CN113859190B - Early warning braking method and device for automatic driving vehicle, vehicle and storage medium - Google Patents
Early warning braking method and device for automatic driving vehicle, vehicle and storage medium Download PDFInfo
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- CN113859190B CN113859190B CN202111415993.5A CN202111415993A CN113859190B CN 113859190 B CN113859190 B CN 113859190B CN 202111415993 A CN202111415993 A CN 202111415993A CN 113859190 B CN113859190 B CN 113859190B
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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
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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Abstract
The application discloses an early warning braking method, an early warning braking device, a vehicle and a storage medium for an automatic driving vehicle, wherein the method comprises the following steps: detecting an early warning braking instruction of an automatically driven vehicle; when an early warning braking instruction is detected and early warning reminding is carried out, the target deceleration of the automatic driving vehicle is identified according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of a brake actuator; the target pressure of the brake actuator is corrected from the target deceleration until the actual deceleration of the autonomous vehicle reaches the target deceleration. Therefore, the problem that in the related art, an electric brake is selected on a brake actuator for braking, and cannot be realized for a vehicle without the electric brake is solved, sudden vehicle movement or safety accidents are avoided, and the safety of a driver is effectively improved.
Description
Technical Field
The present disclosure relates to vehicle technologies, and in particular, to an early warning braking method and device for an autonomous driving vehicle, a vehicle, and a storage medium.
Background
Along with the increase of the automobile holding capacity, traffic accidents are frequent, so that great damage is caused to social resources, and in order to increase the driving safety, the automatic early warning braking system is invented, so that a driver can be helped to brake in emergency, and the occurrence of traffic accidents is avoided
In the related art, when the distance between the front obstacle and the vehicle is detected to be too short, the controller warns the driver by using the alarm and brakes the vehicle by using the electric brake, thereby preventing accidents
However, in the related art, an electric brake is selected for a brake actuator to perform braking, and the vehicle without the electric brake cannot be realized, and a solution is needed.
Content of application
The application provides an early warning braking method and device for an automatic driving vehicle, the vehicle and a storage medium, and aims to solve the problem that in the related art, an electric brake is selected on a brake actuator to brake, and the problem that the vehicle without the electric brake cannot be realized is solved, so that sudden vehicle movement or safety accidents are avoided, and the safety of a driver is effectively improved.
An embodiment of a first aspect of the present application provides an early warning braking method for an autonomous vehicle, including the following steps:
detecting an early warning braking instruction of an automatically driven vehicle;
when the early warning braking instruction is detected and early warning reminding is carried out, identifying the target deceleration of the automatic driving vehicle according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of a brake actuator; and
correcting the target pressure of the brake actuator from the target deceleration until the actual deceleration of the autonomous vehicle reaches the target deceleration.
Optionally, the correcting the target pressure of the brake actuator from the target deceleration includes:
identifying a current braking demand of a driver;
if the current braking demand is larger than or equal to the target pressure, controlling the brake actuator to execute a braking action according to the braking demand;
and if the current braking demand is smaller than the target pressure, controlling the brake actuator to execute the braking action by using the target pressure.
Optionally, before correcting the target pressure of the brake actuator by the target deceleration, the method further includes:
and matching the execution time length of the target pressure according to the current vehicle speed range so as to control the brake actuator to execute the brake action according to the time length.
Optionally, the method further comprises:
a relation table of a vehicle speed range-an execution time period is stored in advance to look up the execution time period from the relation table.
Optionally, when the early warning braking instruction is detected and early warning reminding is performed, the method further includes:
and if the current active decompression available state is detected to meet the alarm condition, performing braking alarm and controlling the brake actuator to execute the braking action by using the maximum pressure.
An embodiment of a second aspect of the present application provides an early warning braking device for an autonomous vehicle, including:
the detection module is used for detecting an early warning braking instruction of the automatic driving vehicle;
the identification module is used for identifying the target deceleration of the automatic driving vehicle according to the current speed range of the automatic driving vehicle and the current active decompression available state of a brake actuator while detecting the early warning braking instruction and carrying out early warning reminding; and
a correction module to correct a target pressure of the brake actuator from the target deceleration until an actual deceleration of the autonomous vehicle reaches the target deceleration.
