CN116729336A - Method, device, equipment and medium for determining braking time - Google Patents

Method, device, equipment and medium for determining braking time Download PDF

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Publication number
CN116729336A
CN116729336A CN202310991720.8A CN202310991720A CN116729336A CN 116729336 A CN116729336 A CN 116729336A CN 202310991720 A CN202310991720 A CN 202310991720A CN 116729336 A CN116729336 A CN 116729336A
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vehicle
braking
acceleration
time
movement
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CN116729336B (en
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张亮
李刚
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Imotion Automotive Technology Suzhou Co Ltd
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Imotion Automotive Technology Suzhou Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The application relates to the technical field of automobile driving, and discloses a method, a device, equipment and a medium for determining braking time, wherein the movement stopping time of a target vehicle is determined based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle; and determining the braking stop time of the own vehicle according to the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle. The motion information includes displacement, motion velocity, and motion acceleration. And determining a matched braking time calculation rule based on the relation between the motion stop time and the braking stop time, and analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule so as to determine the braking time of the own vehicle. The behavior of the driver to brake in advance is simulated by assuming the braking acceleration of the vehicle, which is beneficial to improving the smoothness and braking performance of the brake.

Description

Method, device, equipment and medium for determining braking time
Technical Field
The present application relates to the field of automobile driving technologies, and in particular, to a method, an apparatus, a device, and a computer readable storage medium for determining braking time.
Background
When an emergency situation is encountered during the running of the vehicle, the driver needs to quickly and correctly apply the brake to stop the vehicle within a short distance. However, in practical application, when a driver encounters an emergency, quick and timely braking measures cannot be adopted, and accidents such as collision and the like are easy to occur.
The auxiliary driving can provide auxiliary support in the process of driving the vehicle by the driver, so that the driver can drive the vehicle on the road more easily and safely. Currently, in the case of vehicle braking, the driver may be assisted in calculating a longitudinal collision time (Time To Collision, TTC) of the own vehicle with the target vehicle based on a constant acceleration, and by providing the longitudinal collision time to the driver, the driver is reminded of completing an emergency braking operation within the time. However, the TTC calculation mode based on constant acceleration does not consider the braking condition of the running process of the vehicle, so that the actual braking performance is poor when the TTC is used for braking, and the requirement of smoothness of the braking cannot be met.
Therefore, how to improve the braking performance of the vehicle and ensure the smoothness of the braking is a problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the application aims to provide a method, a device, equipment and a computer readable storage medium for determining braking time, which can improve the braking performance of a vehicle and ensure the smoothness of braking.
In order to solve the above technical problems, an embodiment of the present application provides a method for determining braking time, including:
determining the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle;
determining the braking stop time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle; wherein the motion information comprises displacement, motion speed and motion acceleration;
determining a matched braking time calculation rule based on a relationship of the motion stop time and the braking stop time;
and analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule so as to determine the braking time of the own vehicle.
Optionally, the determining the braking stop time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle includes:
Determining initial braking time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle;
and determining the braking stopping time of the self-vehicle according to the initial braking time of the self-vehicle, the moving speed and the moving acceleration of the target vehicle and the braking acceleration of the self-vehicle.
Optionally, the braking time calculation rule includes a first calculation rule for determining braking time based on respective motion information of the own vehicle and the target vehicle and braking acceleration of the own vehicle, and a second calculation rule for determining braking time based on motion information of the own vehicle and displacement information of the target vehicle and braking acceleration of the own vehicle;
accordingly, the determining a matching braking time calculation rule based on the relationship between the motion stop time and the braking stop time includes:
selecting a first calculation rule when the motion stop time is greater than or equal to the brake stop time;
and selecting a second calculation rule under the condition that the motion stop time is smaller than the braking stop time.
Optionally, the analyzing the motion information of each of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule to determine the braking time of the own vehicle includes:
Under the condition that the braking time calculation rule is a first calculation rule, analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle by using the first calculation rule so as to determine the braking time of the own vehicle;
under the condition that the braking time calculation rule is a second calculation rule, analyzing the movement information and the movement stopping time of the target vehicle by using the displacement calculation rule contained in the second calculation rule so as to determine the stopping point displacement of the target vehicle; and analyzing the motion information of the self-vehicle, the stopping point displacement of the target vehicle and the braking acceleration of the self-vehicle by using the braking time calculation rule contained in the second calculation rule so as to determine the braking time of the self-vehicle.
Optionally, the analyzing the motion information of each of the own vehicle and the target vehicle and the braking acceleration of the own vehicle by using the first calculation rule to determine the braking time of the own vehicle includes:
the braking acceleration of the self-vehicle is utilized to respectively adjust the relative speed and the relative acceleration of the self-vehicle and the target vehicle, and the braking time of the self-vehicle is determined according to the adjusted relative speed and the adjusted relative acceleration and the relative displacement of the self-vehicle and the target vehicle; the relative speed is calculated according to the movement speeds of the self-vehicle and the target vehicle, the relative acceleration is calculated according to the movement accelerations of the self-vehicle and the target vehicle, and the relative displacement is calculated according to the displacement of the self-vehicle and the target vehicle.
Optionally, the adjusting the relative speed and the relative acceleration of the own vehicle and the target vehicle by using the braking acceleration of the own vehicle, and determining the braking time of the own vehicle according to the adjusted relative speed and the adjusted relative acceleration and the relative displacement of the own vehicle and the target vehicle includes:
invoking a first braking time calculation formula, and analyzing the adjusted relative speed, the adjusted relative acceleration and the relative displacement of the self-vehicle and the target vehicle to determine the braking time of the self-vehicle; the first braking time calculation formula is as follows:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration rate of the vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle,v ego indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle,X ego indicating an initial displacement of the own vehicle,X obj representing an initial displacement of the target vehicle,indicating the relative acceleration of the vehicle and,indicating relative speed, +.>Indicating relative displacement +.>Indicating the adjusted relative acceleration, +.>Indicating the adjusted relative speed.
