safe vehicle speed, controlling the current vehicle to run according to the current vehicle speed.
It should be noted that the foregoing explanation of the embodiment of the braking method of the vehicle is also applicable to the braking device of the vehicle of this embodiment, and will not be repeated here.
According to the vehicle braking device provided by the embodiment, pose information and vehicle parameter information are input into a preset vehicle safety strategy model based on map information, so that the safety speed of the current vehicle is obtained, and when the current speed is greater than the safety speed, the current vehicle is braked according to the difference value between the current speed and the safety speed. Therefore, the problems that when a driver runs on a slope and a steep slope road, the speed of the vehicle is difficult to control according to the characteristics of the vehicle, safety accidents are easily caused under the condition of misjudgment and the like are solved, safety control can be carried out on the premise of ensuring the safety of passengers, and the vehicle is effectively prevented from being out of control due to too high speed.
In this embodiment, a vehicle is further provided, and fig. 5 is a schematic structural diagram of the vehicle provided in this embodiment. The vehicle may include:
memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.
The processor 502 implements the braking method of the vehicle provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
Memory 501 for storing a computer program executable on processor 502.
The memory 501 may include high speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.
The processor 502 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement this embodiment.
The present embodiment also proposes a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the braking method of a vehicle as above.
The above embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention.
Claims (10)
1. A method of braking a vehicle, comprising the steps of:
map information of a road where a current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed are obtained;
inputting the pose information and the vehicle parameter information into a preset vehicle safety strategy model based on the map information to obtain the safety speed of the current vehicle, wherein the preset vehicle safety strategy model is obtained by training a target map, nine-axis sensing information of the target vehicle and a preset safety passing speed; and
judging whether the current vehicle speed is greater than the safe vehicle speed or not, and braking the current vehicle according to the difference value between the current vehicle speed and the safe vehicle speed when the current vehicle speed is greater than the safe vehicle speed.
2. The method according to claim 1, characterized by further comprising, after braking the current vehicle according to a difference between the current vehicle speed and the safe vehicle speed:
judging whether the braked vehicle speed is greater than the safe vehicle speed or not;
and if the braked vehicle speed is greater than the safe vehicle speed, controlling the current vehicle to carry out deceleration reminding so as to remind a driver of actively braking the current vehicle.
3. The method according to claim 1, characterized by further comprising, after determining that the current vehicle speed is greater than the safe vehicle speed:
identifying a vehicle speed step to which a difference between the current vehicle speed and the safe vehicle speed belongs;
and matching the optimal energy recovery strategy of the current vehicle according to the vehicle speed step to which the difference value belongs, and carrying out energy recovery based on the optimal energy recovery strategy.
4. The method according to claim 1, characterized by further comprising, before acquiring map information of a road on which the current vehicle is located, pose information of the current vehicle, the vehicle parameter information, and the current vehicle speed:
judging whether a whole vehicle safety strategy control button of the current vehicle is in an activated state or not;
and if the whole vehicle safety strategy control button is in the activated state, acquiring map information of a road where the current vehicle is located, pose information of the current vehicle, vehicle parameter information and the current vehicle speed.
5. The method according to claim 1, further comprising, after determining whether the current vehicle speed is greater than the safe vehicle speed:
and if the current vehicle speed is not greater than the safe vehicle speed, controlling the current vehicle to run according to the current vehicle speed.
6. A brake device for a vehicle, characterized by comprising:
the first acquisition module is used for acquiring map information of a road where a current vehicle is located, pose information of the current vehicle, vehicle parameter information and current vehicle speed;
the second acquisition module is used for inputting the pose information and the vehicle parameter information into a preset vehicle safety strategy model based on the map information to obtain the safety speed of the current vehicle, wherein the preset vehicle safety strategy model is obtained by training a target map, nine-axis sensing information of the target vehicle and a preset safety passing speed; and
and the braking module is used for judging whether the current vehicle speed is greater than the safe vehicle speed or not, and braking the current vehicle according to the difference value between the current vehicle speed and the safe vehicle speed when the current vehicle speed is greater than the safe vehicle speed.
7. The apparatus of claim 6, wherein the braking module, after braking the current vehicle according to a difference between the current vehicle speed and the safe vehicle speed, is further configured to:
judging whether the braked vehicle speed is greater than the safe vehicle speed or not;
and if the braked vehicle speed is greater than the safe vehicle speed, controlling the current vehicle to carry out deceleration reminding so as to remind a driver of actively braking the current vehicle.
8. The apparatus of claim 6, wherein after determining that the current vehicle speed is greater than the safe vehicle speed, the braking module is further to:
identifying a vehicle speed step to which a difference between the current vehicle speed and the safe vehicle speed belongs;
and matching the optimal energy recovery strategy of the current vehicle according to the vehicle speed step to which the difference value belongs, and carrying out energy recovery based on the optimal energy recovery strategy.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of braking a vehicle as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a braking method of a vehicle according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310566080.6A CN116533997A (en) | 2023-05-18 | 2023-05-18 | Vehicle braking method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310566080.6A CN116533997A (en) | 2023-05-18 | 2023-05-18 | Vehicle braking method and device, vehicle and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN116533997A true CN116533997A (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310566080.6A Pending CN116533997A (en) | 2023-05-18 | 2023-05-18 | Vehicle braking method and device, vehicle and storage medium |
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| Country | Link |
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| CN (1) | CN116533997A (en) |
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