Optionally, the modification module is specifically configured to:
identifying a current braking demand of a driver;
if the current braking demand is larger than or equal to the target pressure, controlling the brake actuator to execute a braking action according to the braking demand;
and if the current braking demand is smaller than the target pressure, controlling the brake actuator to execute the braking action by using the target pressure.
Optionally, before correcting the target pressure of the brake actuator by the target deceleration, the correction module is further configured to:
and matching the execution time length of the target pressure according to the current vehicle speed range so as to control the brake actuator to execute the brake action according to the time length.
Optionally, the method further comprises:
and the query module is used for pre-storing a relation table of the vehicle speed range and the execution duration so as to query the execution duration from the relation table.
Optionally, when the early warning braking instruction is detected and early warning reminding is performed, the identification module is further configured to:
and the control module is used for controlling the brake actuator to execute the braking action at the maximum pressure while braking alarm is carried out if the current active decompression available state is detected to meet the alarm condition.
An embodiment of a third aspect of the present application provides a vehicle, comprising: the warning braking method for the autonomous vehicle comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the warning braking method for the autonomous vehicle according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing the above-mentioned pre-warning braking method for an autonomous vehicle.
Therefore, when the early warning braking instruction of the automatic driving vehicle is detected and early warning reminding is carried out, the target deceleration of the automatic driving vehicle is identified according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of the brake actuator, and the target pressure of the brake actuator is corrected according to the target deceleration until the actual deceleration of the automatic driving vehicle reaches the target deceleration. Therefore, the problem that in the related art, an electric brake is selected on a brake actuator for braking, and the vehicle which is not provided with the electric brake cannot be braked is solved, sudden vehicle movement or safety accidents are avoided, and the safety of a driver is effectively improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an early warning braking method for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a closed-loop control for correcting a target deceleration in accordance with an embodiment of the present application;
FIG. 3 is a graphical illustration of vehicle speed range versus target pressure execution duration in accordance with one embodiment of the present application;
FIG. 4 is a diagram showing a vehicle speed range versus a target pressure execution period according to another embodiment of the present application;
FIG. 5 is a diagram illustrating a vehicle speed range versus a target pressure execution duration in accordance with yet another embodiment of the present application;
FIG. 6 is a control block diagram illustrating a warning braking method for an autonomous vehicle according to one embodiment of the present application;
FIG. 7 is a block schematic diagram of an early warning braking device of an autonomous vehicle according to an embodiment of the application;
FIG. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
An early warning braking method and device for an autonomous vehicle, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In order to solve the problem that the braking of a vehicle without an electric brake cannot be realized due to the fact that the electric brake is selected on the brake actuator in the related technology mentioned in the background technology center, the application provides an early warning braking method of an automatic driving vehicle. Therefore, the problem that in the related art, an electric brake is selected on a brake actuator for braking, and the vehicle which is not provided with the electric brake cannot be braked is solved, sudden vehicle movement or safety accidents are avoided, and the safety of a driver is effectively improved.
Specifically, fig. 1 is a schematic flow chart of an early warning braking method for an autonomous vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the early warning braking method of the autonomous vehicle includes the steps of:
in step S101, a warning braking instruction of the autonomous vehicle is detected.
It should be understood that the embodiment of the present application may detect the early warning braking command of the autonomous vehicle through an ESP (Electronic Stability Program).
In step S102, while the pre-warning braking instruction is detected and the pre-warning prompt is performed, the target deceleration of the autonomous vehicle is identified according to the current vehicle speed range in which the autonomous vehicle is currently located and the current active decompression available state of the brake actuator.
