CN117962896A

CN117962896A - Method, device, equipment and storage medium for identifying braking intention of vehicle

Info

Publication number: CN117962896A
Application number: CN202211308253.6A
Authority: CN
Inventors: 梁帅
Original assignee: Beijing CHJ Automobile Technology Co Ltd
Current assignee: Beijing CHJ Automobile Technology Co Ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2024-05-03

Abstract

Embodiments of the present disclosure provide a method, apparatus, device, and storage medium for identifying a braking intention of a vehicle. The method comprises the following steps: acquiring a first signal acquired by a sensor on a brake pedal; the first signal includes: braking displacement and pressure; acquiring a second signal acquired by a sensor on an accelerator pedal; and judging whether the vehicle has braking intention or not according to whether the first signal and the second signal have values or not. In this way, the number of the sensors on the brake pedal can be reduced, the cost of the sensors on the brake pedal is reduced, the redundancy degree of the judgment of the brake intention is reduced, the fault tolerance of the judgment of the brake intention is improved, and the judgment of the brake intention is more accurate.

Description

Method, device, equipment and storage medium for identifying braking intention of vehicle

Technical Field

The present disclosure relates to the field of automobiles, and in particular, to the field of vehicle intent recognition technology.

Background

The brake intent recognition of a vehicle is the most important module of the vehicle. Any failure can cause the entire brake system to run away, and the resulting hazard is enormous.

In order to avoid faults caused by common factors, the output signals of the vehicle are ensured to be more accurate, and the functional safety level is higher. The signals of the displacement sensor, the force sensor and the angle sensor which are simultaneously arranged on the brake pedal are used for identifying the braking intention of a driver and obtaining a reliable braking signal. However, this has the disadvantage of an excessive number of sensors on the brake pedal, increasing the cost of the sensors on the brake pedal, and of low tolerance.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, and storage medium for identifying a braking intention of a vehicle.

According to a first aspect of the present disclosure, there is provided a braking intention recognition method of a vehicle. The method comprises the following steps:

Acquiring a first signal acquired by a sensor on a brake pedal; the first signal includes: braking displacement and pressure;

acquiring a second signal acquired by a sensor on an accelerator pedal;

and judging whether the vehicle has braking intention or not according to whether the first signal and the second signal have values or not.

In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where the acquiring the first signal acquired by the sensor on the brake pedal includes:

acquiring the braking displacement acquired by the brake pedal upstroke sensor;

And acquiring the pressure acquired by the brake force sensor on the brake pedal.

In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where determining whether the vehicle has a braking intention according to whether the first signal and the second signal have values, including:

if the brake displacement and/or the pressure have/has a value, judging that the brake intention exists, and outputting a brake request;

If the brake displacement and the pressure are both null and the second signal is null, judging that braking intention is not present and outputting an acceleration request;

And if the brake displacement, the pressure and the second signal are all null, judging that the brake intention is absent, and outputting a request for keeping the current state.

Aspects and any possible implementation manner as described above, further provide an implementation manner, where if the brake displacement and/or the pressure have a value, it is determined that there is a brake intention, and a brake request is output, including:

If the brake displacement and/or the pressure have a value and the second signal also has a value, determining the respective acquisition times of the first signal and the second signal;

If the time difference of the acquisition time of the first signal and the second signal is smaller than or equal to a first preset time threshold value, judging that braking intention exists according to the principle that braking is prior to acceleration, and outputting the braking request.

If the time difference of the respective acquisition time of the first signal and the second signal is larger than the first preset time threshold and smaller than or equal to the second preset time threshold, and the acquisition time of the first signal is earlier than the acquisition time of the second signal, the second signal is directly ignored, the braking intention is determined, and the braking request is output.

Aspects and any one of the possible implementations as described above, further providing an implementation, the method further including:

and if the brake displacement and/or the pressure have/has a value, the value of the second signal is an invalid value, and stopping by using the brake pedal.

If the brake displacement has a value and the pressure has no value, prompting the brake force sensor to fail and prompting to switch to a single pedal mode;

and if the brake displacement is zero and the pressure is zero, prompting the travel sensor to fail and prompting to switch to a single pedal mode.

In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where the acquiring the second signal acquired by the sensor on the accelerator pedal includes:

And acquiring the acceleration displacement acquired by the acceleration pedal upstroke sensor and taking the acceleration displacement as the second signal.