Optionally, the analyzing the motion information of the own vehicle, the stopping point displacement of the target vehicle, and the braking acceleration of the own vehicle by using the braking time calculation rule included in the second calculation rule to determine the braking time of the own vehicle includes:
And adjusting the moving speed and the moving acceleration of the self-vehicle by utilizing the braking acceleration of the self-vehicle, and determining the braking time of the self-vehicle according to the adjusted moving speed and the adjusted moving acceleration of the self-vehicle, the stopping point displacement of the target vehicle and the initial displacement of the self-vehicle.
Optionally, the method for determining the braking time of the own vehicle includes:
invoking a second braking time calculation formula, and analyzing the adjusted self-vehicle movement speed, the adjusted self-vehicle movement acceleration, the stopping point displacement of the target vehicle and the initial displacement of the self-vehicle to determine the braking time of the self-vehicle; the second braking time calculation formula is as follows:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration rate of the vehicle,a ego indicating the acceleration of the movement of the vehicle,v ego indicating the speed of movement of the vehicle itself,X ego indicating an initial displacement of the own vehicle, X stop Representing the stopping point displacement of the target vehicle,indicating the adjusted motor vehicle movement acceleration, < ->Indicating the adjusted speed of the vehicle.
Optionally, before determining the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle, the method further comprises:
according to the motion information of the own vehicle and the target vehicle, determining the longitudinal collision time of the own vehicle and the target vehicle;
and executing the step of determining the movement stopping time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle under the condition that the longitudinal collision time is smaller than a set time threshold.
The embodiment of the application also provides a device for determining the braking time, which comprises a first determining unit, a second determining unit, a selecting unit and an analyzing unit;
the first determining unit is used for determining the movement stopping time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle;
the second determining unit is used for determining the braking stop time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle; wherein the motion information comprises displacement, motion speed and motion acceleration;
The selecting unit is used for determining a matched braking time calculation rule based on the relation between the motion stop time and the braking stop time;
the analysis unit is used for analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule so as to determine the braking time of the own vehicle.
Optionally, the second determining unit is configured to determine an initial braking time of the own vehicle according to respective motion information of the own vehicle and the target vehicle and a braking acceleration of the own vehicle; and determining the braking stopping time of the self-vehicle according to the initial braking time of the self-vehicle, the moving speed and the moving acceleration of the target vehicle and the braking acceleration of the self-vehicle.
Optionally, the braking time calculation rule includes a first calculation rule for determining braking time based on respective motion information of the own vehicle and the target vehicle and braking acceleration of the own vehicle, and a second calculation rule for determining braking time based on motion information of the own vehicle and displacement information of the target vehicle and braking acceleration of the own vehicle;
Correspondingly, the selecting unit is used for selecting a first calculation rule under the condition that the motion stop time is greater than or equal to the braking stop time; and selecting a second calculation rule under the condition that the motion stop time is smaller than the braking stop time.
Optionally, the analysis unit comprises a first analysis subunit and a second analysis subunit;
the first analysis subunit is configured to analyze, when the braking time calculation rule is a first calculation rule, motion information of the own vehicle and the target vehicle, and braking acceleration of the own vehicle by using the first calculation rule, so as to determine braking time of the own vehicle;
the second analysis subunit is configured to analyze, when the braking time calculation rule is a second calculation rule, the motion information and the motion stop time of the target vehicle by using a displacement calculation rule included in the second calculation rule, so as to determine a stop point displacement of the target vehicle; and analyzing the motion information of the self-vehicle, the stopping point displacement of the target vehicle and the braking acceleration of the self-vehicle by using the braking time calculation rule contained in the second calculation rule so as to determine the braking time of the self-vehicle.
Optionally, the first analysis subunit is configured to adjust a relative speed and a relative acceleration of the own vehicle and the target vehicle by using a braking acceleration of the own vehicle, and determine a braking time of the own vehicle according to the adjusted relative speed and the adjusted relative acceleration and a relative displacement of the own vehicle and the target vehicle; the relative speed is calculated according to the movement speeds of the self-vehicle and the target vehicle, the relative acceleration is calculated according to the movement accelerations of the self-vehicle and the target vehicle, and the relative displacement is calculated according to the displacement of the self-vehicle and the target vehicle.
Optionally, the first analysis subunit is configured to invoke a first braking time calculation formula, and analyze the adjusted relative speed, the adjusted relative acceleration, and the relative displacement of the own vehicle and the target vehicle to determine a braking time of the own vehicle; the first braking time calculation formula is as follows:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration rate of the vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle, v ego Indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle,X ego indicating an initial displacement of the own vehicle,X obj representing an initial displacement of the target vehicle,indicating the relative acceleration of the vehicle and,indicating relative speed, +.>Indicating relative displacement +.>Indicating the adjusted relative acceleration, +.>Indicating the adjusted relative speed.
Optionally, the second analysis subunit is configured to adjust a movement speed and a movement acceleration of the vehicle by using a braking acceleration of the vehicle, and determine a braking time of the vehicle according to the adjusted movement speed and the adjusted movement acceleration of the vehicle, the stopping point displacement of the target vehicle, and the initial displacement of the vehicle.
