CN116605226A - Emergency braking method and device for vehicle, electronic equipment and storage medium - Google Patents

Emergency braking method and device for vehicle, electronic equipment and storage medium Download PDF

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Publication number
CN116605226A
CN116605226A CN202310834626.1A CN202310834626A CN116605226A CN 116605226 A CN116605226 A CN 116605226A CN 202310834626 A CN202310834626 A CN 202310834626A CN 116605226 A CN116605226 A CN 116605226A
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CN
China
Prior art keywords
emotion
emergency braking
target vehicle
intention
target
Prior art date
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Pending
Application number
CN202310834626.1A
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Chinese (zh)
Inventor
孟祥希
张建
李林润
姜洪伟
康宇
李帅
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FAW Group Corp
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FAW Group Corp
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Priority to CN202310834626.1A priority Critical patent/CN116605226A/en
Publication of CN116605226A publication Critical patent/CN116605226A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18109Braking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/0098Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/12Brake pedal position
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a vehicle emergency braking method, a vehicle emergency braking device, electronic equipment and a storage medium. The vehicle emergency braking method comprises the following steps: responding to a brake pedal depression signal; under the condition that the first device is not invalid, acquiring intention identification data through the first device, determining the urgent braking intention of a driver according to the intention identification data, and controlling the target vehicle to carry out urgent braking based on the urgent braking intention; in the event of a failure of the first device; and under the condition that the second device is not disabled, collecting emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion. According to the technical scheme provided by the embodiment of the invention, under the condition that the driver forgets to directly trigger the emergency brake switch or the emergency brake switch fails, the auxiliary emergency brake of the target vehicle can be performed by identifying the emergency brake intention or the target emotion of the driver, so that the driving safety is ensured.

Description

Emergency braking method and device for vehicle, electronic equipment and storage medium
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle emergency braking method, device, electronic apparatus, and storage medium.
Background
The electronic parking system (Electronic Park Brake, EPB) is an electronic hand brake switch that replaces a conventional tie rod. After the EPB switch is triggered, the vehicle can be controlled to carry out emergency braking so as to ensure the driving safety under special conditions. However, in general, there is a case where the driver forgets to trigger the EPB switch when the driver is in tension, and therefore, there is a need for a method of automatically controlling the vehicle to perform emergency braking even if the driver forgets to trigger the EPB switch in a dangerous situation.
In the prior art, the method for automatically controlling the vehicle to perform emergency braking comprises the following steps: acquiring the opening degree of a brake pedal of the vehicle; the target vehicle is controlled to carry out emergency braking by comparing the opening of the brake pedal with the opening threshold value of the brake pedal, but the control mode is single and the accuracy is poor, and if the opening of the brake pedal cannot be obtained, the method for automatically controlling the vehicle to carry out emergency braking is directly invalid, so that the driving safety cannot be ensured.
Disclosure of Invention
The invention provides a vehicle emergency braking method, a device, electronic equipment and a storage medium, which are used for solving the problems of single vehicle emergency braking mode, poor accuracy and poor driving safety.
According to an aspect of the present invention, there is provided a vehicle emergency braking method, wherein the method includes:
judging whether a first device of a target vehicle fails or not in response to a brake pedal depression signal, wherein the first device is a device for acquiring intention identification data;
under the condition that the first device is not invalid, acquiring intention identification data through the first device, determining the urgent braking intention of a driver according to the intention identification data, and controlling a target vehicle to carry out urgent braking based on the urgent braking intention;
judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data;
and under the condition that the second device is not disabled, collecting the emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion.
According to another aspect of the present invention, there is provided a vehicle emergency braking apparatus, wherein the apparatus includes:
the first device identification module is used for responding to a brake pedal depression signal and judging whether a first device of the target vehicle fails or not, wherein the first device is a device for acquiring intention identification data;
the first emergency braking module is used for acquiring the intention identification data through the first device under the condition that the first device is not in failure, determining the emergency braking intention of a driver according to the intention identification data, and controlling a target vehicle to perform emergency braking based on the emergency braking intention;
the second device identification module is used for judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion identification data;
and the second emergency braking module is used for acquiring the emotion recognition data through the second device under the condition that the second device is not disabled, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to perform emergency braking based on the target emotion.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle emergency braking method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a vehicle emergency braking method according to any one of the embodiments of the present invention.