Specifically, a plurality of vehicle speed ranges may be set, for example, the vehicle speed ranges from V0 to V1, the vehicle speed ranges from V1 to V2, the vehicle speed exceeds V2, and the ESP may determine the execution of braking according to the vehicle speed range and the IBOOST active decompression available state (i.e., the current active decompression available state of the brake actuator), and, for example, after receiving the warning braking command and the IBOOST active decompression available state, the ESP determines to brake the corresponding target deceleration according to the vehicle speed information.
Further, in some embodiments, while detecting the early warning braking instruction and performing the early warning prompt, the method further includes: if the current active decompression available state meets the alarm condition, the brake is alarmed, and meanwhile, the brake actuator is controlled to execute the brake action at the maximum pressure, so that the safety of a driver is effectively improved, the vehicle does not suddenly move or a safety accident is not caused, and the safety of the driver is improved.
In step S103, the target pressure of the brake actuator is corrected by the target deceleration until the actual deceleration of the autonomous vehicle reaches the target deceleration.
It can be understood that, as shown in fig. 2, the embodiment of the present application may convert the target deceleration calculation into a target pressure signal that the IBOOST needs to perform through the ESP, and after the IBOOST performs the target pressure, the entire vehicle generates a corresponding deceleration. And comparing the target deceleration with the actual deceleration, and performing closed-loop control to further approach the target deceleration.
Optionally, in some embodiments, correcting the target pressure of the brake actuator from the target deceleration comprises: identifying a current braking demand of a driver; if the current braking demand is greater than or equal to the target pressure, controlling a braking actuator to execute braking action according to the braking demand; and if the current braking demand is smaller than the target pressure, controlling the brake actuator to execute the braking action by using the target pressure.
That is, during execution of the IBOOST, if the driver suddenly depresses the brake pedal, the IBOOST needs to coordinate the relationship between the external target pressure and the braking demand of the driver, so as to prevent the deceleration from suddenly decreasing after the driver depresses the brake pedal, thereby giving the driver a feeling of acceleration, or preventing the pressure from being effectively built up in time when the driver needs a larger braking force, thereby causing a safety accident.
Specifically, when the driver braking demand (i.e., the current braking demand) P Driving device Not less than the target pressure P Target When so, then IBOOST performs hydraulic pressure P = driver braking demand P Driving device ；
When the driver demands braking P Driving device < target pressure P Target When, then IBOOST performs hydraulic pressure P = target pressure P Target 。
Therefore, the automatic early warning braking device can quickly respond to the request of the automatic early warning braking device, and the purposes of reminding a driver and enabling the vehicle to decelerate according to the target are achieved. Meanwhile, when two braking requests exist, the braking is executed according to the maximum request, so that the safety of a driver can be effectively improved in a transition link, and the vehicle is prevented from suddenly jumping or causing safety accidents.
Optionally, in some embodiments, before correcting the target pressure of the brake actuator by the target deceleration, the method further includes: and matching the execution time length of the target pressure according to the current vehicle speed range so as to control the brake actuator to execute the brake action according to the time length.
That is, the embodiment of the present application can divide the pre-warning braking into several levels according to the vehicle speed, and the braking target deceleration duration that needs to be executed differs for different levels.
As one possible implementation, as shown in FIG. 3, when the vehicle speed is in the range of V0 to V1, the ESP performs the target deceleration for a period of time T1;
as another possible implementation, as shown in FIG. 4, when the vehicle speed is in the range of V1 to V2, the ESP performs the target deceleration for a period of time T2;
as still another possible implementation, as shown in fig. 5, when the vehicle speed exceeds V2, the ESP executes the target deceleration for a period of time T3.
Optionally, in some embodiments, the method for early warning braking of an autonomous vehicle further includes: a vehicle speed range-execution time period relation table is stored in advance to look up the execution time period from the relation table.
That is to say, in the embodiment of the present application, a relationship table of a vehicle speed range and an execution duration may be preset, or a relationship table of a vehicle speed range and an execution duration may be obtained through a limited number of experiments, or a relationship table of a vehicle speed range and an execution duration may be obtained through a limited number of computer simulations, and the relationship table of the vehicle speed range and the execution duration may be stored, and after a vehicle speed range is determined, a corresponding execution duration may be obtained by querying the relationship table of the vehicle speed range and the execution duration stored in advance.