Optionally, the second analysis subunit is configured to invoke a second braking time calculation formula, and analyze the adjusted moving speed of the own vehicle, the adjusted moving acceleration of the own vehicle, the stopping point displacement of the target vehicle, and the initial displacement of the own vehicle, so as to determine the braking time of the own vehicle; the second braking time calculation formula is as follows:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating brakingThe acceleration rate of the vehicle is calculated,a ego indicating the acceleration of the movement of the vehicle, v ego Indicating the speed of movement of the vehicle itself,X ego indicating an initial displacement of the own vehicle,X stop representing the stopping point displacement of the target vehicle,indicating the adjusted motor vehicle movement acceleration, < ->Indicating the adjusted speed of the vehicle.
Optionally, the device further comprises a collision time determining unit;
the collision time determining unit is used for determining the longitudinal collision time of the own vehicle and the target vehicle according to the respective motion information of the own vehicle and the target vehicle; and triggering the first determining unit to execute the step of determining the movement stopping time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle under the condition that the longitudinal collision time is smaller than a set time threshold.
The embodiment of the application also provides electronic equipment, which comprises:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the method for determining a braking time as described above.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the braking time determining method when being executed by a processor.
According to the technical scheme, the movement stopping time of the target vehicle is determined based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle; and determining the braking stop time of the own vehicle according to the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle. Wherein the motion information includes displacement, motion velocity, and motion acceleration. The magnitude relation between the movement stop time and the braking stop time reflects whether the target vehicle is stopped before the self vehicle finishes braking, and different braking time calculation rules can be preset based on different relations between the movement stop time and the braking stop time in order to avoid collision between the self vehicle and the target vehicle. And determining a matched braking time calculation rule based on the relation between the motion stop time and the braking stop time, and analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule so as to determine the braking time of the own vehicle. According to the technical scheme, the braking acceleration of the self-vehicle is fully considered when the braking time of the self-vehicle is calculated, and the braking action of a driver is simulated in advance by assuming the braking acceleration of the self-vehicle, so that the determined braking time is more fit with the actual driving situation of the self-vehicle, and the smoothness and braking performance of the brake are improved. And the movement stop time of the target vehicle is fully considered, so that the determined braking time is more reasonable, the driver can brake and judge in advance, and the risk of vehicle collision caused by untimely braking of the driver is effectively reduced.
Drawings
For a clearer description of embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a flowchart of a method for determining braking time according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for determining a braking time based on a calculation rule according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a braking time determining device according to an embodiment of the present application;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.
The terms "comprising" and "having" in the description of the application and the claims and in the above-mentioned figures, as well as any variations thereof that relate to "comprising" and "having", are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may include other steps or elements not expressly listed.
In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description.
For a scene where the moving acceleration of the own vehicle and the target vehicle is constant during running, in order to reduce the risk of collision of the own vehicle and the target vehicle, the conventional method calculates the longitudinal collision time of the own vehicle and the target vehicle based on the constant acceleration. However, in practical application, when the distance between the vehicle and the target vehicle is short, the vehicle will have braking action, so that the deviation between the longitudinal collision time provided in the traditional mode and the actual situation is large, and the driver controls the braking of the vehicle based on the longitudinal collision time, so that the actual braking performance is poor, and the requirement of smoothness of the braking cannot be met.
Therefore, the application provides a method, a device, equipment and a computer readable storage medium for determining braking time, which fully considers the braking acceleration of a vehicle when evaluating the collision time of the vehicle and a target vehicle, so as to simulate the behavior of braking in advance of a driver, and the braking time calculated based on the behavior is more in line with the actual situation, thereby being beneficial to improving the smoothness and the braking performance of the brake.
In the embodiment of the application, in order to facilitate distinction, the acceleration of the own vehicle and the target vehicle in the current running process can be called as movement acceleration, and the acceleration of the own vehicle during braking is called as braking acceleration.
Next, a method for determining braking time according to an embodiment of the present application will be described in detail. Fig. 1 is a flowchart of a method for determining braking time according to an embodiment of the present application, where the method includes:
s101: and determining the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle.
The target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle.
The motion information of the own vehicle and the motion information of the target vehicle can be obtained based on the current technology. In the embodiment of the application, the motion information of the own vehicle and the motion information of the target vehicle can be used as known information for subsequent analysis. The motion information may include, among other things, displacement, motion velocity, and motion acceleration.
In practical application, considering that the situation that the target vehicle is parked before the self vehicle finishes braking exists, in order to avoid collision between the self vehicle and the target vehicle, in the embodiment of the application, the parking time of the target vehicle and the parking time of the self vehicle can be comprehensively considered.
For convenience of distinction, the parking time of the target vehicle may be referred to as an operation stop time, and the parking time of the own vehicle may be referred to as a brake stop time.
In the embodiment of the application, considering that the own vehicle and the target vehicle have corresponding displacement, movement speed and movement acceleration, in order to facilitate distinction, subscripts can be adoptedobjRepresenting target vehicles, using subscriptsegoRepresenting a self-vehicle.
The operation stop time of the target vehicle can be determined based on the current movement speed and the movement acceleration of the target vehicle.
In a specific implementation, the formula may be followedt=-v obj /a obj And calculating the movement stop time of the target vehicle. Wherein, tindicating the movement stop time of the target vehicle,v obj indicating the current speed of movement of the target vehicle,a obj indicating the current motion acceleration of the target vehicle.
S102: and determining the braking stop time of the own vehicle according to the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle.
In the embodiment of the application, the behavior of braking in advance of a driver is simulated by introducing the braking acceleration of the self-vehicle, so that the smoothness and braking performance of the actual brake are improved.
