CN112937520A - Emergency braking method and device for vehicle, commercial vehicle and storage medium - Google Patents
Emergency braking method and device for vehicle, commercial vehicle and storage medium Download PDFInfo
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- CN112937520A CN112937520A CN202110289124.6A CN202110289124A CN112937520A CN 112937520 A CN112937520 A CN 112937520A CN 202110289124 A CN202110289124 A CN 202110289124A CN 112937520 A CN112937520 A CN 112937520A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- 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
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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Abstract
The invention relates to the technical field of auxiliary driving of commercial vehicles, and discloses an emergency braking method and device for a vehicle, a commercial vehicle and a storage medium, wherein the method comprises the following steps: acquiring the running information of a front vehicle and the running information of a target vehicle; calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle; and setting preset safety time, providing target braking force if the current collision time is less than the preset safety time, and carrying out emergency braking on the target vehicle according to the target braking force. According to the invention, the corresponding current collision time is obtained by calculating the running information of the front vehicle and the target vehicle, and if the current collision time is judged to be less than the preset safe collision time, the target vehicle is braked according to the provided target braking force.
Description
Technical Field
The invention relates to the technical field of auxiliary driving of commercial vehicles, in particular to an emergency braking method and device of a vehicle, a commercial vehicle and a storage medium.
Background
As the automobile industry is continuously developed, the safety configuration of automobiles is also upgraded, and therefore, more and more automobiles are provided with auxiliary Driving systems, which are mainly used to ensure the safety of drivers, and the current commonly used auxiliary Driving systems are Advanced Driving Assistance Systems (ADAS), which collect static information and dynamic information in the surrounding environment by using sensors installed at various positions of the automobiles and analyze potential safety hazards that may occur in the current surrounding environment by combining navigation map data, but since the data are collected and then uploaded to a navigation map for systematic operation and analysis, a lot of time is spent in the operation and analysis process, and in addition, the ADAS auxiliary Driving System is controlled by a foreign manufacturer, while domestic automobiles are distinguished from main accessories by the Driving principle, certain functions of the ADAS cannot respond in time when dangerous factors occur, so that the purpose of predicting danger in advance cannot be achieved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an emergency braking method and device for a vehicle, a commercial vehicle and a storage medium, and aims to solve the technical problems that the efficiency of predicting danger cannot be effectively improved and dangerous accidents cannot be reduced.
To achieve the above object, the present invention provides an emergency braking method of a vehicle, including the steps of:
acquiring the running information of a front vehicle and the running information of a target vehicle;
calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle;
and setting preset safety time, if the current collision time is less than the preset safety time, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
Optionally, the calculating the current collision time of the target vehicle with the front vehicle according to the traveling information of the front vehicle and the traveling information of the target vehicle includes:
obtaining first lane information of the front vehicle according to the running information of the front vehicle;
acquiring second lane information of the target vehicle according to the running information of the target vehicle;
if the first lane information is consistent with the second lane information, acquiring the position information of the front vehicle according to the first lane information, and acquiring the position information of the target vehicle according to the second lane information;
calculating a distance value between the front vehicle and the target vehicle according to the position information of the front vehicle and the position information of the target vehicle;
and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information and the distance value.
Optionally, the calculating the current collision time of the target vehicle with the front vehicle according to the traveling information of the front vehicle and the traveling information of the target vehicle includes:
obtaining the speed of the front vehicle according to the running information of the front vehicle;
acquiring the speed of the target vehicle according to the running information of the target vehicle;
calculating a speed difference between the front vehicle and the target vehicle according to the speed of the front vehicle and the speed of the target vehicle;
and calculating the current collision time of the target vehicle and the front vehicle according to the speed difference.
Optionally, the calculating a current collision time of the target vehicle with the preceding vehicle according to the speed difference includes:
if the first lane information is consistent with the second lane information, acquiring the distance value and the speed difference;
and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information, the distance value and the speed difference.
Optionally, the setting a preset safety time, determining a target braking force if the current collision time is less than the preset safety time, and performing emergency braking on the target vehicle according to the target braking force includes:
acquiring a preset conversion algorithm, if the current collision time is less than preset safety time, converting different set preset safety time into corresponding danger grades according to the preset conversion algorithm, and extracting a target danger grade from the danger grades;
and if the current collision time meets the collision time corresponding to the target danger level, giving an alarm and determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
Optionally, if the current collision time meets the collision time corresponding to the target danger level, making an alarm and determining a target braking force, and performing emergency braking on the target vehicle according to the target braking force includes:
acquiring current operation behavior information of a driver, and judging whether the current operation behavior information is collision avoidance behavior information or not;
if the current operation behavior information is collision avoidance behavior information, delaying the time of the alarm warning, and judging whether the current collision time meets the collision time corresponding to the target danger level;
and if the current collision time meets the collision time corresponding to the target danger level, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
Optionally, the setting of the preset safety time, determining a target braking force if the current collision time is less than the preset safety time, and before emergency braking is performed on the target vehicle according to the target braking force, further includes:
acquiring steering wheel information and an accelerator pedal stroke of the target vehicle;
obtaining the current rotation angle and the current rotation speed of the steering wheel according to the steering wheel information;
and if the current rotating angle is larger than a preset rotating angle and/or the current rotating speed is larger than a preset rotating speed and/or the accelerator pedal stroke is larger than a preset stroke, acquiring a target inhibition instruction, and inhibiting the target braking force according to the target inhibition instruction so as to cancel emergency braking of the target vehicle.