In summary, as shown in fig. 6, fig. 6 is a schematic control block diagram of an early warning braking method for an autonomous vehicle according to an embodiment of the present application.
Specifically, after the ESP controller receives an early warning braking instruction and an IBOOST active decompression available state, the ESP judges according to vehicle speed information to brake a corresponding target deceleration, converts the target deceleration into a target pressure signal according to an actual vehicle matching condition and provides the target pressure signal to the IBOOST, the IBOOST executes corresponding hydraulic pressure, and pressure is built for four wheel end brakes, so that the whole vehicle generates corresponding deceleration, and the purpose of short braking is achieved.
According to the early warning braking method of the automatic driving vehicle, when the early warning braking instruction of the automatic driving vehicle is detected and early warning reminding is carried out, the target deceleration of the automatic driving vehicle is identified according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of the brake actuator, and the target pressure of the brake actuator is corrected according to the target deceleration until the actual deceleration of the automatic driving vehicle reaches the target deceleration. Therefore, the problem that in the related art, an electric brake is selected on a brake actuator for braking, and cannot be realized for a vehicle without the electric brake is solved, sudden vehicle movement or safety accidents are avoided, and the safety of a driver is effectively improved.
Next, a warning braking device of an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 7 is a block schematic diagram of an early warning braking device of an autonomous vehicle according to an embodiment of the present application.
As shown in fig. 7, the pre-warning braking device 10 for an autonomous vehicle includes: a detection module 100, an identification module 200 and a correction module 300.
The detection module 100 is used for detecting an early warning braking instruction of the automatic driving vehicle;
the identification module 200 is used for identifying the target deceleration of the automatic driving vehicle according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of the brake actuator while detecting the early warning braking instruction and performing early warning reminding; and
the correction module 300 is configured to correct the target pressure of the brake actuator from the target deceleration until an actual deceleration of the autonomous vehicle reaches the target deceleration.
Optionally, the modification module 300 is specifically configured to:
identifying a current braking demand of a driver;
if the current braking demand is greater than or equal to the target pressure, controlling a braking actuator to execute braking action according to the braking demand;
and if the current braking demand is smaller than the target pressure, controlling the brake actuator to execute the braking action by using the target pressure.
Optionally, before correcting the target pressure of the brake actuator by the target deceleration, the correction module is further configured to:
and matching the execution time length of the target pressure according to the current vehicle speed range so as to control the brake actuator to execute the brake action according to the time length.
Optionally, the method further comprises:
and the query module is used for pre-storing a relation table of the vehicle speed range and the execution time length so as to query the execution time length from the relation table.
Optionally, when the early warning braking instruction is detected and the early warning is performed, the identification module is further configured to:
and the control module is used for controlling the brake actuator to execute the braking action by using the maximum pressure while braking alarm is carried out if the current active decompression available state is detected to meet the alarm condition.
It should be noted that the explanation of the embodiment of the braking method for an autonomous vehicle is also applicable to the braking device for an autonomous vehicle of this embodiment, and will not be described herein again.
According to the early warning braking device of the automatic driving vehicle, when the early warning braking instruction of the automatic driving vehicle is detected and early warning reminding is carried out, the target deceleration of the automatic driving vehicle is identified according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of the brake actuator, and the target pressure of the brake actuator is corrected according to the target deceleration until the actual deceleration of the automatic driving vehicle reaches the target deceleration. Therefore, the problem that in the related art, an electric brake is selected on a brake actuator for braking, and cannot be realized for a vehicle without the electric brake is solved, sudden vehicle movement or safety accidents are avoided, and the safety of a driver is effectively improved.
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.
The processor 802, when executing the program, implements the pre-warning braking method for an autonomous vehicle provided in the embodiments described above.
Further, the vehicle further includes:
a communication interface 803 for communicating between the memory 801 and the processor 802.
A memory 801 for storing computer programs operable on the processor 802.