The value of the braking acceleration can be flexibly set based on actual requirements, and the maximum braking acceleration which can be generated when the vehicle brakes is considered to be-9 m/s 2 Thus the braking acceleration can take a value between [ -9, 0), with [ -9, 0) representing a value comprising-9 m/s 2 Not containing 0m/s 2 . In the embodiment of the application, the default value of the braking acceleration can be set to be-9 m/s 2 。
In a specific implementation, the initial braking time of the own vehicle can be determined according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle.
In the embodiment of the application, the braking acceleration can be fused with a traditional displacement calculation formula, so that a formula for calculating the initial braking time suitable for the implementation is obtained, and the formula is as follows:
；
wherein, TTBindicating the initial braking time of the own vehicle,a ass indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle,v ego indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle,X ego indicating an initial displacement of the own vehicle,X obj representing the initial displacement of the target vehicle.a ass Can be set to be-9 m/s 2 。
After determining the initial braking time of the own vehicle, the braking stop time of the own vehicle can be determined according to the initial braking time of the own vehicle, the moving speed and the moving acceleration of the target vehicle and the braking acceleration.
In the embodiment of the application, the braking acceleration can be fused with a traditional acceleration calculation formula, so that a formula for calculating the braking stop time suitable for the implementation is obtained, and the formula is as follows:
；
wherein, fTTCBrakethe brake stop time of the own vehicle is indicated,TTBindicating the initial braking time of the own vehicle,a ass indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle,v ego indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle.
S103: a matching braking time calculation rule is determined based on a relationship of the movement stop time and the braking stop time.
The relation between the movement stop time and the braking stop time refers to the magnitude relation between the movement stop time and the braking stop time.
The magnitude relation between the movement stop time and the braking stop time reflects whether the target vehicle is stopped before the self vehicle finishes braking, and different braking time calculation rules can be preset based on different magnitude relations between the movement stop time and the braking stop time in order to avoid collision between the self vehicle and the target vehicle.
A matching braking time calculation rule is determined based on a relationship of the movement stop time and the braking stop time.
S104: and analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule to determine the braking time of the own vehicle.
The specific operation flow for analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle is recorded in the braking time calculation rule.
The operation of the own vehicle and the target vehicle accords with the displacement calculation formula, so that in the embodiment of the application, the braking acceleration and the traditional displacement calculation formula can be fused, and the calculation rule suitable for calculating the braking time of the own vehicle is obtained. The braking time calculation rule may be presented in a formula manner, and the braking time of the own vehicle may be obtained by bringing the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle into a matching formula.
Compared with the traditional mode, the application aims to improve the braking performance of the vehicle and ensure the smoothness of the brake, and the main improvement point is that the braking acceleration of the self-vehicle is introduced, and the braking action of a driver is simulated in advance by assuming the braking acceleration of the self-vehicle, so that the determined braking time is more fit with the actual driving situation of the self-vehicle.
It should be noted that, in the embodiment of the present application, when executing the flow of the method for determining the braking time, the value of the braking acceleration is selected in advance, for example, the braking acceleration may be selected to be-9 m/s 2 。
According to the technical scheme, the movement stopping time of the target vehicle is determined based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle; and determining the braking stop time of the own vehicle according to the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle. Wherein the motion information includes displacement, motion velocity, and motion acceleration. The magnitude relation between the movement stop time and the braking stop time reflects whether the target vehicle is stopped before the self vehicle finishes braking, and different braking time calculation rules can be preset based on different relations between the movement stop time and the braking stop time in order to avoid collision between the self vehicle and the target vehicle. Based on the relationship between the movement stop time and the braking stop time, a matched braking time calculation rule can be determined, and the respective movement information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle are analyzed based on the braking time calculation rule, so that the braking time of the own vehicle is determined. According to the technical scheme, the braking acceleration of the self-vehicle is fully considered when the braking time of the self-vehicle is calculated, and the braking action of a driver is simulated in advance by assuming the braking acceleration of the self-vehicle, so that the determined braking time is more fit with the actual driving situation of the self-vehicle, and the smoothness and braking performance of the brake are improved. And the movement stop time of the target vehicle is fully considered, so that the determined braking time is more reasonable, the driver can brake and judge in advance, and the risk of vehicle collision caused by untimely braking of the driver is effectively reduced.
In practical application, the magnitude relation between the motion stop time and the brake stop time comprises two types, wherein one type is that the motion stop time is larger than or equal to the brake stop time, and the other type is that the motion stop time is smaller than the brake stop time.
For both cases, therefore, two calculation rules may be set, including a first calculation rule that determines a braking time based on the respective movement information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle, and a second calculation rule that determines a braking time based on the movement information of the own vehicle and the displacement information of the target vehicle and the braking acceleration of the own vehicle.
Correspondingly, selecting the matched braking time calculation rule may include selecting a first calculation rule if the motion stop time is greater than or equal to the braking stop time; and selecting a second calculation rule under the condition that the movement stop time is smaller than the braking stop time. A specific implementation of determining the braking time of the own vehicle based on the first calculation rule or the second calculation rule may be referred to in the description of fig. 2.
In practical applications, it may be assessed whether the own vehicle has a need for emergency braking based on the longitudinal collision times of the own vehicle and the target vehicle. In the case of an emergency braking demand, the braking time of the motor vehicle can be determined in the manner described above. In the absence of an emergency braking demand, there is no need to initiate an operational flow to determine the braking time of the own vehicle.