According to the technical scheme, whether a first device of a target vehicle fails or not is judged by responding to a brake pedal depression signal, wherein the first device is a device for collecting intention identification data; under the condition that the first device is not invalid, acquiring intention identification data through the first device, determining the urgent braking intention of a driver according to the intention identification data, and controlling a target vehicle to carry out urgent braking based on the urgent braking intention; judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data; and under the condition that the second device is not disabled, collecting the emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion. According to the embodiment of the invention, under the condition that the driver forgets to directly trigger the emergency brake switch or the emergency brake switch fails, the auxiliary emergency brake of the target vehicle can be performed by identifying the emergency brake intention or the target emotion of the driver, so that the driving safety is ensured.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a vehicle emergency braking method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a vehicle emergency braking method according to a second embodiment of the present invention;
fig. 3 is a schematic structural view of a vehicle emergency brake device according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of an electronic device implementing a vehicle emergency braking method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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
Fig. 1 is a flowchart of a vehicle emergency braking method according to an embodiment of the present invention, which is applicable to a vehicle control situation, and the method may be performed by a vehicle emergency braking device, which may be implemented in hardware and/or software, and which may be configured in a target vehicle. As shown in fig. 1, the method includes:
s110, responding to a brake pedal depression signal, judging whether a first device of the target vehicle is invalid, wherein the first device is a device for collecting intention identification data.
The brake pedal depression signal may be understood as a brake pedal depression signal.
The target vehicle may be understood as the object of emergency braking. Alternatively, the target vehicle may be a vehicle having an emergency braking function. In the embodiment of the present invention, the target vehicle may be set according to a scene requirement, which is not specifically limited herein. The target vehicle may be, for example, a car, a van, a car, or the like.
The first device may be understood as a device that collects the intention recognition data. Alternatively, the first device may be a device having a function of collecting the intention recognition data. In an embodiment of the present invention, the first device may be preset according to a scene requirement, and is not limited herein, and illustratively, the first device may be a communication sensor mounted on a brake pedal. In the embodiment of the invention, the data such as the opening degree of the brake pedal, the pedal-down duration time, the pedal-down maximum speed and the like corresponding to the brake pedal of the target vehicle can be acquired based on the communication sensor.
The intention recognition data may be understood as data for recognizing an urgent braking intention of the driver. In the embodiment of the present invention, the intention recognition data may be preset according to the scene requirement, which is not specifically limited herein. Alternatively, the intention recognition data may include at least one of a brake pedal opening degree, a pedal depression duration, and a pedal depression maximum speed.
And S120, under the condition that the first device is not invalid, acquiring the intention identification data through the first device, determining the urgent braking intention of the driver according to the intention identification data, and controlling the target vehicle to carry out urgent braking based on the urgent braking intention.
The emergency braking intention may be understood as the intention of the driver for emergency braking. Alternatively, the emergency braking intent may include the presence of a braking intent and the absence of a braking intent.
Optionally, the determining the emergency braking intention of the driver according to the intention recognition data includes:
determining an intent recognition threshold, wherein the intent recognition threshold comprises at least one of an opening threshold, a duration threshold, and a maximum speed threshold;
and determining the emergency braking intention of the driver according to the intention recognition data and the intention recognition threshold value.
The intention recognition threshold value may be understood as a threshold value corresponding to the intention recognition data for determining an emergency braking intention of the driver. In the embodiment of the present invention, the intent recognition threshold may be preset according to the scene requirement, which is not specifically limited herein. Alternatively, in the case where the intention recognition data includes a brake pedal opening degree, a pedal depression duration, and a pedal depression maximum speed, the intention recognition threshold may include an opening degree threshold, a duration threshold, and a maximum speed threshold.
Optionally, determining the urgent braking intention of the driver as a braking intention exists in a case where the brake pedal opening is greater than the opening threshold, the pedal depression duration is greater than the duration threshold, and the pedal depression maximum speed is greater than the maximum speed threshold;
determining the urgent braking intention of the driver as no braking intention in the case where there is the brake pedal opening being less than or equal to the opening threshold, the pedal depression duration being less than or equal to the duration threshold, or the pedal depression maximum speed being less than or equal to the maximum speed threshold.
Optionally, the emergency braking intention includes a presence braking intention and an absence braking intention, and the controlling the target vehicle to perform emergency braking based on the emergency braking intention includes:
when the emergency braking intention is the braking intention, acquiring real-time deceleration of a target vehicle, determining a deceleration threshold value, and controlling the target vehicle to perform emergency braking according to the deceleration threshold value and the real-time deceleration;
in the case where the urgent braking intention is the absence of braking intention, controlling the target vehicle to decelerate based on the real-time deceleration of the target vehicle until the real-time speed of the target vehicle is zero.
Wherein the real-time deceleration may be understood as a real-time deceleration of the target vehicle.
