CN114379547A - Brake control method, brake control device, vehicle, electronic device, and storage medium - Google Patents
Brake control method, brake control device, vehicle, electronic device, and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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Abstract
The disclosure provides a brake control method and device, a vehicle, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence such as automatic driving and intelligent transportation. One specific implementation scheme is as follows: when the running speed of a vehicle is not greater than a preset speed, detecting obstacles around the vehicle through visual sensors distributed on the vehicle to obtain a detection result; and according to the detection result, controlling the vehicle to brake in response to the detected obstacle being positioned in the driving direction of the vehicle and about to collide with the vehicle.
Description
Technical Field
The present disclosure relates to the field of data processing technology, and in particular, to the field of artificial intelligence technology for vehicle control, brake control, and the like.
Background
The MEB is a driving assistance safety function, and when the MEB function setting item is activated, the MEB sends a braking command to an Electronic Stability Program (ESP) to avoid or reduce a collision risk when detecting that a vehicle is close to an obstacle and there is a collision risk, especially when there is an accident due to a combination of complicated traffic changes and inattention, and the like, and the ESP performs Emergency braking of the vehicle. This MEB function is designed to be enabled as late as possible in order to avoid unnecessary intervention.
The MEB function provides an effective emergency braking scenario only for a limited use scenario, but does not avoid all the risks of collision during driving. In certain usage scenarios, unintended emergency braking may risk triggering.
Disclosure of Invention
The disclosure provides a brake control method, a brake control device, a vehicle, an electronic device and a storage medium.
According to an aspect of the present disclosure, there is provided a brake control method including:
when the running speed of a vehicle is not greater than a preset speed, detecting obstacles around the vehicle through visual sensors distributed on the vehicle to obtain a detection result;
and according to the detection result, controlling the vehicle to brake in response to the detected obstacle being positioned in the driving direction of the vehicle and about to collide with the vehicle.
According to another aspect of the present disclosure, there is provided a brake control apparatus including:
the obstacle detection unit is used for detecting obstacles around the vehicle through visual sensors distributed on the vehicle when the running speed of the vehicle is not greater than a preset speed to obtain a detection result;
and the control unit is used for controlling the vehicle to brake according to the detection result in response to the fact that the detected obstacle is located in the driving direction of the vehicle and is about to collide with the vehicle.
According to still another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of the aspects and any possible implementation described above.
According to yet another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the above-described aspect and any possible implementation.
According to yet another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of the aspect and any possible implementation as described above.
According to a further aspect of the present disclosure, there is provided a vehicle having distributed thereon a vision sensor and an ultrasonic radar, and an apparatus comprising the aspects and any possible implementation as described above.
According to the technical scheme, the vision sensor is arranged on the vehicle, when the running speed of the vehicle is not greater than the preset speed, the vision sensor is used for detecting obstacles around the vehicle to obtain a detection result, and according to the detection result, the vehicle brake is controlled in response to the fact that the detected obstacles are located in the running direction of the vehicle and are about to collide with the vehicle. Through vision sensor's high resolution, can accurately distinguish whether the barrier is on vehicle driving direction and produce the threat to the safety traffic of vehicle, the accuracy nature of barrier position has been improved, ultrasonic radar has been avoided because of its detection principle, it is not enough to detect the resolution ratio to the barrier, the problem of false drop rate, can avoid producing the malfunction of MEB because low ground bulge or deceleration strip type barrier, can avoid bringing the safety threat to the driver because of emergency braking, thereby can improve driving experience, effectively ensure driver's personal safety. In addition, through the vision sensor, can all realize stable the measuring to less barrier, for example ground pole setting, child, toy etc to and some special wave-absorbing material wall, reduce the false retrieval rate and miss the rate of examining, thereby can avoid or reduce the collision risk, improve the safety precaution effect.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
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The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;
FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device for implementing a braking control method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It is to be understood that the described embodiments are only a few, and not all, of the disclosed embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terminal device involved in the embodiments of the present disclosure may include, but is not limited to, a mobile phone, a Personal Digital Assistant (PDA), a wireless handheld device, a Tablet Computer (Tablet Computer), a computing device on a vehicle, and other intelligent devices; the display device may include, but is not limited to, a personal computer, a television, a display coupled in a vehicle, and the like, which have a display function.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Currently, vehicles rely solely on the ultrasonic radar detection information as input, to the extent that the MEB function is implemented. The inventor discovers through research that the detection capability of the ultrasonic radar to the object is limited due to the detection principle of the ultrasonic radar because the realization of the conventional MEB function only depends on the ultrasonic radar to detect information, and at least has the following problems: (1) the resolution is insufficient. Because the ultrasonic sensor is used for transmitting sound waves and has the sector transmission characteristic of the sound waves, only the area where the barrier is located can be located, and the specific angle of the barrier in the area cannot be distinguished, so that whether the barrier is in the driving direction of the vehicle or not cannot be distinguished, and the vehicle is threatened to safely drive; (2) the false detection rate is high, for example, for a low ground bulge or a deceleration strip type obstacle, the false operation of the MEB is easy to generate, so that the driving experience is influenced, and even the safety threat is brought to the driver due to the sudden braking; (3) the omission ratio is high. Ultrasonic radar surveys unstablely, and is different to the object detection effect of different materials, consequently can be to less barrier, for example ground pole setting, child, toy etc to and some special wave-absorbing material walls, unable stable detection, thereby can't play the safety precaution effect.