Before judging whether the vehicle has a braking intention, acquiring respective actual fluctuation conditions and respective corresponding preset fluctuation conditions of the first signal and the second signal;

And filtering the part exceeding the corresponding preset fluctuation condition in the actual fluctuation conditions of the first signal and the second signal.

According to a second aspect of the present disclosure, there is provided a braking intention recognition apparatus of a vehicle. The device comprises:

The first acquisition module is used for acquiring a first signal acquired by a sensor on a brake pedal; the first signal includes brake displacement and pressure;

the second acquisition module is used for acquiring a second signal acquired by a sensor on the accelerator pedal;

And the arbitration module is used for judging whether the vehicle has braking intention or not according to whether the first signal and the second signal have values or not.

According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method as described above when executing the program.

According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method as according to the first and/or second aspects of the present disclosure.

In the method, the number of the sensors on the brake pedal can be reduced by combining the second signals acquired by the sensors originally provided with the accelerator pedal, the cost of the sensors on the brake pedal is reduced, the redundancy degree of the brake intention judging system is reduced, and the first signals acquired by the sensors on the brake pedal and the second signals acquired by the sensors on the accelerator pedal are combined, so that the brake intention judging fault tolerance is higher, and the judgment of the brake intention is more accurate.

It should be understood that what is described in this summary is not intended to limit the critical or essential features of the embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. For a better understanding of the present disclosure, and without limiting the disclosure thereto, the same or similar reference numerals denote the same or similar elements, wherein:

FIG. 1 illustrates a flow chart of a method of identifying a braking intent of a vehicle in accordance with an embodiment of the present disclosure;

FIG. 2 illustrates a block diagram of a braking intent recognition device for a vehicle in accordance with an embodiment of the present disclosure;

FIG. 3 illustrates a block diagram of another vehicle braking intent recognition device in accordance with an embodiment of the present disclosure;

Fig. 4 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to be within the scope of this disclosure.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Fig. 1 shows a flowchart of a braking intent recognition 100 of a vehicle according to an embodiment of the present disclosure. The method 100 may include:

Step 110, acquiring a first signal acquired by a sensor on a brake pedal; the first signal includes: braking displacement and pressure;

step 120, acquiring a second signal acquired by a sensor on an accelerator pedal;

and step 130, judging whether the vehicle has a braking intention according to whether the first signal and the second signal have values.

When judging whether the vehicle has the braking intention, the number of sensors on the brake pedal can be reduced by combining the second signals acquired by the sensors originally arranged on the accelerator pedal, the cost of the sensors on the brake pedal is reduced, the redundancy degree of the braking intention judgment is reduced, and the first signals acquired by the sensors on the brake pedal and the second signals acquired by the sensors on the accelerator pedal are combined, so that the braking intention judgment fault tolerance is higher, and the braking intention judgment is more accurate.

In some embodiments, the acquiring the first signal acquired by the sensor on the brake pedal includes:

Acquiring the braking displacement acquired by the brake pedal upstroke sensor; the brake displacement is a vector that the brake pedal moves when compared to when the driver is not pressing.

The brake displacement collected by the brake pedal upstroke sensor and the pressure collected by the brake force sensor are used as the first signals, and the brake intention of the vehicle is judged by combining the first signals, so that the number of the sensors on the brake pedal can be reduced, the need of additionally installing an angle sensor on the brake pedal is avoided, and the redundancy degree and the cost of a brake intention judging system are reduced.

In some embodiments, the determining whether the vehicle has a braking intention based on whether the first signal and the second signal have values includes:

Because the stroke sensor and the brake force sensor are simultaneously arranged on the brake pedal, if one or two of the brake displacement and the pressure have values, the driver of the vehicle is indicated to press the brake pedal, thus the driver of the vehicle can judge that the vehicle has a brake intention and output a brake request to be sent to the brake force distribution module so as to brake the brake caliper of the vehicle; in the same way as described above,

Because the stroke sensor and the brake force sensor are simultaneously arranged on the brake pedal, and the sensor is also arranged on the accelerator pedal, if the brake displacement and the pressure are both null, and the second signal is null, the driver of the vehicle does not step on the brake pedal but steps on the accelerator pedal, so that the driver of the vehicle can judge that the vehicle does not have the brake intention but has the accelerator pedal intention, and the accelerator request can be automatically output and sent to the power system of the vehicle to drive the vehicle to accelerate; in the same way as described above,

Because the stroke sensor and the brake force sensor are simultaneously arranged on the brake pedal, and the sensor is also arranged on the accelerator pedal, if the brake displacement, the pressure and the second signal are all null, the vehicle driver is not depressed on the brake pedal and is not depressed on the accelerator pedal, and only the current state is hoped to be kept, so that the brake intention is accurately judged, and the request for keeping the current state is output.