Fig. 2 is a flowchart of a method for determining braking time based on a calculation rule according to an embodiment of the present application, where the method includes:
s201: and determining the longitudinal collision time of the own vehicle and the target vehicle according to the respective motion information of the own vehicle and the target vehicle.
In the embodiment of the application, the longitudinal collision time of the own vehicle and the target vehicle can be calculated according to the following formulaTTC）。
；
Wherein, TTCindicating the longitudinal collision time of the own vehicle with the target vehicle,X rel indicating the relative displacement of the two members,v rel the relative velocity is indicated as such,a rel indicating the relative acceleration of the vehicle and,，/>，/>。
when the longitudinal collision time is greater than or equal to the set time threshold, the risk of collision between the vehicle and the target vehicle is lower, and the braking time of the vehicle does not need to be calculated. In the case where the longitudinal collision time is smaller than the set time threshold, it is indicated that the own vehicle has a need for emergency braking, at which time S202 may be executed.
The value of the time threshold may be set based on actual demand, for example, may be set to 40 seconds.
S202: and determining the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle.
The implementation of S202 may be referred to the description of S101, and will not be described herein.
S203: and determining the braking stop time of the own vehicle according to the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle.
The implementation of S203 may be referred to the description of S102, and will not be described herein.
S204: and under the condition that the motion stop time is greater than or equal to the braking stop time, analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle by using a first calculation rule so as to determine the braking time of the own vehicle.
The first calculation rule includes a manner of analyzing the movement information of each of the own vehicle and the target vehicle and the braking acceleration of the own vehicle.
In the embodiment of the application, the relative speed and the relative acceleration of the own vehicle and the target vehicle can be respectively adjusted by utilizing the braking acceleration of the own vehicle. And determining the braking time of the own vehicle according to the adjusted relative speed, the adjusted relative acceleration and the relative displacement of the own vehicle and the target vehicle.
The relative speed can be calculated from the speed of movement of the own vehicle and the target vehicle. The relative acceleration can be calculated according to the motion acceleration of the own vehicle and the target vehicle. The relative displacement can be calculated according to the displacement of the own vehicle and the target vehicle.
The relative speed of the vehicle and the target vehicle is adjusted according to the braking acceleration of the vehicle, so that the adjusted relative speed is fused with the change of the relative speed caused by the braking of the vehicle. And adjusting the relative acceleration of the self-vehicle and the target vehicle according to the braking acceleration of the self-vehicle, so that the adjusted relative acceleration fuses the change of the relative acceleration caused by the braking of the self-vehicle.
For ease of description, symbols may be employeda ass Indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj representing the acceleration of the movement of the target vehicle. In a specific implementation, can be adoptedAs the adjustment coefficient, the product of the adjustment coefficient and the relative acceleration is taken as the adjusted relative acceleration, and the product of the adjustment coefficient and the relative speed is taken as the adjusted relative speed. In practical application, the method is based on the adjusted relative speedThe relative acceleration of the vehicle and the target vehicle and the relative displacement of the vehicle and the target vehicle can be calculated to obtain the displacement generated in the motion process of the vehicle and the target vehicle. In the embodiment of the application, the first braking time calculation formula can be constructed based on the calculation mode of the displacement generated in the movement process of the vehicle and the target vehicle.
The method comprises the steps of analyzing the adjusted relative speed, the adjusted relative acceleration and the relative displacement of the vehicle and the target vehicle by calling a first braking time calculation formula, so that the braking time of the vehicle can be determined; the first braking time calculation formula is:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle, v ego Indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle,X ego indicating an initial displacement of the own vehicle,X obj representing an initial displacement of the target vehicle,indicating the relative acceleration of the vehicle and,indicating relative speed, +.>Indicating relative displacement +.>Indicating the adjusted relative acceleration, +.>Indicating the adjusted relative speed.
The first braking time calculation formula corresponds to the above-mentioned formula for calculating the initial braking time, and the initial braking time of the own vehicle needs to be determined first when determining the braking stop time of the own vehicle in S203. Therefore, in the case where the movement stop time is greater than or equal to the brake stop time, the initial brake time calculated in S203 may be directly used as the brake time of the own vehicle, without repeating the calculation.
S205: and under the condition that the movement stopping time is smaller than the braking stopping time, analyzing the movement information and the movement stopping time of the target vehicle by utilizing the displacement calculation rule contained in the second calculation rule so as to determine the stopping point displacement of the target vehicle.
When the movement stop time is shorter than the braking stop time, it is indicated that the target vehicle has stopped before the own vehicle has completed braking, and for this case, the parking position of the target vehicle may be calculated first, which may be referred to as a parking point displacement.
In a specific implementation, the parking spot displacement of the target vehicle can be determined based on a displacement calculation formula. The displacement calculation formula is as follows:
；
wherein, X stop representing the stopping point displacement of the target vehicle,X obj representing an initial displacement of the target vehicle,v obj indicating the speed of movement of the target vehicle,a obj indicating the acceleration of the movement of the target vehicle,tindicating the movement stop time of the target vehicle.
S206: and analyzing the motion information of the own vehicle, the stop point displacement of the target vehicle and the braking acceleration of the own vehicle by using the braking time calculation rule contained in the second calculation rule so as to determine the braking time of the own vehicle.
The braking time calculation rule includes a manner of analyzing the running information of the own vehicle, the stop point displacement of the target vehicle, and the braking acceleration of the own vehicle.