The deceleration threshold may be understood as a threshold corresponding to the real-time deceleration for determining whether emergency braking of the target vehicle is required. In the embodiment of the present invention, the deceleration threshold may be preset according to the scene requirement, which is not specifically limited herein.
Optionally, in a case where the urgent braking intention is the present braking intention and the real-time deceleration of the target vehicle is smaller than the deceleration threshold, the target vehicle is braked urgently.
The real-time speed may be understood as a real-time speed of the target vehicle.
And S130, judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data.
Wherein the second device may be understood as a device for collecting emotion recognition data. Alternatively, the second device may be a device having a function of collecting the emotion recognition data. In an embodiment of the present invention, the second device may be preset according to a scene requirement, and is not limited herein, and the second device may be a pressure sensor installed on a steering wheel, for example. In the embodiment of the invention, the data such as the heart rate, the heart rate change rate, the grip strength of the steering wheel, the grip strength change rate and the like of the driver can be acquired based on the pressure sensor.
The emotion recognition data may be understood as data for recognizing the target emotion of the driver. In the embodiment of the present invention, the emotion recognition data may be preset according to the scene requirement, which is not specifically limited herein. Optionally, the emotion recognition data may include at least one of a heart rate of the driver, a heart rate variation rate, a grip strength of the steering wheel, and a grip strength variation rate.
And S140, under the condition that the second device is not disabled, collecting the emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion.
Wherein the target emotion can be understood as the emotion of the driver. Alternatively, the target emotion may include a tension emotion and a calm emotion.
Optionally, the vehicle emergency braking method further includes:
in the event of failure of the first device and failure of the second device, emergency braking of the target vehicle occurs.
It will be appreciated that in the event of failure of the first device and failure of the second device, there may already be multiple malfunctions of the target vehicle, and therefore, direct emergency braking of the target vehicle may be possible.
Optionally, the vehicle emergency braking method further includes:
and controlling the target vehicle to travel at a constant speed based on the real-time speed of the target vehicle in response to a pedal depression cancellation signal.
The pedal depression cancellation signal may be understood as a cancellation signal of a brake pedal depression.
According to the technical scheme, whether a first device of a target vehicle fails or not is judged by responding to a brake pedal depression signal, wherein the first device is a device for collecting intention identification data; under the condition that the first device is not invalid, acquiring intention identification data through the first device, determining the urgent braking intention of a driver according to the intention identification data, and controlling a target vehicle to carry out urgent braking based on the urgent braking intention; judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data; and under the condition that the second device is not disabled, collecting the emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion. According to the embodiment of the invention, under the condition that the driver forgets to directly trigger the emergency brake switch or the emergency brake switch fails, the auxiliary emergency brake of the target vehicle can be performed by identifying the emergency brake intention or the target emotion of the driver, so that the driving safety is ensured.
Example two
Fig. 2 is a flowchart of a vehicle emergency braking method according to a second embodiment of the present invention, where the determining of the target emotion of the driver according to the emotion recognition data in the foregoing embodiment is performed in a refinement manner. As shown in fig. 2, the method includes:
s210, responding to a brake pedal depression signal, and judging whether a first device of the target vehicle is invalid, wherein the first device is a device for collecting intention identification data.
And S220, under the condition that the first device is not invalid, acquiring the intention identification data through the first device, determining the urgent braking intention of the driver according to the intention identification data, and controlling the target vehicle to carry out urgent braking based on the urgent braking intention.
And S230, judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data.
And S240, determining an emotion recognition threshold value under the condition that the second device is not disabled, wherein the emotion recognition threshold value comprises at least one of a heart rate threshold value, a heart rate change rate threshold value, a grip strength threshold value and a grip strength change rate threshold value.
The emotion recognition threshold may be understood as a threshold corresponding to the emotion recognition data for determining a target emotion of the driver. In the embodiment of the present invention, the emotion recognition threshold may be preset according to the scene requirement, which is not specifically limited herein. Optionally, in a case where the emotion recognition data includes a driver heart rate, a heart rate variability, a steering wheel grip, and a grip variability, the emotion recognition threshold may include a heart rate threshold, a heart rate variability threshold, a grip threshold, and a grip variability threshold.
S250, determining the target emotion of the driver according to the emotion recognition data and the emotion recognition threshold.
Optionally, determining the target emotion of the driver as a tension emotion in the case that the heart rate of the driver is greater than the heart rate threshold, the heart rate variation rate is greater than the heart rate variation rate threshold, the grip strength of the steering wheel is greater than the grip strength threshold and the grip strength variation rate is greater than the grip strength variation rate threshold;
and determining a target emotion of the driver as a steady emotion when the heart rate of the driver is smaller than the heart rate threshold, the heart rate change rate is smaller than the heart rate change rate threshold, the grip strength of the steering wheel is smaller than the grip strength threshold or the grip strength change rate is smaller than the grip strength change rate threshold.