In order to overcome the problems of the ultrasonic radar due to the detection principle, in the related technology, the detection capability of the obstacle is improved by adopting a mode of detecting for many times and fusing detection information for many times, but because the ultrasonic sensor is used for emitting sound waves, the detection at each time has the sending and receiving time delay of the sound waves, the time delay accumulation of the detection for many times brings larger time delay, the undetected rate is further improved, and the safety is further reduced.
Therefore, it is desirable to provide a braking control method to reduce the false detection rate and the missing detection rate, reduce the detection delay, and improve the safety.
Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure, as shown in fig. 1.
101. When the running speed of the vehicle is not greater than the preset speed, detecting obstacles around the vehicle through the visual sensors distributed on the vehicle to obtain a detection result.
Optionally, in a possible implementation manner of the embodiment, the preset speed is a preset low-speed driving speed of the vehicle, and when the driving speed of the vehicle is not greater than the preset speed, the vehicle is considered to be driven in a low-speed scene. The preset speed may be determined according to factors such as an effective detection range of the visual sensor, for example, may be 30km/h, and may be updated according to an actual situation.
Optionally, in a possible implementation manner of this embodiment, the number of the vision sensors (e.g., cameras) is multiple, and the multiple vision sensors are distributed at different positions of the vehicle, for example, the number of the vision sensors may be 10, 2 vision sensors are respectively disposed in front of and behind the vehicle, and 3 vision sensors are respectively disposed on two sides of the vehicle, so as to perform 360 ° orientation detection around the vehicle. The number, specific deployment positions, deployment modes and the like of the visual sensors are not limited in the embodiment of the disclosure.
The Obstacle in the embodiment of the present disclosure may be a General Obstacle (General Obstacle), may be an Obstacle generally understood in the field of vehicle driving, such as a vehicle, a pedestrian, and the like, which may be classified according to their corresponding semantics and thus characterized and recognized, or may be an Obstacle which does not have a corresponding semantic classification and thus is difficult to be characterized and recognized, such as an animal which is not defined in a network model, or a protruding structure in which the protrusion has no practical meaning on a road, and the like. Therefore, the alternative application of the embodiment of the disclosure does not depend on semantic classification of people and objects, and a network model does not need to be established. Therefore, it may include an obstacle recognizable by the model of the semantic segmentation network, and may also include an unrecognized obstacle, which is not limited by the embodiments of the present disclosure.
Optionally, in a possible implementation manner of this embodiment, the obstacle may include: all people or objects other than a drivable area (freespace) of a current vehicle, such as a dynamic obstacle and a static obstacle, and the lower boundary of a general obstacle is usually a drivable road. Dynamic obstacles such as pedestrians, vehicles, small animals, etc. among others; static obstacles such as walls, railings, signs, flowers, trees, etc.
Optionally, in a possible implementation manner of this embodiment, a detection result obtained by detecting an obstacle around the vehicle by using the vision sensor may include whether each pixel in an image acquired by using the vision sensor is a position where the vehicle can travel, and pixels of positions where all vehicles can travel in the image constitute a travelable area of the vehicle.
Optionally, in a possible implementation manner of the embodiment, it may be known in real time that 101 is executed according to a smaller preset period (for example, 0.01s), so as to realize timely detection and update of the obstacle around the vehicle.
102. And according to the detection result, controlling the vehicle to brake in response to the detected obstacle being positioned in the driving direction of the vehicle and about to collide with the vehicle.
It should be noted that part or all of the execution subjects of 101 to 102 may be an application located in a local terminal, that is, a terminal device of a service provider, or may also be a functional unit such as a plug-in or Software Development Kit (SDK) set in the application located in the local terminal, or may also be a processing engine located in a server on a network side, or may also be a distributed system located on the network side, which is not particularly limited in this embodiment.
It is to be understood that the application may be a native app (native app) installed on the terminal, or may also be a web page program (webApp) of a browser on the terminal, and this embodiment is not particularly limited thereto.