When the second calculation rule is needed to determine the braking time of the own vehicle, the target vehicle is indicated to finish braking of the own vehicleThe operation has been stopped before, so that the movement speed and the movement acceleration of the target vehicle can be set to zero when calculating the displacement generated during the movement of the target vehicle and the own vehicle, and the stop point displacement of the target vehicle is regarded as the initial displacement of the target vehicle. For this case, it is possible to employThe product of the adjustment coefficient and the movement acceleration of the vehicle is used as the adjusted movement acceleration of the vehicle, and the product of the adjustment coefficient and the movement speed of the vehicle is used as the adjusted relative speed of the vehicle.
After the movement speed and the movement acceleration of the self-vehicle are adjusted by utilizing the braking acceleration of the self-vehicle, the braking time of the self-vehicle can be determined according to the adjusted movement speed and the adjusted movement acceleration of the self-vehicle, the stopping point displacement of the target vehicle and the initial displacement of the self-vehicle.
In practical application, the displacement generated by the movement of the own vehicle relative to the target vehicle can be calculated based on the adjusted own vehicle movement speed, the adjusted own vehicle movement acceleration, the stop point displacement of the target vehicle and the initial displacement of the own vehicle. In the embodiment of the application, the second braking time calculation formula can be constructed based on the calculation mode of the displacement generated by the movement of the own vehicle relative to the target vehicle.
According to the application, the adjusted self-vehicle movement speed, the adjusted self-vehicle movement acceleration, the stopping point displacement of the target vehicle and the initial displacement of the self-vehicle are analyzed by calling a second braking time calculation formula, so that the braking time of the self-vehicle can be determined; the second braking time calculation formula is:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,v ego indicating the speed of movement of the vehicle itself, X ego Self-expressionThe initial displacement of the vehicle is provided,X stop representing the stopping point displacement of the target vehicle,indicating the adjusted motor vehicle movement acceleration, < ->Indicating the adjusted speed of the vehicle.
After determining the braking time of the own vehicle, the braking time may be presented on a display screen of the own vehicle, thereby providing a reference for the driver to perform vehicle braking.
According to the embodiment of the application, the longitudinal collision time of the own vehicle and the target vehicle is evaluated, so that the braking time of the own vehicle can be determined under the condition of having braking requirements, and the situation that a driver brakes by mistake due to frequent calculation of the braking time is avoided. And selecting a matched braking time calculation rule based on the magnitude relation between the movement stopping time and the braking stopping time, so as to calculate the proper self-vehicle braking time and provide an effective time basis for early braking judgment of a driver.
Fig. 3 is a schematic structural diagram of a braking time determining device according to an embodiment of the present application, which includes a first determining unit 31, a second determining unit 32, a selecting unit 33, and an analyzing unit 34;
a first determining unit 31 for determining a movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle;
A second determination unit 32 for determining a brake stop time of the own vehicle based on the respective motion information of the own vehicle and the target vehicle and the brake acceleration of the own vehicle; wherein the motion information comprises displacement, motion speed and motion acceleration;
a selection unit 33, configured to determine a matched braking time calculation rule based on a relationship between a motion stop time and a braking stop time;
and an analysis unit 34 for analyzing the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule to determine the braking time of the own vehicle.
Optionally, the second determining unit is used for determining initial braking time of the own vehicle according to respective motion information of the own vehicle and the target vehicle and braking acceleration of the own vehicle; and determining the braking stop time of the own vehicle according to the initial braking time of the own vehicle, the moving speed and the moving acceleration of the target vehicle and the braking acceleration.
Optionally, the braking time calculation rule includes a first calculation rule for determining braking time based on respective motion information of the own vehicle and the target vehicle and braking acceleration of the own vehicle, and a second calculation rule for determining braking time based on motion information of the own vehicle and displacement information of the target vehicle and braking acceleration of the own vehicle;
Correspondingly, the selecting unit is used for selecting the first calculation rule under the condition that the motion stop time is greater than or equal to the brake stop time; and selecting a second calculation rule under the condition that the movement stop time is smaller than the braking stop time.
Optionally, the analysis unit comprises a first analysis subunit and a second analysis subunit;
the first analysis subunit is used for analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle by utilizing the first calculation rule under the condition that the braking time calculation rule is the first calculation rule so as to determine the braking time of the own vehicle;
the second analysis subunit is used for analyzing the movement information and the movement stopping time of the target vehicle by utilizing the displacement calculation rule contained in the second calculation rule under the condition that the braking time calculation rule is the second calculation rule so as to determine the stopping point displacement of the target vehicle; and analyzing the motion information of the own vehicle, the stop point displacement of the target vehicle and the braking acceleration of the own vehicle by using the braking time calculation rule contained in the second calculation rule so as to determine the braking time of the own vehicle.
Optionally, the first analysis subunit is configured to adjust the relative speed and the relative acceleration of the own vehicle and the target vehicle respectively by using the braking acceleration of the own vehicle, and determine the braking time of the own vehicle according to the adjusted relative speed and the adjusted relative acceleration and the relative displacement of the own vehicle and the target vehicle; the relative speed is calculated according to the movement speeds of the vehicle and the target vehicle, the relative acceleration is calculated according to the movement accelerations of the vehicle and the target vehicle, and the relative displacement is calculated according to the displacement of the vehicle and the target vehicle.
Optionally, the first analysis subunit is configured to invoke a first braking time calculation formula, and analyze the adjusted relative speed, the adjusted relative acceleration, and the relative displacement of the own vehicle and the target vehicle to determine a braking time of the own vehicle; the first braking time calculation formula is:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration rate of the vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle,v ego indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle,X ego indicating an initial displacement of the own vehicle,X obj representing an initial displacement of the target vehicle,indicating the relative acceleration of the vehicle and,indicating relative speed, +.>Indicating relative displacement +.>Indicating the adjusted relative acceleration, +.>Indicating the adjusted relative speed.