Optionally, the target emotion includes a tension emotion and a rest emotion, and the controlling the target vehicle to perform emergency braking based on the emergency braking intention includes:
in the case where the target emotion is the tension emotion, emergency braking the target vehicle,
and controlling the target vehicle to decelerate based on the current real-time deceleration of the target vehicle in the condition that the target emotion is the steady emotion so as to reduce the real-time speed of the target vehicle to zero.
And S260, controlling the target vehicle to carry out emergency braking based on the target emotion.
According to the technical scheme, the emotion recognition threshold is determined, wherein the emotion recognition threshold comprises at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold and a grip strength change rate threshold; and determining the target emotion of the driver according to the emotion recognition data and the emotion recognition threshold. The accuracy of the identified target emotion of the driver is improved, and the accuracy of emergency braking of the target vehicle based on the target emotion is ensured.
Example III
Fig. 3 is a schematic structural diagram of a vehicle emergency braking device according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a first device identification module 310, a first emergency braking module 320, a second device identification module 330, and a second emergency braking module 340; wherein,,
a first device identification module 310, configured to determine whether a first device of a target vehicle is invalid in response to a brake pedal depression signal, where the first device is a device that collects intention identification data; a first emergency braking module 320, configured to collect the intention recognition data by the first device, determine an emergency braking intention of the driver according to the intention recognition data, and control the target vehicle to perform emergency braking based on the emergency braking intention, if the first device is not disabled; a second device identification module 330, configured to determine whether a second device of the target vehicle is disabled when the first device is disabled, where the second device is a device that collects emotion recognition data; and the second emergency braking module 340 is configured to collect the emotion recognition data by the second device, determine a target emotion of the driver according to the emotion recognition data, and control the target vehicle to perform emergency braking based on the target emotion if the second device is not disabled.
According to the technical scheme, whether a first device of a target vehicle fails or not is judged by responding to a brake pedal depression signal, wherein the first device is a device for collecting intention identification data; under the condition that the first device is not invalid, acquiring intention identification data through the first device, determining the urgent braking intention of a driver according to the intention identification data, and controlling a target vehicle to carry out urgent braking based on the urgent braking intention; judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data; and under the condition that the second device is not disabled, collecting the emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion. According to the embodiment of the invention, under the condition that the driver forgets to directly trigger the emergency brake switch or the emergency brake switch fails, the auxiliary emergency brake of the target vehicle can be performed by identifying the emergency brake intention or the target emotion of the driver, so that the driving safety is ensured.
Optionally, the vehicle emergency braking apparatus further includes a third emergency braking module configured to:
in the event of failure of the first device and failure of the second device, emergency braking of the target vehicle occurs.
Optionally, the intention recognition data includes at least one of a brake pedal opening degree, a pedal depression duration, and a pedal depression maximum speed, and the first emergency brake module 320 is configured to:
determining an intent recognition threshold, wherein the intent recognition threshold comprises at least one of an opening threshold, a duration threshold, and a maximum speed threshold;
and determining the emergency braking intention of the driver according to the intention recognition data and the intention recognition threshold value.
Optionally, the emergency braking intention includes a presence braking intention and an absence braking intention, and the first emergency braking module 320 is configured to:
when the emergency braking intention is the braking intention, acquiring real-time deceleration of a target vehicle, determining a deceleration threshold value, and controlling the target vehicle to perform emergency braking according to the deceleration threshold value and the real-time deceleration;
in the case where the urgent braking intention is the absence of braking intention, controlling the target vehicle to decelerate based on the real-time deceleration of the target vehicle until the real-time speed of the target vehicle is zero.
Optionally, the emotion recognition data includes at least one of a heart rate of the driver, a heart rate variation rate, a grip strength of the steering wheel, and a grip strength variation rate, and the second emergency braking module 340 is configured to:
determining an emotion recognition threshold, wherein the emotion recognition threshold comprises at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold and a grip strength change rate threshold;
and determining the target emotion of the driver according to the emotion recognition data and the emotion recognition threshold.
Optionally, the target emotion includes a tension emotion and a rest emotion, and the second emergency braking module 340 is configured to:
in the case where the target emotion is the tension emotion, emergency braking the target vehicle,
and controlling the target vehicle to decelerate based on the current real-time deceleration of the target vehicle in the condition that the target emotion is the steady emotion so as to reduce the real-time speed of the target vehicle to zero.