Like this, high resolution through vision sensor, can accurately distinguish whether the barrier is on vehicle driving direction and produce the threat to the safe driving of vehicle, the accuracy nature of barrier position has been improved, ultrasonic radar has been avoided because of its detection principle, it is not enough to barrier detection resolution, the problem of false drop rate, can avoid producing the malfunction of MEB because low ground bulge or deceleration strip type barrier, can avoid bringing the safety threat to the driver because of emergency braking, thereby can improve driving experience, effectively ensure driver's personal safety. In addition, through the vision sensor, can all realize stable the measuring to less barrier, for example ground pole setting, child, toy etc to and some special wave-absorbing material wall, reduce the false retrieval rate and miss the rate of examining, thereby can avoid or reduce the collision risk, improve the safety precaution effect.
Optionally, in a possible implementation manner of this embodiment, the method may further include: starting the MEB when the running speed of the vehicle is not greater than the preset speed; or, in response to receiving an opening instruction of the MEB, the MEB is opened.
Based on the embodiment, the MEB can be automatically started when the running speed of the vehicle is detected to be not greater than the preset speed, or the MEB can be started according to a starting instruction of the MEB sent by a user, so that the vehicle braking can be automatically controlled to avoid or reduce the collision risk when the vehicle and an obstacle are detected to have collision risk based on the embodiment of the disclosure, particularly under the condition that the accident is possibly caused by the combination of complex traffic change, inattention and other factors.
Optionally, in a possible implementation manner of this embodiment, in 101, when the vision sensor detects an obstacle around the vehicle to obtain a detection result, the vision sensor may acquire an image around the vehicle, and then, the neural network is used to determine whether each pixel in the image is a boundary between a ground where the vehicle travels and a person and an object perpendicular to the ground, that is, whether the vehicle can travel, so as to obtain a detection result, where pixels of positions where all vehicles can travel in the image constitute a travelable area of the vehicle, and therefore, the detection result includes the travelable area in the image.
The travelable area can be understood as an area where any vehicle or machine can travel within the range shown by the image, the travelable area in a narrow sense can refer to an area where the vehicle can travel according to traffic rules, and the travelable area in a broad sense can include all travelable areas in emergency such as lanes, grasslands around the lanes, safety islands and the like.
The neural network may be a road segmentation neural network, for example, a fully-convolutional road segmentation neural network or other neural network may be used. Optionally, in a possible implementation manner of this embodiment, a kittseg neural network implemented by a tensrflow system, or a full convolutional neural network (FCN) implemented by a Caffe system, or a neural network established by an FCIS instance segmentation model with full convolution end-to-end, or the like may be used, or may also be implemented by an open-source convolutional neural network (MC-CNN), which is not limited in this disclosure.
Fig. 2 is a schematic diagram according to a second embodiment of the present disclosure. As shown in fig. 2, on the basis of the embodiment shown in fig. 1, 101 may include:
201. and when the running speed of the vehicle is not greater than the preset speed, determining the running direction of the vehicle.
For example, the driving direction of the vehicle may be determined by the current gear and steering wheel of the vehicle, wherein the driving direction may include, for example: forward, backward, left turn forward, right turn forward, left turn backward, right turn backward, etc.
202. And starting a target vision sensor related to the driving direction on the vehicle according to the driving direction.
203. And detecting the obstacles in the corresponding range of the driving direction through a target vision sensor to obtain a detection result.
Based on the embodiment, when the running speed of the vehicle is not greater than the preset speed, the running direction of the vehicle may be determined first, only the vision sensor related to the running direction on the vehicle is started as the target vision sensor, for example, only the forward related vision sensor (e.g., the vision sensor for forward left, forward, and forward right) is started when the vehicle is moving forward, only the backward related vision sensor (e.g., the vision sensor for backward left, backward, and backward right) is started when the vehicle is moving backward, and the obstacle detection is performed on the corresponding range of the running direction, that is, when it is detected that the vehicle and the obstacle have a collision risk, the vehicle is controlled to brake, so as to avoid or reduce the collision risk. Because the obstacle which is not on the vehicle driving direction can not cause collision because of the driving of the vehicle, all visual sensors on the vehicle are not required to be started to carry out all-around detection on the vehicle, sensor resources and calculation resources can be saved, and the safety threat to the driver is brought by sudden braking caused by unnecessary obstacle detection results, so that the driving experience can be improved, and the personal safety of the driver can be effectively ensured.
Optionally, in a possible implementation manner of this embodiment, in 203, a range area in the driving direction may be determined according to a current steering wheel of the vehicle and a detection distance of the target vision sensor, and then, the target vision sensor performs obstacle detection on the range area to obtain a detection result.
In the embodiment of the present disclosure, it may be known in real time that the process of the embodiment of the present disclosure is executed according to a smaller preset period (for example, 0.01s), and therefore, each time the process of the embodiment of the present disclosure is executed, the range area in the driving direction is determined, and then the target vision sensor performs obstacle detection on the range area, so that automatic update and obstacle detection of the range area in the driving direction of the vehicle are achieved.