In addition, to achieve the above object, the present invention also proposes an emergency brake device for a vehicle, including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running information of a front vehicle and the running information of a target vehicle;
the calculation module is used for calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle;
and the emergency braking module is used for setting preset safety time, determining target braking force if the current collision time is less than the preset safety time, and carrying out emergency braking on the target vehicle according to the target braking force.
In addition, in order to achieve the above object, the present invention also provides a commercial vehicle, comprising: a memory, a processor and a vehicle emergency braking program stored on the memory and operable on the processor, the vehicle emergency braking program being configured to implement the steps of the vehicle emergency braking method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon an emergency braking program of a vehicle, which when executed by a processor implements the steps of the emergency braking method of a vehicle as described above.
The invention provides an emergency braking method of a vehicle, which comprises the steps of obtaining the running information of a front vehicle and the running information of a target vehicle; calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle; and setting preset safety time, if the current collision time is less than the preset safety time, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force. The method comprises the steps of calculating the current time of collision between a target vehicle and a front vehicle through the running information of the target vehicle and the front vehicle, setting preset safe time, judging whether the current time is shorter than the preset safe time, determining corresponding target braking force if the current time is shorter than the preset safe time, and braking the target vehicle according to the target braking force.
Drawings
FIG. 1 is a schematic structural diagram of a commercial vehicle in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method of emergency braking a vehicle according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of a method of emergency braking a vehicle according to the present invention;
FIG. 4 is a schematic flow chart diagram of a third embodiment of a method for emergency braking of a vehicle according to the present invention;
FIG. 5 is a first test chart of an embodiment of a method of emergency braking a vehicle according to the present invention;
FIG. 6 is a second test chart of an embodiment of the emergency braking method of the vehicle according to the present invention;
FIG. 7 is a third test chart of an embodiment of an emergency braking method for a vehicle according to the present invention;
fig. 8 is a functional block diagram of a first embodiment of an emergency brake apparatus for a vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a commercial vehicle in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the commercial vehicle may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 is not intended to be limiting of commercial vehicles and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an emergency braking program of a vehicle.
In the commercial vehicle shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the commercial vehicle according to the present invention may be disposed in the commercial vehicle, and the commercial vehicle calls the emergency braking program of the vehicle stored in the memory 1005 through the processor 1001 and executes the emergency braking method of the vehicle according to the embodiment of the present invention.
Based on the hardware structure, the embodiment of the emergency braking method of the vehicle is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of an emergency braking method of a vehicle according to the present invention.
In a first embodiment, the method for emergency braking of a vehicle comprises the steps of:
in step S10, the traveling information of the preceding vehicle and the traveling information of the target vehicle are acquired.
It should be noted that the execution subject of the present embodiment is an emergency braking device of the vehicle, and may also be other devices that can implement the same or similar functions, such as an advanced driving assistance controller, and the present embodiment is not limited to this, and in the present embodiment, the advanced driving assistance controller is taken as an example for description.
It should be understood that the travel information refers to travel speed information, travel track information, travel direction information, and the like of the vehicle, and in order to more accurately calculate the collision time between the front vehicle and the target vehicle, it is necessary to simultaneously acquire the travel information of the front vehicle and the travel information of the target vehicle, and the front vehicle may be a vehicle on the same path and in the same direction as the target vehicle or a vehicle on a different path and in the same direction, and both cases are defined as the front vehicle.
It can be understood that, because the performance of the advanced assistant driving controller under different environments is different, for example, adverse weather conditions such as rain, snow, fog, smoke, hail, sand and haze and the like or insufficient light at night can have negative influence on the performance of the advanced assistant driving controller, a light source sensor and an induction heating resistance wire are arranged at the top end of the advanced assistant driving controller, the light source sensor is used for adjusting the brightness intensity of the advanced assistant driving controller when too bright or too dark light occurs, so that the advanced assistant driving controller can clearly capture the characteristic information of the front vehicle, the characteristic information comprises information such as a license plate, a logo and the like, the induction heating resistance wire is used for clearing obstacles influencing the performance under adverse conditions, and sufficient contrast or/and sufficient texture characteristics can be provided between the front vehicle and the environment background through the assistance of the light source sensor and the induction heating resistance wire Light rays.