Optionally, the vehicle emergency braking device further comprises an emergency braking cancellation module, configured to:
and controlling the target vehicle to travel at a constant speed based on the real-time speed of the target vehicle in response to a pedal depression cancellation signal.
The vehicle emergency braking device provided by the embodiment of the invention can execute the vehicle emergency braking method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle emergency braking method.
In some embodiments, the vehicle emergency braking method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle emergency braking method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle emergency braking method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A vehicle emergency braking method, comprising:
judging whether a first device of a target vehicle fails or not in response to a brake pedal depression signal, wherein the first device is a device for acquiring intention identification data;
under the condition that the first device is not invalid, acquiring intention identification data through the first device, determining the urgent braking intention of a driver according to the intention identification data, and controlling a target vehicle to carry out urgent braking based on the urgent braking intention;
judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion recognition data;
and under the condition that the second device is not disabled, collecting the emotion recognition data through the second device, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to carry out emergency braking based on the target emotion.
2. The method as recited in claim 1, further comprising:
in the event of failure of the first device and failure of the second device, emergency braking of the target vehicle occurs.
3. The method of claim 1, wherein the intent recognition data includes at least one of a brake pedal opening, a pedal depression duration, and a pedal depression maximum speed, and wherein determining an urgent brake intent of the driver based on the intent recognition data includes:
determining an intent recognition threshold, wherein the intent recognition threshold comprises at least one of an opening threshold, a duration threshold, and a maximum speed threshold;
and determining the emergency braking intention of the driver according to the intention recognition data and the intention recognition threshold value.
4. The method of claim 3, wherein the emergency braking intent includes a presence braking intent and an absence braking intent, the controlling the target vehicle to perform emergency braking based on the emergency braking intent comprising:
when the emergency braking intention is the braking intention, acquiring real-time deceleration of a target vehicle, determining a deceleration threshold value, and controlling the target vehicle to perform emergency braking according to the deceleration threshold value and the real-time deceleration;
in the case where the urgent braking intention is the absence of braking intention, controlling the target vehicle to decelerate based on the real-time deceleration of the target vehicle until the real-time speed of the target vehicle is zero.
5. The method of claim 1, wherein the emotion recognition data includes at least one of a driver heart rate, a heart rate variability, a steering wheel grip, and a grip variability, and wherein determining a target emotion of the driver from the emotion recognition data comprises:
determining an emotion recognition threshold, wherein the emotion recognition threshold comprises at least one of a heart rate threshold, a heart rate change rate threshold, a grip strength threshold and a grip strength change rate threshold;
and determining the target emotion of the driver according to the emotion recognition data and the emotion recognition threshold.
6. The method of claim 4, wherein the target emotion comprises a tension emotion and a calm emotion, the controlling the target vehicle to make an emergency braking based on the emergency braking intention comprising:
in the case where the target emotion is the tension emotion, emergency braking the target vehicle,
and controlling the target vehicle to decelerate based on the current real-time deceleration of the target vehicle in the condition that the target emotion is the steady emotion so as to reduce the real-time speed of the target vehicle to zero.
7. The method according to claims 1-6, characterized by comprising:
and controlling the target vehicle to travel at a constant speed based on the real-time speed of the target vehicle in response to a pedal depression cancellation signal.
8. A vehicle emergency braking apparatus, comprising:
the first device identification module is used for responding to a brake pedal depression signal and judging whether a first device of the target vehicle fails or not, wherein the first device is a device for acquiring intention identification data;
the first emergency braking module is used for acquiring the intention identification data through the first device under the condition that the first device is not in failure, determining the emergency braking intention of a driver according to the intention identification data, and controlling a target vehicle to perform emergency braking based on the emergency braking intention;
the second device identification module is used for judging whether a second device of the target vehicle is invalid or not under the condition that the first device is invalid, wherein the second device is a device for collecting emotion identification data;
and the second emergency braking module is used for acquiring the emotion recognition data through the second device under the condition that the second device is not disabled, determining the target emotion of the driver according to the emotion recognition data, and controlling the target vehicle to perform emergency braking based on the target emotion.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle emergency braking method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle emergency braking method of any one of claims 1-7.
CN202310834626.1A 2023-07-07 2023-07-07 Emergency braking method and device for vehicle, electronic equipment and storage medium Pending CN116605226A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310834626.1A CN116605226A (en) 2023-07-07 2023-07-07 Emergency braking method and device for vehicle, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310834626.1A CN116605226A (en) 2023-07-07 2023-07-07 Emergency braking method and device for vehicle, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116605226A true CN116605226A (en) 2023-08-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310834626.1A Pending CN116605226A (en) 2023-07-07 2023-07-07 Emergency braking method and device for vehicle, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN116605226A (en)

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