Based on the embodiment, the range area in the driving direction can be determined according to the current steering direction of the steering wheel of the vehicle and the detection distance of the target vision sensor, and the obstacle detection is carried out on the range area through the target vision sensor, so that the obstacle detection in a certain range area in the driving direction of the vehicle is realized, and the comprehensive detection on the obstacle possibly colliding with the vehicle is realized.
Optionally, in a possible implementation manner of this embodiment, in 101, when the traveling speed of the vehicle is not greater than the preset speed, the visual sensors distributed on the vehicle may perform obstacle detection on the periphery of the vehicle multiple times to obtain multiple detection results.
The plurality of detection results may be a plurality of continuous or discontinuous detection results obtained from continuous detection results obtained by continuously detecting obstacles around the vehicle, which is not limited in the embodiment of the present disclosure.
Accordingly, in 102, the vehicle is controlled to brake in response to the plurality of detection results being consistent and the detected obstacle is located in the driving direction and about to collide with the vehicle according to the plurality of detection results.
Based on the embodiment, the obstacle detection is performed for multiple times through the visual sensor, and the detection results are fused, so that the false detection of the obstacle can be avoided, and the detection capability of the obstacle is improved; in addition, a detection result can be directly obtained based on an image acquired by the vision sensor, and compared with a mode that an ultrasonic radar needs to wait for time delay of sound wave sending and receiving, the time delay of obstacle confirmation and the detection missing rate improvement caused by the time delay are reduced, and the safety of vehicle running is improved.
Fig. 3 is a schematic diagram according to a third embodiment of the present disclosure. As shown in fig. 3, on the basis of the embodiment shown in fig. 1 or fig. 2, 102 may include:
301. identifying whether the plurality of detection results indicate that an obstacle is detected.
In response to the plurality of detection results indicating that an obstacle has all been detected, execute 302; otherwise, the subsequent flow of this embodiment is not executed.
302. And comparing whether the position information of the obstacles in the plurality of detection results is consistent.
When the difference between the position information of the obstacles in the plurality of detection results is smaller than a preset difference (for example, 0.05m), the position information of the obstacles in the plurality of detection results may be considered to be consistent.
Optionally, in a possible implementation manner of this embodiment, the position information of the obstacle in the plurality of detection results may be directly compared.
Alternatively, in another possible implementation manner of the embodiment, the positions of the obstacles in the plurality of detection results may be converted into the vehicle body coordinate system in advance, and then whether the position information of the obstacles in the plurality of detection results in the vehicle body coordinate system is consistent or not may be compared. Wherein, the vehicle body coordinate system can be: and a coordinate system established by taking the central point of the vehicle as an origin, taking the forward direction of the vehicle as an X axis, taking the left direction of the vehicle as a Y axis and taking the upward direction of the vehicle as a Z axis.
For example, the position information of the obstacle in the plurality of detection results in the vehicle body coordinate system may be obtained by converting the position of the obstacle in the plurality of detection results into the vehicle body coordinate system based on the position of the obstacle in the plurality of detection results with respect to the vision sensor and the position of the vision sensor in the vehicle body coordinate system, respectively.
Executing 303 in response to the position information of the obstacle in the plurality of detection results being consistent; otherwise, the subsequent flow of this embodiment is not executed.
303. Confirming whether the obstacle in the plurality of detection results is located in the traveling direction based on the position information of the obstacle in the plurality of detection results.
Optionally, in response to the obstacle being located in the driving direction, an obstacle alarm prompt may be performed, for example, a voice prompt may be performed, or a multimedia display screen prompt on the vehicle may be performed, or both a voice prompt and a multimedia display screen prompt may be performed to prompt the driver that there is an obstacle in the driving direction of the vehicle.
In response to an obstacle in the plurality of detection results being located in the direction of travel, executing 304; otherwise, the subsequent flow of this embodiment is not executed.
304. And in response to the distance between the obstacle and the vehicle in the detection results being smaller than the preset distance (for example, 5m), sending an emergency braking command to the ESP through the MEB so that the ESP controls the vehicle to brake.
For example, when the obstacle is located in the traveling direction, the distance between the obstacle and the vehicle may be acquired in real time, when it is detected that the distance between the obstacle and the vehicle is smaller than a preset distance, the MEB may transmit an emergency braking command including the distance between the obstacle and the vehicle to the ESP, which detects the current traveling speed of the vehicle, for example, by means of a wheel speed sensor or the like, calculates a braking acceleration required to control the vehicle to stop, based on the distance between the obstacle and the vehicle and the current traveling speed of the vehicle, and controls the application of a braking force to the vehicle to stop the vehicle.