The memory 801 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 801, the processor 802, and the communication interface 803 are implemented independently, the communication interface 803, the memory 801, and the processor 802 may be connected to each other via a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on one chip, the memory 801, the processor 802, and the communication interface 803 may complete communication with each other through an internal interface.
The processor 802 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the above pre-warning braking method for an autonomous vehicle.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
Claims (4)
1. An early warning braking method for an autonomous vehicle, comprising the steps of:
detecting an early warning braking instruction of an automatically driven vehicle;
when the early warning braking instruction is detected and early warning reminding is carried out, identifying the target deceleration of the automatic driving vehicle according to the current vehicle speed range of the automatic driving vehicle and the current active decompression available state of a brake actuator; and
correcting the target pressure of the brake actuator from the target deceleration until an actual deceleration of the autonomous vehicle reaches the target deceleration;
the correcting the target pressure of the brake actuator by the target deceleration includes: identifying a current braking demand of a driver; if the current braking demand is larger than or equal to the target pressure, controlling the brake actuator to execute a braking action according to the braking demand; if the current braking demand is smaller than the target pressure, controlling the brake actuator to execute the braking action according to the target pressure;
before correcting the target pressure of the brake actuator by the target deceleration, the method further includes: matching the execution time length of the target pressure according to the current vehicle speed range so as to control the brake actuator to execute the brake action according to the time length;
pre-storing a relation table of vehicle speed range and execution time length to inquire the execution time length from the relation table;
when detecting early warning braking instruction carries out early warning and reminds, still include: and if the current active decompression available state is detected to meet the alarm condition, performing braking alarm and controlling the brake actuator to execute the braking action by using the maximum pressure.
2. An early warning braking device for an autonomous vehicle, comprising:
the detection module is used for detecting an early warning braking instruction of the automatic driving vehicle;
the identification module is used for identifying the target deceleration of the automatic driving vehicle according to the current speed range of the automatic driving vehicle and the current active decompression available state of a brake actuator while detecting the early warning braking instruction and carrying out early warning reminding; and
a correction module for correcting a target pressure of the brake actuator from the target deceleration until an actual deceleration of the autonomous vehicle reaches the target deceleration;
the correction module is specifically configured to: identifying a current braking demand of a driver; if the current braking demand is larger than or equal to the target pressure, controlling the brake actuator to execute a braking action according to the braking demand; if the current braking demand is smaller than the target pressure, controlling the brake actuator to execute the braking action according to the target pressure;
before correcting the target pressure of the brake actuator by the target deceleration, the correction module is further configured to: matching the execution time length of the target pressure according to the current vehicle speed range so as to control the brake actuator to execute the brake action according to the time length;
pre-storing a relation table of vehicle speed range and execution time length to inquire the execution time length from the relation table;
when the early warning braking instruction is detected and early warning reminding is carried out, the identification module is further used for: and if the current active decompression available state meets the alarm condition, controlling the brake actuator to execute the brake action by using the maximum pressure while performing brake alarm.
3. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of pre-warning braking of an autonomous vehicle as claimed in claim 1.
4. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the pre-warning braking method of an autonomous vehicle as claimed in claim 1.
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| JP2004090899A (en) * | 2002-09-04 | 2004-03-25 | Advics:Kk | Brake alarm device for vehicle |
| CN112660092A (en) * | 2021-01-05 | 2021-04-16 | 奇瑞新能源汽车股份有限公司 | Downhill braking method and device for electric automobile and electric automobile |
| CN113032895A (en) * | 2021-02-23 | 2021-06-25 | 北京天佑新辔高新技术有限公司 | Braking force determination method and device and computer equipment |
| CN113370800A (en) * | 2021-06-04 | 2021-09-10 | 北京新能源汽车股份有限公司 | Vehicle torque control method and device and vehicle |
| CN113401142B (en) * | 2021-07-13 | 2022-09-27 | 奇瑞新能源汽车股份有限公司 | Braking method and device for automatic driving vehicle, vehicle and storage medium |
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