In a specific implementation, the advanced driving assistance controller acquires traveling information of a preceding vehicle and traveling information of a target vehicle.
Step S20 is to calculate the current collision time between the target vehicle and the preceding vehicle based on the traveling information of the preceding vehicle and the traveling information of the target vehicle.
It should be understood that the current collision time refers to a time when both the front vehicle and the target vehicle travel at the current speed plus the initial relative distance to collide with each other, and there are three conditions for calculating the collision between the target vehicle and the front vehicle, namely, the initial relative distance between the target vehicle and the front vehicle, the relative speed between the target vehicle and the front vehicle, and whether the target vehicle and the front vehicle are located on the same travel path, and if one of the three conditions is different, there is a large difference in the current collision time, for example, if the speed of the target vehicle is 60km/h, the speed of the front vehicle is 50km/h, the initial relative distance between the target vehicle and the front vehicle is 1km, and the target vehicle and the front vehicle are located on the same travel path, the current collision time between the target vehicle and the front vehicle is calculated to be 6min, if the target vehicle and the current vehicle are located in different driving paths, the meeting time from the meeting of the current vehicle to the driving path of the target vehicle needs to be acquired, the meeting time is added with the current collision time, and the obtained result is the final collision time.
It is understood that the initial relative distance refers to the distance from the head of the target vehicle to the parking space of the vehicle in front, the relative speed refers to the running speed of the target vehicle minus the running speed of the current vehicle, and if the running speed of the target vehicle is less than the running speed of the vehicle in front and the vehicle in front is located in front of the target vehicle, the target vehicle does not collide with the preceding vehicle, the same travel path means whether the target vehicle and the preceding vehicle travel the same path or not, since the advanced driving assistance controller relies on the vehicle tail characteristic information in identifying the preceding vehicle, in the event that the vehicle is present only laterally or frontally within the confines of the sensors deployed on the subject vehicle, and the vehicle is not considered to be a leading vehicle, a collision situation is less likely to occur.
In a specific implementation, the advanced driving assistance controller calculates a current collision time of the target vehicle with the preceding vehicle based on the traveling information of the preceding vehicle and the traveling information of the target vehicle.
And step S30, setting preset safety time, if the current collision time is less than the preset safety time, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
It should be understood that the preset safety time is time obtained by obtaining and analyzing historical braking information of the vehicle based on big data, specifically, the historical braking information of the vehicle is collected, the historical braking information of the vehicle is trained into a sample data set, different labels are set in the sample data set according to vehicle types, the sample data set after the labels are set is input into a time prediction model, the time prediction model is obtained by training a neural network model of an extreme learning machine, and can also be obtained by training other models capable of achieving the same or similar functions.
It can be understood that after the preset safety time is obtained, the current collision time needs to be compared with the preset safety time, if the current collision time is smaller than the preset safety time, the current collision time needs to be subtracted from the preset safety time to obtain a time difference, a corresponding danger level is obtained through the time difference, if the danger level at the moment is judged to be the highest level, it is indicated that the maximum braking force needs to be provided at the moment of the highest danger, the maximum braking force at the moment is the target braking force, the target vehicle is subjected to emergency braking through the target braking force to avoid collision or reduce collision loss, and if the condition that the target vehicle is subjected to emergency braking is that the front vehicle is stationary, the speed of the front vehicle is smaller than the speed of the target vehicle, or the front vehicle is braking.
In specific implementation, the advanced driving assistance controller sets a preset safety time, determines a target braking force if the current collision time is less than the preset safety time, and performs emergency braking on the target vehicle according to the target braking force.
The embodiment obtains the running information of the front vehicle and the running information of the target vehicle; calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle; and setting preset safety time, if the current collision time is less than the preset safety time, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force. The method comprises the steps of calculating the current time of collision between a target vehicle and a front vehicle through the running information of the target vehicle and the front vehicle, setting preset safe time, judging whether the current time is shorter than the preset safe time, determining corresponding target braking force if the current time is shorter than the preset safe time, and braking the target vehicle according to the target braking force.
In an embodiment, as shown in fig. 3, a second embodiment of the emergency braking method for a vehicle according to the present invention is provided based on the first embodiment, and the step S20 includes:
step S201, obtaining first lane information of the front vehicle according to the running information of the front vehicle.
Further, in order to improve the accuracy of calculating the current collision time, the speed of the front vehicle needs to be obtained according to the running information of the front vehicle; acquiring the speed of the target vehicle according to the running information of the target vehicle; calculating a speed difference between the front vehicle and the target vehicle according to the speed of the front vehicle and the speed of the target vehicle; and calculating the current collision time of the target vehicle and the front vehicle according to the speed difference.
It is understood that the first lane information refers to travel path information of the current vehicle, and after obtaining the travel information of the current vehicle, the travel information includes a travel direction, an offset speed, and speed information, and the travel path of the current vehicle, i.e., the first lane information, is determined according to the travel direction and the offset speed.