Optionally, a distance between an obstacle in the plurality of detection results and the vehicle is smaller than the preset distance, a distance between an obstacle in a last detection result in the plurality of detection results and the vehicle may be smaller than the preset distance, a distance between an obstacle in a first detection result in the plurality of detection results and the vehicle may be smaller than the preset distance, a distance between an obstacle in any one of the plurality of detection results and the vehicle may be smaller than the preset distance, or an average value of distances between obstacles in the plurality of detection results and the vehicle may be smaller than the preset distance, which is not limited in the embodiment of the present disclosure.
Optionally, an emergency braking instruction is sent to the ESP by the MEB, and when the ESP controls the vehicle to stop, a vehicle stop prompt may be performed, for example, a voice prompt may be performed, or a multimedia display screen prompt on the vehicle, or both a voice prompt and a multimedia display screen prompt may be performed to prompt the driver that there is an obstacle in the vehicle traveling direction. For example, when the MEB brakes, a multimedia display screen of the vehicle may display corresponding icons and text prompts to prompt the driver of the current braking state and corresponding operations to be performed.
Based on the embodiment, when the plurality of detection results indicate that the obstacles are detected, whether the position information of the obstacles in the plurality of detection results is consistent or not is compared, when the position information of the obstacles in the plurality of detection results is consistent, the detection of the obstacles is confirmed, then whether the obstacles are located in the driving direction of the vehicle is confirmed, when the obstacles are located in the driving direction of the vehicle and the distance between the obstacles and the vehicle is less than the preset distance, an emergency braking instruction is sent to the ESP through the MEB so that the ESP controls the vehicle to brake, the detection capability of the MEB function can be greatly improved by confirming the obstacle detection result through information fusion of a plurality of times of obstacle detection results of the visual sensor, and compared with a mode of adopting ultrasonic radar to detect for a plurality of times and fusing a plurality of times of detection information, the delay of obstacle confirmation and the improvement of the missed detection rate caused by the delay can be reduced, thereby improving the safety of the vehicle running.
Fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure. As shown in fig. 4, on the basis of the embodiment shown in fig. 3, in 102, in response to that any of the plurality of detection results indicates that an obstacle is detected, or in response to that the position information of the obstacle in the plurality of detection results is inconsistent, the following operations may be further performed:
401. and executing at least one operation of detecting obstacles around the vehicle through a vision sensor to obtain at least one target detection result.
Wherein the target detection result is a detection result obtained by detecting an obstacle around the vehicle by a vision sensor after the plurality of detection results are obtained.
402. And comparing whether the position information of the obstacles in the next plurality of target detection results is consistent.
Wherein the next plurality of target detection results comprises: the at least one target detection result.
Optionally, in a possible implementation manner of this embodiment, the next multiple target detection results may include one or more detection results with a later time sequence among the multiple detection results, and at least one target detection result located after the multiple detection results; alternatively, only the plurality of target detection results located after the plurality of detection results may be included. The disclosed embodiments are not so limited.
In response to the position information of the obstacles in the next plurality of target detection results being consistent, executing 403; otherwise, the subsequent flow of the present embodiment is not executed, or the flow may return to continue to execute 401.
403. Confirming whether the obstacle in the next plurality of target detection results is located in the traveling direction based on the position information of the obstacle in the next plurality of target detection results.
In response to an obstacle in the next plurality of target detection results being located in the direction of travel, executing 404; otherwise, the subsequent flow of this embodiment is not executed.
404. And in response to the distance between the obstacle and the vehicle in the next plurality of target detection results being less than the preset distance, sending an emergency braking command to the ESP through the MEB so that the ESP controls the vehicle to brake.
Based on this embodiment, can be when the positional information of the barrier among the multiple testing results that vision sensor detection obtained is inconsistent, continue to carry out the barrier detection around the vehicle, whether the positional information of the barrier among the next multiple target testing results of comparison is unanimous again, only confirm the positional information of barrier when the positional information of the barrier among the multiple target testing results is unanimous, improve the detectability to the barrier, promote the security that the vehicle travel, and avoid bringing the safety threat to the driver because of the emergency brake that the false retrieval leads to, thereby can improve driving experience, effectively ensure driver's personal safety.
In this embodiment, through vision sensor's high resolution, can accurately distinguish whether the barrier is on vehicle driving direction and produce the threat to the safety traffic of vehicle, the accuracy nature of barrier position has been improved, ultrasonic radar has been avoided because of its detection principle, it is not enough to barrier detection resolution, the problem of false drop rate, can avoid producing the malfunction of MEB because of short ground bulge or deceleration strip type barrier, can avoid bringing the safety threat to the driver because of emergency braking, thereby can improve driving experience, effectively ensure driver's personal safety.