In some embodiments, if the brake displacement and/or the pressure have a value, determining that there is a brake intention, outputting a brake request, including:

If the brake displacement and/or the pressure have/has a value and the second signal has/has a value, the respective acquisition times of the first signal and the second signal are determined, and if the time difference between the respective acquisition times of the first signal and the second signal is less than or equal to a first preset time threshold value, it is indicated that the brake pedal and the accelerator pedal are almost simultaneously depressed by the user, which may be an erroneous operation, and for the safety of the vehicle, it may be determined that the vehicle has a braking intention according to the principle that braking is prioritized over acceleration, and thus, a braking request may be output, and braking may be performed in time.

If the brake displacement and/or the pressure have/has a value, and the second signal also has a value, determining the respective acquisition time of the first signal and the second signal, if the time difference of the respective acquisition time of the first signal and the second signal is greater than a first preset time threshold and less than or equal to a second preset time threshold, indicating that the brake pedal and the accelerator pedal are both depressed by the user, but the brake pedal is obviously depressed first, and then the accelerator pedal is depressed again in a short time, which is contradictory, so that it can be confirmed that the depression of the accelerator pedal belongs to a misoperation, so that the second signal can be directly ignored, the brake intention is determined, and the brake request is output, and the brake is timely braked. In some embodiments, the method further comprises:

If the brake displacement and/or the pressure have/has a value, and the value of the second signal is an invalid value, the sensor signal generated by the user stepping on the accelerator pedal is invalid, namely the accelerator pedal fails, so that the vehicle can be prompted to be controlled to stop by the brake pedal in a side-by-side manner for the running safety of the vehicle, the fault tolerance of the vehicle is improved, and the running safety is ensured.

The present disclosure has a value, which means that there is a signal and the value of the signal does not exceed the normal range;

A null value refers to a signal being zero or a signal being inactive, including but not limited to: the output value is out of the normal range, or the output value is not matched with other values, such as displacement and pressure.

In some embodiments, the method further comprises:

Since the stroke sensor and the brake force sensor are simultaneously installed on the brake pedal, once a driver of the vehicle presses the brake pedal, the brake displacement and the pressure should have values under normal conditions, so if the brake displacement has a value and the pressure has no value, the failure of the brake force sensor on the brake pedal, namely the failure of the brake pedal, or if the brake displacement has no value and the pressure has a value, the failure of the brake pedal stroke sensor, namely the failure of the brake pedal, can be also indicated, therefore, in order to improve the fault tolerance of the vehicle, the driving safety is ensured, the driver can be prompted to switch a single pedal mode, the acceleration and the deceleration of the vehicle are controlled by an accelerator pedal stroke signal, and the driver uses the accelerator pedal to autonomously control the vehicle speed to stop.

In some embodiments, the acquiring the second signal acquired by the sensor on the accelerator pedal includes:

The vehicle intention is judged by combining the acceleration displacement acquired by the original travel sensor on the accelerator pedal, so that the number of sensors on the brake pedal can be reduced, the cost of the sensors on the brake pedal and a controller signal acquisition circuit is reduced, the redundancy degree of a brake intention judging system is reduced, and the original travel sensor on the accelerator pedal can be fully utilized.

In some embodiments, the method further comprises:

Because the signal fluctuation condition is known in advance, according to the preset fluctuation condition and the actual fluctuation conditions of the first signal and the second signal, the part exceeding the corresponding preset fluctuation condition in the actual fluctuation conditions of the first signal and the second signal can be filtered, and the signal which is not in the preset fluctuation condition is removed, so that a stable sensor signal is output, and the purpose of removing the sensor signal with larger fluctuation or other interference signals is achieved.