Optionally, the second analysis subunit is configured to adjust a movement speed and a movement acceleration of the vehicle by using a braking acceleration of the vehicle, and determine a braking time of the vehicle according to the adjusted movement speed and the adjusted movement acceleration of the vehicle, a stopping point displacement of the target vehicle, and an initial displacement of the vehicle.
Optionally, the second analysis subunit is configured to invoke a second braking time calculation formula, and analyze the adjusted moving speed of the own vehicle, the adjusted moving acceleration of the own vehicle, the stopping point displacement of the target vehicle, and the initial displacement of the own vehicle, so as to determine the braking time of the own vehicle; the second braking time calculation formula is:
；
Wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration rate of the vehicle,a ego indicating the acceleration of the movement of the vehicle,v ego indicating the speed of movement of the vehicle itself,X ego indicating an initial displacement of the own vehicle,X stop representing the stopping point displacement of the target vehicle,indicating the adjusted motor vehicle movement acceleration, < ->Indicating the adjusted speed of the vehicle.
Optionally, the device further comprises a collision time determining unit;
a collision time determining unit for determining a longitudinal collision time of the own vehicle and the target vehicle according to respective motion information of the own vehicle and the target vehicle; and triggering the first determining unit to execute the step of determining the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle under the condition that the longitudinal collision time is smaller than the set time threshold.
The description of the features in the embodiment corresponding to fig. 3 may be referred to the related description of the embodiment corresponding to fig. 1 and 2, and will not be repeated here.
According to the technical scheme, the movement stopping time of the target vehicle is determined based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle; and determining the braking stop time of the own vehicle according to the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle. Wherein the motion information includes displacement, motion velocity, and motion acceleration. The magnitude relation between the movement stop time and the braking stop time reflects whether the target vehicle is stopped before the self vehicle finishes braking, and different braking time calculation rules can be preset based on different relations between the movement stop time and the braking stop time in order to avoid collision between the self vehicle and the target vehicle. Based on the relationship between the movement stop time and the braking stop time, a matched braking time calculation rule can be determined, and the respective movement information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle are analyzed based on the braking time calculation rule, so that the braking time of the own vehicle is determined. According to the technical scheme, the braking acceleration of the self-vehicle is fully considered when the braking time of the self-vehicle is calculated, and the braking action of a driver is simulated in advance by assuming the braking acceleration of the self-vehicle, so that the determined braking time is more fit with the actual driving situation of the self-vehicle, and the smoothness and braking performance of the brake are improved. And the movement stop time of the target vehicle is fully considered, so that the determined braking time is more reasonable, the driver can brake and judge in advance, and the risk of vehicle collision caused by untimely braking of the driver is effectively reduced.
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present application, as shown in fig. 4, the electronic device includes: a memory 40 for storing a computer program;
a processor 41 for implementing the steps of the method for determining a braking time according to the above embodiment when executing a computer program.
The electronic device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 41 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc., among others. The processor 41 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 41 may also comprise a main processor, which is a processor for processing data in an awake state, also called CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 41 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 41 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 40 may include one or more computer-readable storage media, which may be non-transitory. Memory 40 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 40 is at least used for storing a computer program 401, which, when loaded and executed by the processor 41, enables the implementation of the relevant steps of the method for determining a braking time disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 40 may further include an operating system 402, data 403, and the like, where the storage manner may be transient storage or permanent storage. Operating system 402 may include, among other things, windows, unix, linux. The data 403 may include, but is not limited to, movement information of the own vehicle and the target vehicle, braking acceleration, braking time calculation rules, and the like.
In some embodiments, the electronic device may further include a display screen 42, an input-output interface 43, a communication interface 44, a power supply 45, and a communication bus 46.
Those skilled in the art will appreciate that the structure shown in fig. 4 is not limiting of the electronic device and may include more or fewer components than shown.
It will be appreciated that if the method of determining the braking time in the above embodiments is implemented in the form of a software functional unit and sold or used as a stand-alone product, it may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in part or in whole or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), an electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, a magnetic disk, or an optical disk, etc. various media capable of storing program codes.
Based on this, the embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method for determining a braking time as described above.
The method, the device, the equipment and the computer readable storage medium for determining the braking time provided by the embodiment of the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The method, apparatus, device and computer readable storage medium for determining braking time provided by the present application are described in detail above. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.

Claims (12)

1. A method of determining a braking time, comprising:
determining the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle;
determining the braking stop time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle; wherein the motion information comprises displacement, motion speed and motion acceleration;
determining a braking time calculation rule based on a relationship of the movement stop time and the braking stop time;
And analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule so as to determine the braking time of the own vehicle.
2. The method according to claim 1, wherein the determining the brake stop time of the own vehicle based on the respective motion information of the own vehicle and the target vehicle and the brake acceleration of the own vehicle includes:
determining initial braking time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle;
and determining the braking stopping time of the self-vehicle according to the initial braking time of the self-vehicle, the moving speed and the moving acceleration of the target vehicle and the braking acceleration of the self-vehicle.
3. The method according to claim 2, wherein the braking time calculation rule includes a first calculation rule that determines braking time based on the respective movement information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle, and a second calculation rule that determines braking time based on the movement information of the own vehicle and the displacement information of the target vehicle and the braking acceleration of the own vehicle;
Accordingly, the determining a matching braking time calculation rule based on the relationship between the motion stop time and the braking stop time includes:
selecting a first calculation rule when the motion stop time is greater than or equal to the brake stop time;
and selecting a second calculation rule under the condition that the motion stop time is smaller than the braking stop time.