In addition, through the vision sensor, can all realize stable the measuring to less barrier, for example ground pole setting, child, toy etc to and some special wave-absorbing material wall, reduce the false retrieval rate and miss the rate of examining, thereby can avoid or reduce the collision risk, improve the safety precaution effect.
In addition, obstacle detection is carried out on the periphery of the vehicle for multiple times through the vision sensor to obtain multiple detection results, and the vehicle brake is controlled in response to the fact that the multiple detection results are consistent, obstacles detected by the multiple detection results are located in the traveling direction of the vehicle and are about to collide with the vehicle. The obstacle detection is carried out for multiple times through the vision sensor, and the detection results are fused, so that the false detection of the obstacle can be avoided, and the detection capability of the obstacle is improved; in addition, a detection result can be directly obtained based on an image acquired by the vision sensor, and compared with a mode that an ultrasonic radar needs to wait for time delay of sound wave sending and receiving, the time delay of obstacle confirmation and the detection missing rate improvement caused by the time delay are reduced, and the safety of vehicle running is improved.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present disclosure is not limited by the order of acts, as some steps may, in accordance with the present disclosure, occur in other orders and concurrently. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required for the disclosure.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure, as shown in fig. 5. The brake control apparatus 500 of the present embodiment may include an obstacle detection unit 501 and a control unit 502. The obstacle detection unit 501 is configured to detect obstacles around the vehicle by using visual sensors distributed on the vehicle when the running speed of the vehicle is not greater than a preset speed, so as to obtain a detection result; a control unit 502 for controlling the vehicle to brake in response to the detected obstacle being located in the driving direction of the vehicle and about to collide with the vehicle, according to the detection result.
It should be noted that part or all of the brake control apparatus 500 of this embodiment may be an application located in a local terminal, that is, a terminal device of a service provider, or may also be a functional unit such as a plug-in or Software Development Kit (SDK) set in the application located in the local terminal, or may also be a processing engine located in a server on the network side, or may also be a distributed system located on the network side, which is not particularly limited in this embodiment.
It is to be understood that the application may be a native app (native app) installed on the terminal, or may also be a web page program (webApp) of a browser on the terminal, and this embodiment is not particularly limited thereto.
Fig. 6 is a schematic diagram of a sixth embodiment according to the present disclosure, as shown in fig. 6. On the basis of the embodiment shown in fig. 5, the brake control apparatus 600 of the present embodiment may further include: a function starting unit 601 for starting the MEB in response to detecting that the traveling speed of the vehicle is not greater than a preset speed; or, in response to receiving an opening instruction of the MEB, the MEB is opened.
Optionally, referring back to fig. 6, in a possible implementation manner of this embodiment, the obstacle detecting unit 501 may include: the determining module is used for determining the driving direction of the vehicle when the driving speed of the vehicle is not greater than a preset speed; the starting module is used for starting a target vision sensor related to the driving direction on the vehicle according to the driving direction; and the detection module is used for detecting the obstacles in the corresponding range of the driving direction through the target vision sensor.
Optionally, in a possible implementation manner of this embodiment, the detection module is specifically configured to: and determining a range area in the driving direction according to the current steering of a steering wheel of the vehicle and the detection distance of the target vision sensor, and detecting the obstacle in the range area through the target vision sensor.
Optionally, in a possible implementation manner of this embodiment, the obstacle detecting unit 501 is specifically configured to, when the running speed of the vehicle is not greater than a preset speed, perform obstacle detection on the periphery of the vehicle for multiple times through the visual sensors distributed on the vehicle, so as to obtain multiple detection results. The control unit 502 is specifically configured to control the vehicle to brake in response to that the plurality of detection results are consistent, and according to the plurality of detection results, the detected obstacle is located in the traveling direction and is about to collide with the vehicle.
Optionally, referring to fig. 6 again, in a possible implementation manner of this embodiment, the control unit 502 may include: the identification module is used for identifying whether the detection results indicate that all the obstacles are detected; the comparison module is used for responding to the plurality of detection results to indicate that the obstacles are all detected, and comparing whether the position information of the obstacles in the plurality of detection results is consistent or not; a confirming module, configured to confirm whether the obstacle in the plurality of detection results is located in the traveling direction based on the position information of the obstacle in the plurality of detection results in response to the position information of the obstacle in the plurality of detection results being consistent; and the transmitting module is used for responding to the obstacle in the detection results positioned in the driving direction and the distance between the obstacle and the vehicle in the detection results smaller than the preset distance, and transmitting an emergency braking command to the ESP through the MEB so that the ESP controls the vehicle to brake.