In a specific implementation, the advanced driving assistance controller obtains first lane information of the preceding vehicle according to the traveling information of the preceding vehicle.
Step S202, according to the running information of the target vehicle, obtaining second lane information of the target vehicle.
It is understood that the second lane information refers to travel path information of the target vehicle, which includes a travel direction and an offset speed after obtaining the travel information of the target vehicle, and the travel path of the target vehicle, i.e., the second lane information, is determined according to the travel direction and the offset speed.
In a specific implementation, the advanced driving assistance controller obtains second lane information of the target vehicle according to the running information of the target vehicle.
Step S203, if the first lane information is consistent with the second lane information, obtaining the position information of the front vehicle according to the first lane information, and obtaining the position information of the target vehicle according to the second lane information.
It is understood that, when it is determined that the first lane information of the preceding vehicle coincides with the second lane information of the target vehicle, the position information of the current vehicle is obtained from the traveling information of the preceding vehicle on the first lane, and similarly, the position information of the target vehicle is obtained from the traveling information of the target vehicle on the second lane, and even if the lane information of the target vehicle coincides with the lane information of the current vehicle, the position information of the target vehicle and the current vehicle differs due to the difference in speed between the two, for example, the position information of the current vehicle at a point a on the lane, the position information of the target vehicle at B point B on the lane, and the position information of the a point and the B point are different.
In a specific implementation, if the first lane information is consistent with the second lane information, the advanced driving assistance controller obtains the position information of the front vehicle according to the first lane information, and obtains the position information of the target vehicle according to the second lane information.
And step S204, calculating a distance value between the front vehicle and the target vehicle according to the position information of the front vehicle and the position information of the target vehicle.
It is understood that the distance value refers to a distance from a tail of the front vehicle to a head of the target vehicle, and since the front vehicle and the target vehicle are in the same driving path, it is necessary to directly calculate the distance value between the front vehicle and the target vehicle after obtaining the position information of the front vehicle and the position information of the target vehicle in consideration of a distance from the front vehicle to the driving path of the target vehicle from other driving paths.
In a specific implementation, the advanced driving assistance controller calculates a distance value between the preceding vehicle and the target vehicle according to the position information of the preceding vehicle and the position information of the target vehicle.
Step S205, calculating a current collision time between the target vehicle and the front vehicle according to the first lane information, the second lane information, and the distance value.
It is understood that after the first lane information and the second lane information are obtained, the speeds of the front vehicle and the target vehicle are obtained through the lane information, respectively, the speed of the front vehicle is subtracted from the speed of the target vehicle to obtain a speed difference, and when the first lane information and the second lane information are consistent, the current collision time is obtained according to the speed difference and the distance value, for example, if the traveling paths of the front vehicle and the target vehicle are both 1 # traveling path, and if the speed of the target vehicle is 60km/h, the speed of the front vehicle is 50km/h, the initial relative distance between the target vehicle and the front vehicle is 1km, and the target vehicle and the front vehicle are located on the same traveling path, the current collision time between the target vehicle and the front vehicle is calculated to be 6 min.
In a specific implementation, the advanced driving assistance controller calculates a current collision time of the target vehicle with the preceding vehicle according to the first lane information, the second lane information, and the distance value.
The embodiment obtains first lane information of the front vehicle according to the running information of the front vehicle; acquiring second lane information of the target vehicle according to the running information of the target vehicle; if the first lane information is consistent with the second lane information, acquiring the position information of the front vehicle according to the first lane information, and acquiring the position information of the target vehicle according to the second lane information; calculating a distance value between the front vehicle and the target vehicle according to the position information of the front vehicle and the position information of the target vehicle; and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information and the distance value. The method comprises the steps of determining whether a target vehicle and a current vehicle are in the same driving path or not through lane information of a front vehicle and the target vehicle, respectively obtaining the speed of the front vehicle and the speed of the target vehicle according to the driving information of the front vehicle and the driving information of the target vehicle, and calculating the current collision time of the target vehicle and the front vehicle when the target vehicle and the current vehicle are determined to be in the same driving path, the speed difference between the target vehicle and the front vehicle and the distance value, so that the accuracy of calculating the current collision time is effectively improved.
In an embodiment, as shown in fig. 4, a third embodiment of the emergency braking method for a vehicle according to the present invention is provided based on the first embodiment, and the step S30 includes:
step S301, acquiring a preset conversion algorithm, if the current collision time is less than a preset safety time, converting different set preset safety times into corresponding danger levels according to the preset conversion algorithm, and extracting a target danger level from the danger levels.
It is understood that the preset conversion algorithm is an algorithm for converting the set preset safe time into a corresponding level, the set preset safe time is different according to different speeds of the target vehicle, for example, the set preset safe time is divided into 30s, 1min, 3min, 5min, 7min, etc., the danger levels obtained by the preset conversion algorithm are respectively 1 level, 2 level, 3 level, 4 level and 5 level, when the target danger level is extracted, 5 level is the target danger level, and the magnitude of the braking force is determined to be different due to different danger levels.