The technical scheme of the present disclosure will be described in further detail below with reference to fig. 2:

the driver intent recognition logic in fig. 2 is as follows:

braking stroke with value, braking force with value, and acceleration stroke without value; outputting a braking request

Braking stroke value, braking force value and acceleration stroke value; the pedal is simultaneously depressed (the time interval between the first signal collected by the sensor on the brake pedal and the second signal collected by the sensor on the accelerator pedal is less than 2 seconds, which is considered as the same time), and the weight is only allocated as follows: braking priority or accelerator pedal stuck, thus, a braking request can be output;

Braking stroke with value, braking force without value, and acceleration stroke without value; a brake force sensor fails to output a brake request;

braking stroke with value, braking force without value, and accelerating stroke with value; the pedal is simultaneously depressed, and the weight is distributed as follows: braking priority or accelerator pedal stuck, thus outputting a braking request while determining a failure of the brake force sensor

Braking stroke no value, braking force value and acceleration stroke value; the pedal is simultaneously depressed, and the weight is distributed as follows: braking priority or accelerator pedal stuck, thereby outputting a braking request while determining a braking stroke sensor failure

Braking stroke no value, braking force no value, acceleration stroke no value; outputting an acceleration request

Braking stroke no value, braking force no value, acceleration stroke no value; output a braking request, failure of a braking travel sensor

Brake stroke no value & brake force no value & acceleration stroke no value; output coast status (maintaining current speed of the coast finger)

Fault tolerant design of the present disclosure:

When a brake stroke sensor fault or a brake force sensor fault occurs; the method can prompt the driver to switch a single pedal mode, the acceleration and the deceleration of the vehicle are controlled by an accelerator pedal travel signal, and the driver automatically controls the vehicle speed to stop by the side (the accelerator pedal has a deceleration function and is used for decelerating or accelerating);

When the accelerator pedal is jammed and the accelerator pedal is invalid signal output (namely the accelerator pedal is damaged), a driver is prompted to control the vehicle to decelerate and stop by the brake pedal.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present disclosure is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present disclosure. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required by the present disclosure.

The foregoing is a description of embodiments of the method, and the following further describes embodiments of the present disclosure through examples of apparatus.

Fig. 3 shows a block diagram of a braking intention recognition apparatus 300 of a vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the apparatus 300 includes:

a first acquisition module 310, configured to acquire a first signal acquired by a sensor on a brake pedal; the first signal includes brake displacement and pressure;

A second acquisition module 320, configured to acquire a second signal acquired by a sensor on an accelerator pedal;

The arbitration module 330 is configured to determine whether the vehicle has a braking intention according to whether the first signal and the second signal have values.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the described modules may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.

The present disclosure also provides, in accordance with embodiments of the present disclosure, an electronic device and a non-transitory computer-readable storage medium storing computer instructions.

Fig. 4 shows a schematic block diagram of an electronic device 400 that may be used to implement embodiments of the present disclosure. 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. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, 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 disclosure described and/or claimed herein.

The device 400 comprises a computing unit 401 that may perform various suitable actions and processes in accordance with a computer program stored in a Read Only Memory (ROM) 402 or loaded from a storage unit 404 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of device 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Various components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM402 and/or the communication unit 409. One or more of the steps of the method 100 described above may be performed when a computer program is loaded into RAM403 and executed by the computing unit 401. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the method 100 by any other suitable means (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.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code 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 this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable 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. 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 a computer 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 pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. 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), 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 may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

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 recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. 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 disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A method for identifying a braking intention of a vehicle, comprising:

acquiring a second signal acquired by a sensor on an accelerator pedal;

2. The method of claim 1, wherein the step of determining the position of the substrate comprises,

The determining whether the vehicle has a braking intention according to whether the first signal and the second signal have values or not includes:

3. The method according to claim 2, wherein said determining that there is a braking intention if said braking displacement and/or said pressure have values, outputting a braking request, comprises:

4. The method of claim 3, wherein the step of,

And if the brake displacement and/or the pressure have/has a value, judging that the brake is intended, and outputting a brake request, wherein the method comprises the following steps:

5. The method according to claim 2, wherein the method further comprises:

6. The method according to claim 2, wherein the method further comprises:

7. The method according to any one of claims 1 to 6, further comprising:

8. A braking intention recognition device of a vehicle, characterized by comprising:

9. An electronic device, comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.