Optionally, in a possible implementation manner of this embodiment, the obstacle detecting unit may be further configured to, in response to that a detection result in the multiple detection results indicates that an obstacle is detected, or in response to that position information of an obstacle in the multiple detection results is inconsistent, perform, by using the vision sensor, at least one operation of detecting an obstacle around the vehicle to obtain at least one target detection result; the comparison module can also be used for comparing whether the position information of the obstacles in the next plurality of target detection results is consistent or not; wherein the next plurality of target detection results comprise: at least one target detection result; the confirming module is further used for responding to the consistency of the position information of the obstacles in the next target detection results, and confirming whether the obstacles in the next target detection results are positioned in the driving direction or not based on the position information of the obstacles in the next target detection results; and the sending module is also used for responding to the obstacle in the next plurality of target detection results positioned in the driving direction, and the distance between the obstacle in the next plurality of target detection results and the vehicle is less than the preset distance, and sending an emergency braking command to the ESP through the MEB so that the ESP controls the vehicle to brake.
In this embodiment, through vision sensor's high resolution, can accurately distinguish whether the barrier is on vehicle driving direction and produce the threat to the safety traffic of vehicle, the accuracy nature of barrier position has been improved, ultrasonic radar has been avoided because of its detection principle, it is not enough to barrier detection resolution, the problem of false drop rate, can avoid producing the malfunction of MEB because of short ground bulge or deceleration strip type barrier, can avoid bringing the safety threat to the driver because of emergency braking, thereby can improve driving experience, effectively ensure driver's personal safety.
In addition, through the vision sensor, can all realize stable the measuring to less barrier, for example ground pole setting, child, toy etc to and some special wave-absorbing material wall, reduce the false retrieval rate and miss the rate of examining, thereby can avoid or reduce the collision risk, improve the safety precaution effect.
In addition, obstacle detection is carried out on the periphery of the vehicle for multiple times through the vision sensor to obtain multiple detection results, and the vehicle brake is controlled in response to the fact that the multiple detection results are consistent, obstacles detected by the multiple detection results are located in the traveling direction of the vehicle and are about to collide with the vehicle. The obstacle detection is carried out for multiple times through the vision sensor, and the detection results are fused, so that the false detection of the obstacle can be avoided, and the detection capability of the obstacle is improved; in addition, a detection result can be directly obtained based on an image acquired by the vision sensor, and compared with a mode that an ultrasonic radar needs to wait for time delay of sound wave sending and receiving, the time delay of obstacle confirmation and the detection missing rate improvement caused by the time delay are reduced, and the safety of vehicle running is improved.
According to an embodiment of the disclosure, an electronic device, a readable storage medium and a computer program product are also provided, and further, a vehicle is also provided.
The embodiment of the disclosure provides a vehicle, which is distributed with a vision sensor and an ultrasonic radar, and comprises a brake control device provided by any one of the above embodiments of the disclosure.
FIG. 7 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (18)
1. A brake control method comprising:
when the running speed of a vehicle is not greater than a preset speed, detecting obstacles around the vehicle through visual sensors distributed on the vehicle to obtain a detection result;
and according to the detection result, controlling the vehicle to brake in response to the detected obstacle being positioned in the driving direction of the vehicle and about to collide with the vehicle.
2. The method of claim 1, further comprising:
starting a low-speed emergency braking auxiliary system when the running speed of the vehicle is detected to be not greater than the preset speed; alternatively, the first and second electrodes may be,
and in response to receiving an opening instruction of the low-speed emergency braking auxiliary system, opening the low-speed emergency braking auxiliary system.
3. The method of claim 1 or 2, wherein the obstacle detection around the vehicle by means of visual sensors distributed on the vehicle comprises:
determining a direction of travel of the vehicle;
starting a target vision sensor related to the driving direction on the vehicle according to the driving direction;
and detecting the obstacle in the corresponding range of the driving direction through the target vision sensor.
4. The method of claim 3, wherein the performing, by the target vision sensor, obstacle detection for the corresponding range of travel directions comprises:
and determining a range area in the driving direction according to the current steering wheel steering of the vehicle and the detection distance of the target vision sensor, and detecting the obstacle in the range area through the target vision sensor.
5. The method according to any one of claims 1-4, wherein the detecting obstacles around the vehicle to obtain a detection result comprises:
detecting obstacles around the vehicle for multiple times to obtain multiple detection results;
the controlling the vehicle to brake in response to the detected obstacle being located in the driving direction of the vehicle and about to collide with the vehicle according to the detection result includes:
and controlling the vehicle to brake in response to the plurality of detection results being consistent and the detected obstacle is located in the driving direction and is about to collide with the vehicle according to the plurality of detection results.