It should be understood that when the current collision time is less than the preset safe time, it indicates that the target vehicle and the front vehicle may have a collision, and therefore, a corresponding danger level needs to be obtained according to the current preset safe time, and the vehicle is prevented from colliding by a braking force corresponding to the danger level.
In specific implementation, a preset conversion algorithm is obtained, if the current collision time is less than a preset safe time, the advanced driving assistance controller converts different set preset safe times into corresponding danger levels according to the preset conversion algorithm, and extracts target danger levels from the danger levels.
Step S302, if the current collision time meets the collision time corresponding to the target danger level, an alarm warning is given, target braking force is determined, and the target vehicle is emergently braked according to the target braking force.
It can be understood that the collision time corresponding to the target danger level is slightly shorter than the preset safety time, since the preset safety time is obtained based on big data analysis, in order to calculate the braking force more accurately, comparison needs to be performed again, and when the current collision time is smaller than the collision time corresponding to the target danger level, the driver is warned in a combined manner of vision + hearing or vision + hearing + haptic, the visual warning includes an instrument indicator or a pop-up frame prompt, the audible warning includes a buzzer or a sound, and the haptic warning includes a steering wheel, a seat, a safety belt and vehicle brake shaking.
Further, in order to effectively prevent the occurrence of a dangerous accident, current operation behavior information of a driver needs to be acquired, and whether the current operation behavior information is collision avoidance behavior information is judged; if the current operation behavior information is collision avoidance behavior information, delaying the time of the alarm warning, and judging whether the current collision time meets the collision time corresponding to the target danger level; and if the current collision time meets the collision time corresponding to the target danger level, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
It should be understood that before the warning prompt is made for the driver, the current operation behavior information of the driver is required to be acquired, the current operation behavior information includes information of the opening degree of an accelerator pedal, the angle of a steering wheel and the like, when the driver makes actions of reducing the opening degree of the accelerator pedal and changing the angle of the steering wheel, the possibility of collision occurring when the driver avoids the collision is indicated, if the possibility of collision is avoided through the current operation behavior of the driver, the warning needs to be delayed, for example, the original warning is prompted immediately, and the delayed warning is prompted after 1-2 s.
In specific implementation, if the current collision time meets the collision time corresponding to the target danger level, the advanced driving assistance controller gives an alarm and determines target braking force, and performs emergency braking on the target vehicle according to the target braking force.
Further, in order to effectively prevent the occurrence of a dangerous accident, before emergency braking is performed on the target vehicle according to the target braking force, steering wheel information and an accelerator pedal stroke of the target vehicle need to be acquired; obtaining the current rotation angle and the current rotation speed of the steering wheel according to the steering wheel information; and if the current rotating angle is larger than a preset rotating angle and/or the current rotating speed is larger than a preset rotating speed and/or the accelerator pedal stroke is larger than a preset stroke, acquiring a target inhibition instruction, and inhibiting the target braking force according to the target inhibition instruction so as to cancel emergency braking of the target vehicle.
It can be understood that after the danger is determined to be relieved by the operation behavior of the driver, a strong driving intention may occur, and at this time, emergency braking of the target vehicle is required, where the strong driving intention may be that the current rotation angle of the steering wheel is greater than a preset rotation angle, or that the current rotation speed is greater than a preset rotation speed, or that the accelerator pedal stroke is greater than a preset stroke, where the current rotation angle of the steering wheel is greater than the preset rotation angle, or that the current rotation speed is greater than the preset rotation speed, indicating that the driver has a strong steering intention, and that the accelerator pedal stroke is greater than the preset stroke, indicating that the driver has a strong acceleration intention, the preset rotation angle may be 60 degrees, or may be another rotation angle, the preset rotation speed may be 15r/s, or may be another rotation speed, and, similarly, the preset stroke may be 20m/s, or may be another stroke, which is not limited in this embodiment, and, the emergency braking of the target vehicle needs to be cancelled.
Emergency braking is performed on a target vehicle according to a target braking force to obtain three test results, fig. 5 is a first test chart of an embodiment of the emergency braking method for the vehicle, specifically, a front vehicle is in a static state, a speed interval of the target vehicle is 8-75km/h, the target vehicle travels in the same direction with an acceleration of which the step length is 5km/h, and emergency braking is performed on the target vehicle when the current collision time is less than a preset safe time; FIG. 6 is a second test chart of an embodiment of the emergency braking method of a vehicle according to the present invention, in which a front vehicle travels at a speed of 20km/h, a target vehicle has a speed range of 20-75km/h, an initial speed of the target vehicle is 20km/h, the vehicle travels in the same direction with an acceleration of 5km/h, a relative distance between the target vehicle and the front vehicle is 90km/h, and when the speed of the target vehicle reaches 65km/h, if the target vehicle does not accelerate any more, a current collision time between the target vehicle and the front vehicle is calculated to be 12 min; fig. 7 is a third test chart of an embodiment of the emergency braking method for a vehicle according to the present invention, in which a target vehicle and a preceding vehicle both travel forward at a speed of 75km/h, and if the preceding vehicle suddenly decelerates and the speed is 50km/h, the target vehicle also needs to decelerate to prevent a collision, and the target vehicle needs to be braked urgently according to a target braking force.