4. The method according to claim 3, wherein analyzing the movement information of each of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule to determine the braking time of the own vehicle includes:
under the condition that the braking time calculation rule is a first calculation rule, analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle by using the first calculation rule so as to determine the braking time of the own vehicle;
under the condition that the braking time calculation rule is a second calculation rule, analyzing the movement information and the movement stopping time of the target vehicle by using the displacement calculation rule contained in the second calculation rule so as to determine the stopping point displacement of the target vehicle; and analyzing the motion information of the self-vehicle, the stopping point displacement of the target vehicle and the braking acceleration of the self-vehicle by using the braking time calculation rule contained in the second calculation rule so as to determine the braking time of the self-vehicle.
5. The method according to claim 4, wherein analyzing the motion information of each of the own vehicle and the target vehicle and the braking acceleration of the own vehicle using the first calculation rule to determine the braking time of the own vehicle includes:
the braking acceleration of the self-vehicle is utilized to respectively adjust the relative speed and the relative acceleration of the self-vehicle and the target vehicle, and the braking time of the self-vehicle is determined according to the adjusted relative speed and the adjusted relative acceleration and the relative displacement of the self-vehicle and the target vehicle; the relative speed is calculated according to the movement speeds of the self-vehicle and the target vehicle, the relative acceleration is calculated according to the movement accelerations of the self-vehicle and the target vehicle, and the relative displacement is calculated according to the displacement of the self-vehicle and the target vehicle.
6. The method according to claim 5, wherein the adjusting the relative speeds and the relative accelerations of the own vehicle and the target vehicle using the braking accelerations of the own vehicle, respectively, and determining the braking time of the own vehicle based on the adjusted relative speeds and the adjusted relative accelerations and the relative displacements of the own vehicle and the target vehicle comprises:
Invoking a first braking time calculation formula, and analyzing the adjusted relative speed, the adjusted relative acceleration and the relative displacement of the self-vehicle and the target vehicle to determine the braking time of the self-vehicle; the first braking time calculation formula is as follows:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,a obj indicating the acceleration of the movement of the target vehicle,v ego indicating the speed of movement of the vehicle itself,v obj indicating the speed of movement of the target vehicle,X ego indicating an initial displacement of the own vehicle,X obj representing an initial displacement of the target vehicle,indicating the relative acceleration of the vehicle and,indicating relative speed, +.>Indicating relative displacement +.>Indicating the adjusted relative acceleration, +.>Indicating the adjusted relative speed.
7. The method according to claim 4, wherein analyzing the movement information of the own vehicle, the stop point displacement of the target vehicle, and the braking acceleration of the own vehicle using the braking time calculation rule included in the second calculation rule to determine the braking time of the own vehicle includes:
and adjusting the moving speed and the moving acceleration of the self-vehicle by utilizing the braking acceleration of the self-vehicle, and determining the braking time of the self-vehicle according to the adjusted moving speed and the adjusted moving acceleration of the self-vehicle, the stopping point displacement of the target vehicle and the initial displacement of the self-vehicle.
8. The method of determining a braking time according to claim 7, wherein the adjusting the moving speed and the moving acceleration of the own vehicle using the braking acceleration of the own vehicle, and determining the braking time of the own vehicle based on the adjusted moving speed and the adjusted moving acceleration of the own vehicle, the stopping point displacement of the target vehicle, and the initial displacement of the own vehicle comprises:
invoking a second braking time calculation formula, and analyzing the adjusted self-vehicle movement speed, the adjusted self-vehicle movement acceleration, the stopping point displacement of the target vehicle and the initial displacement of the self-vehicle to determine the braking time of the self-vehicle; the second braking time calculation formula is as follows:
；
wherein, TTBthe braking time of the own vehicle is indicated,a ass indicating the braking acceleration of the own vehicle,a ego indicating the acceleration of the movement of the vehicle,v ego indicating the speed of movement of the vehicle itself,X ego indicating an initial displacement of the own vehicle,X stop representing the stopping point displacement of the target vehicle,indicating the adjusted motor vehicle movement acceleration, < ->Indicating the adjusted speed of the vehicle.
9. The method according to any one of claims 1 to 8, characterized by further comprising, before the determination of the movement stop time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle:
According to the motion information of the own vehicle and the target vehicle, determining the longitudinal collision time of the own vehicle and the target vehicle;
and executing the step of determining the movement stopping time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle under the condition that the longitudinal collision time is smaller than a set time threshold.
10. The device for determining the braking time is characterized by comprising a first determining unit, a second determining unit, a selecting unit and an analyzing unit;
the first determining unit is used for determining the movement stopping time of the target vehicle based on the movement speed and the movement acceleration of the target vehicle; the target vehicle is a vehicle which is positioned in front of the self-vehicle and runs in the same direction as the self-vehicle;
the second determining unit is used for determining the braking stop time of the own vehicle according to the respective motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle; wherein the motion information comprises displacement, motion speed and motion acceleration;
the selecting unit is used for determining a matched braking time calculation rule based on the relation between the motion stop time and the braking stop time;
The analysis unit is used for analyzing the motion information of the own vehicle and the target vehicle and the braking acceleration of the own vehicle based on the braking time calculation rule so as to determine the braking time of the own vehicle.
11. An electronic device, comprising:
a memory for storing a computer program;
processor for executing the computer program to carry out the steps of the method of determining a braking time according to any one of claims 1 to 9.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of determining a braking time according to any one of claims 1 to 9.
CN202310991720.8A 2023-08-08 2023-08-08 Method, device, equipment and medium for determining braking time Active CN116729336B (en)

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