In the embodiment, a preset conversion algorithm is obtained, if the current collision time is less than a preset safety time, different preset safety times are converted into corresponding danger levels according to the preset conversion algorithm, and a target danger level is extracted from the danger levels; and if the current collision time meets the collision time corresponding to the target danger level, giving an alarm and determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force. The set preset safety time is converted into the corresponding danger level, and if the current collision time is smaller than the collision time corresponding to the target danger level, the target braking force corresponding to the target danger level is determined from the danger level, and the target vehicle is emergently braked according to the target braking force, so that dangerous accidents are effectively prevented.
Furthermore, an embodiment of the present invention further provides a storage medium, on which an emergency braking program of a vehicle is stored, which when executed by a processor implements the steps of the emergency braking method of the vehicle as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Further, referring to fig. 8, an embodiment of the present invention further provides an emergency braking apparatus for a vehicle, including:
the acquiring module 10 is used for acquiring the running information of the front vehicle and the running information of the target vehicle.
It should be understood that the travel information refers to travel speed information, travel track information, travel direction information, and the like of the vehicle, and in order to more accurately calculate the collision time between the front vehicle and the target vehicle, it is necessary to simultaneously acquire the travel information of the front vehicle and the travel information of the target vehicle, and the front vehicle may be a vehicle on the same path and in the same direction as the target vehicle or a vehicle on a different path and in the same direction, and both cases are defined as the front vehicle.
It can be understood that, because the performance of the advanced assistant driving controller under different environments is different, for example, adverse weather conditions such as rain, snow, fog, smoke, hail, sand and haze and the like or insufficient light at night can have negative influence on the performance of the advanced assistant driving controller, a light source sensor and an induction heating resistance wire are arranged at the top end of the advanced assistant driving controller, the light source sensor is used for adjusting the brightness intensity of the advanced assistant driving controller when too bright or too dark light occurs, so that the advanced assistant driving controller can clearly capture the characteristic information of the front vehicle, the characteristic information comprises information such as a license plate, a logo and the like, the induction heating resistance wire is used for clearing obstacles influencing the performance under adverse conditions, and sufficient contrast or/and sufficient texture characteristics can be provided between the front vehicle and the environment background through the assistance of the light source sensor and the induction heating resistance wire Light rays.
In a specific implementation, the advanced driving assistance controller acquires traveling information of a preceding vehicle and traveling information of a target vehicle.
And the calculating module 20 is used for calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle.
It should be understood that the current collision time refers to a time when both the front vehicle and the target vehicle travel at the current speed plus the initial relative distance to collide with each other, and there are three conditions for calculating the collision between the target vehicle and the front vehicle, namely, the initial relative distance between the target vehicle and the front vehicle, the relative speed between the target vehicle and the front vehicle, and whether the target vehicle and the front vehicle are located on the same travel path, and if one of the three conditions is different, there is a large difference in the current collision time, for example, if the speed of the target vehicle is 60km/h, the speed of the front vehicle is 50km/h, the initial relative distance between the target vehicle and the front vehicle is 1km, and the target vehicle and the front vehicle are located on the same travel path, the current collision time between the target vehicle and the front vehicle is calculated to be 6min, if the target vehicle and the current vehicle are located in different driving paths, the meeting time from the meeting of the current vehicle to the driving path of the target vehicle needs to be acquired, the meeting time is added with the current collision time, and the obtained result is the final collision time.
It is understood that the initial relative distance refers to the distance from the head of the target vehicle to the parking space of the vehicle in front, the relative speed refers to the running speed of the target vehicle minus the running speed of the current vehicle, and if the running speed of the target vehicle is less than the running speed of the vehicle in front and the vehicle in front is located in front of the target vehicle, the target vehicle does not collide with the preceding vehicle, the same travel path means whether the target vehicle and the preceding vehicle travel the same path or not, since the advanced driving assistance controller relies on the vehicle tail characteristic information in identifying the preceding vehicle, in the event that the vehicle is present only laterally or frontally within the confines of the sensors deployed on the subject vehicle, and the vehicle is not considered to be a leading vehicle, a collision situation is less likely to occur.
In a specific implementation, the advanced driving assistance controller calculates a current collision time of the target vehicle with the preceding vehicle based on the traveling information of the preceding vehicle and the traveling information of the target vehicle.
And the emergency braking module 30 is configured to set a preset safety time, determine a target braking force if the current collision time is less than the preset safety time, and perform emergency braking on the target vehicle according to the target braking force.
It should be understood that the preset safety time is time obtained by obtaining and analyzing historical braking information of the vehicle based on big data, specifically, the historical braking information of the vehicle is collected, the historical braking information of the vehicle is trained into a sample data set, different labels are set in the sample data set according to vehicle types, the sample data set after the labels are set is input into a time prediction model, the time prediction model is obtained by training a neural network model of an extreme learning machine, and can also be obtained by training other models capable of achieving the same or similar functions.
It can be understood that after the preset safety time is obtained, the current collision time needs to be compared with the preset safety time, if the current collision time is smaller than the preset safety time, the current collision time needs to be subtracted from the preset safety time to obtain a time difference, a corresponding danger level is obtained through the time difference, if the danger level at the moment is judged to be the highest level, it is indicated that the maximum braking force needs to be provided at the moment of the highest danger, the maximum braking force at the moment is the target braking force, the target vehicle is subjected to emergency braking through the target braking force to avoid collision or reduce collision loss, and if the condition that the target vehicle is subjected to emergency braking is that the front vehicle is stationary, the speed of the front vehicle is smaller than the speed of the target vehicle, or the front vehicle is braking.
In specific implementation, the advanced driving assistance controller sets a preset safety time, determines a target braking force if the current collision time is less than the preset safety time, and performs emergency braking on the target vehicle according to the target braking force.
The embodiment obtains the running information of the front vehicle and the running information of the target vehicle; calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle; and setting preset safety time, if the current collision time is less than the preset safety time, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force. The method comprises the steps of calculating the current time of collision between a target vehicle and a front vehicle through the running information of the target vehicle and the front vehicle, setting preset safe time, judging whether the current time is shorter than the preset safe time, determining corresponding target braking force if the current time is shorter than the preset safe time, and braking the target vehicle according to the target braking force.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to a method for emergency braking of a vehicle according to any embodiment of the present invention, and are not described herein again.
In an embodiment, the calculating module 20 is further configured to obtain first lane information of the front vehicle according to the driving information of the front vehicle; acquiring second lane information of the target vehicle according to the running information of the target vehicle; if the first lane information is consistent with the second lane information, acquiring the position information of the front vehicle according to the first lane information, and acquiring the position information of the target vehicle according to the second lane information; calculating a distance value between the front vehicle and the target vehicle according to the position information of the front vehicle and the position information of the target vehicle; and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information and the distance value.
In an embodiment, the calculating module 20 is further configured to obtain a speed of the front vehicle according to the driving information of the front vehicle; acquiring the speed of the target vehicle according to the running information of the target vehicle; calculating a speed difference between the front vehicle and the target vehicle according to the speed of the front vehicle and the speed of the target vehicle; and calculating the current collision time of the target vehicle and the front vehicle according to the speed difference.
In an embodiment, the calculating module 20 is further configured to obtain the distance value and the speed difference if the first lane information is consistent with the second lane information; and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information, the distance value and the speed difference.
In an embodiment, the emergency braking module 30 is further configured to obtain a preset conversion algorithm, and if the current collision time is less than a preset safety time, convert different preset safety times into corresponding danger levels according to the preset conversion algorithm, and extract a target danger level from the danger levels; and if the current collision time meets the collision time corresponding to the target danger level, giving an alarm and determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
In an embodiment, the emergency braking module 30 is further configured to obtain current operation behavior information of a driver, and determine whether the current operation behavior information is collision avoidance behavior information; if the current operation behavior information is collision avoidance behavior information, delaying the time of the alarm warning, and judging whether the current collision time meets the collision time corresponding to the target danger level; and if the current collision time meets the collision time corresponding to the target danger level, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
In one embodiment, the emergency braking module 30 is further configured to obtain steering wheel information and an accelerator pedal travel of the target vehicle; obtaining the current rotation angle and the current rotation speed of the steering wheel according to the steering wheel information; and if the current rotating angle is larger than a preset rotating angle and/or the current rotating speed is larger than a preset rotating speed and/or the accelerator pedal stroke is larger than a preset stroke, acquiring a target inhibition instruction, and inhibiting the target braking force according to the target inhibition instruction so as to cancel emergency braking of the target vehicle.
Other embodiments or methods of implementing the emergency braking device for a vehicle according to the invention are described with reference to the above method embodiments and are not to be considered as superfluous.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An emergency braking method of a vehicle, characterized by comprising the steps of:
acquiring the running information of a front vehicle and the running information of a target vehicle;
calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle;
and setting preset safety time, if the current collision time is less than the preset safety time, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
2. The emergency braking method of a vehicle according to claim 1, wherein the calculating of the current collision time of the target vehicle with the preceding vehicle based on the traveling information of the preceding vehicle and the traveling information of the target vehicle includes:
obtaining first lane information of the front vehicle according to the running information of the front vehicle;
acquiring second lane information of the target vehicle according to the running information of the target vehicle;
if the first lane information is consistent with the second lane information, acquiring the position information of the front vehicle according to the first lane information, and acquiring the position information of the target vehicle according to the second lane information;
calculating a distance value between the front vehicle and the target vehicle according to the position information of the front vehicle and the position information of the target vehicle;
and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information and the distance value.
3. The emergency braking method of a vehicle according to claim 2, wherein the calculating of the current collision time of the target vehicle with the preceding vehicle based on the traveling information of the preceding vehicle and the traveling information of the target vehicle includes:
obtaining the speed of the front vehicle according to the running information of the front vehicle;
acquiring the speed of the target vehicle according to the running information of the target vehicle;
calculating a speed difference between the front vehicle and the target vehicle according to the speed of the front vehicle and the speed of the target vehicle;
and calculating the current collision time of the target vehicle and the front vehicle according to the speed difference.
4. The emergency braking method of a vehicle according to claim 3, wherein the calculating a current collision time of the target vehicle with the preceding vehicle based on the speed difference includes:
if the first lane information is consistent with the second lane information, acquiring the distance value and the speed difference;
and calculating the current collision time of the target vehicle and the front vehicle according to the first lane information, the second lane information, the distance value and the speed difference.
5. The emergency braking method of a vehicle according to claim 1, wherein the setting of a preset safety time, the determining of a target braking force if the current collision time is less than the preset safety time, and the emergency braking of the target vehicle according to the target braking force comprise:
acquiring a preset conversion algorithm, if the current collision time is less than preset safety time, converting different set preset safety time into corresponding danger grades according to the preset conversion algorithm, and extracting a target danger grade from the danger grades;
and if the current collision time meets the collision time corresponding to the target danger level, giving an alarm and determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
6. The emergency braking method for a vehicle according to claim 5, wherein the emergency braking of the target vehicle according to the target braking force is performed by making an alarm warning and determining the target braking force if the current collision time satisfies a collision time corresponding to a target danger level, comprising:
acquiring current operation behavior information of a driver, and judging whether the current operation behavior information is collision avoidance behavior information or not;
if the current operation behavior information is collision avoidance behavior information, delaying the time of the alarm warning, and judging whether the current collision time meets the collision time corresponding to the target danger level;
and if the current collision time meets the collision time corresponding to the target danger level, determining target braking force, and carrying out emergency braking on the target vehicle according to the target braking force.
7. The emergency braking method of a vehicle according to any one of claims 1 to 6, wherein the setting of a preset safety time, the determining of a target braking force if the current collision time is less than the preset safety time, and before emergency braking of the target vehicle according to the target braking force, further comprises:
acquiring steering wheel information and an accelerator pedal stroke of the target vehicle;
obtaining the current rotation angle and the current rotation speed of the steering wheel according to the steering wheel information;
and if the current rotating angle is larger than a preset rotating angle and/or the current rotating speed is larger than a preset rotating speed and/or the accelerator pedal stroke is larger than a preset stroke, acquiring a target inhibition instruction, and inhibiting the target braking force according to the target inhibition instruction so as to cancel emergency braking of the target vehicle.
8. An emergency brake apparatus of a vehicle, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running information of a front vehicle and the running information of a target vehicle;
the calculation module is used for calculating the current collision time of the target vehicle and the front vehicle according to the running information of the front vehicle and the running information of the target vehicle;
and the emergency braking module is used for setting preset safety time, determining target braking force if the current collision time is less than the preset safety time, and carrying out emergency braking on the target vehicle according to the target braking force.
9. A commercial vehicle, characterized in that the commercial vehicle comprises: memory, a processor and a vehicle emergency braking program stored on the memory and executable on the processor, the vehicle emergency braking program being configured with the steps of implementing the vehicle emergency braking method according to any of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon an emergency braking program of a vehicle, which when executed by a processor implements the steps of the emergency braking method of a vehicle according to any one of claims 1 to 7.
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| CN113954794A (en) * | 2021-11-17 | 2022-01-21 | 上海炯神汽车科技有限公司 | Emergency braking assistance method and device, storage medium and vehicle |
| CN114179791A (en) * | 2021-12-02 | 2022-03-15 | 江铃汽车股份有限公司 | Control method and system for automatic emergency braking, readable storage medium and vehicle |
| CN114179791B (en) * | 2021-12-02 | 2024-02-06 | 江铃汽车股份有限公司 | Control method and system for automatic emergency braking, readable storage medium and vehicle |
| CN116767159A (en) * | 2023-07-06 | 2023-09-19 | 东莞市鑫展电子有限公司 | Control method of intelligent numerical control brake motor, intelligent numerical control brake motor and control device thereof |
| CN116767159B (en) * | 2023-07-06 | 2024-02-13 | 东莞天安畅行智能科技有限公司 | Control method of intelligent numerical control brake motor, intelligent numerical control brake motor and control device thereof |
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