6. The method of claim 5, wherein the controlling the vehicle to stop in response to the plurality of detection results being consistent and the detected obstacle being in a direction of travel of the vehicle and about to collide with the vehicle according to the plurality of detection results comprises:
identifying whether the plurality of detection results indicate that an obstacle is detected;
in response to the plurality of detection results indicating that the obstacles are all detected, comparing whether the position information of the obstacles in the plurality of detection results is consistent;
confirming whether the obstacle in the plurality of detection results is located in the traveling direction based on the position information of the obstacle in the plurality of detection results in response to the position information of the obstacle in the plurality of detection results matching;
and in response to the fact that the obstacles in the detection results are located in the driving direction and the distance between the obstacles in the detection results and the vehicle is smaller than the preset distance, sending an emergency braking instruction to an electronic stability program through a low-speed emergency braking auxiliary system so that the electronic stability program controls the vehicle to brake.
7. The method of claim 6, wherein the controlling the vehicle to stop in response to the plurality of detection results being consistent and based on the plurality of detection results, the detected obstacle being in a direction of travel of the vehicle and about to collide with the vehicle further comprises:
in response to that a detection result in the plurality of detection results indicates that an obstacle is detected, or in response to that position information of the obstacle in the plurality of detection results is inconsistent, performing at least one operation of detecting the obstacle around the vehicle through the vision sensor to obtain at least one target detection result;
comparing whether the position information of the obstacles in the next plurality of target detection results is consistent; wherein the next plurality of target detection results comprises: the at least one target detection result;
confirming whether an obstacle in the next plurality of target detection results is located in the traveling direction based on position information of an obstacle in the next plurality of target detection results in response to the position information of the obstacle in the next plurality of target detection results matching;
and sending an emergency braking instruction to the electronic stability program through the low-speed emergency braking auxiliary system in response to the fact that the obstacles in the next plurality of target detection results are located in the driving direction and the distance between the obstacles in the next plurality of target detection results and the vehicle is smaller than the preset distance, so that the electronic stability program controls the vehicle to brake.
8. A brake control device comprising:
the obstacle detection unit is used for detecting obstacles around the vehicle through visual sensors distributed on the vehicle when the running speed of the vehicle is not greater than a preset speed to obtain a detection result;
and the control unit is used for controlling the vehicle to brake according to the detection result in response to the fact that the detected obstacle is located in the driving direction of the vehicle and is about to collide with the vehicle.
9. The apparatus of claim 8, further comprising:
the function starting unit is used for starting a low-speed emergency braking auxiliary system when the running speed of the vehicle is detected to be not greater than the preset speed; or, in response to receiving an opening instruction of the low-speed emergency braking auxiliary system, the low-speed emergency braking auxiliary system is opened.
10. The apparatus according to claim 8 or 9, wherein the obstacle detecting unit includes:
the determining module is used for determining the driving direction of the vehicle when the driving speed of the vehicle is not greater than the preset speed;
the starting module is used for starting a target vision sensor related to the driving direction on the vehicle according to the driving direction;
and the detection module is used for detecting the obstacles in the corresponding range of the driving direction through the target vision sensor.
11. The apparatus according to claim 10, wherein the detection module is specifically configured to:
and determining a range area in the driving direction according to the current steering wheel steering of the vehicle and the detection distance of the target vision sensor, and detecting the obstacle in the range area through the target vision sensor.
12. The apparatus of any one of claims 8-11,
the obstacle detection unit is specifically used for detecting obstacles around the vehicle for multiple times through the visual sensors distributed on the vehicle when the running speed of the vehicle is not greater than a preset speed, so as to obtain multiple detection results;
the control unit is specifically configured to control the vehicle to brake in response to that the plurality of detection results are consistent and that, according to the plurality of detection results, the detected obstacle is located in the traveling direction and is about to collide with the vehicle.
13. The apparatus of claim 12, wherein the control unit comprises:
the identification module is used for identifying whether the detection results indicate that all the obstacles are detected;
the comparison module is used for responding to the plurality of detection results to indicate that the obstacles are detected, and comparing whether the position information of the obstacles in the plurality of detection results is consistent;
a confirming module configured to confirm whether the obstacle in the plurality of detection results is located in the traveling direction based on the position information of the obstacle in the plurality of detection results in response to the position information of the obstacle in the plurality of detection results being identical;
and the sending module is used for responding to the situation that the obstacles in the detection results are positioned in the driving direction, and the distance between the obstacles in the detection results and the vehicle is less than the preset distance, and sending an emergency braking instruction to an electronic stability program through a low-speed emergency braking auxiliary system so that the electronic stability program controls the vehicle to brake.
14. The apparatus of claim 13, wherein,
the obstacle detection unit is further configured to, in response to that any of the plurality of detection results indicates that an obstacle is detected, or in response to that position information of an obstacle in the plurality of detection results is inconsistent, execute, by the vision sensor, at least one operation of performing obstacle detection on the periphery of the vehicle to obtain at least one target detection result;
the comparison module is further used for comparing whether the position information of the obstacles in the next plurality of target detection results is consistent; wherein the next plurality of target detection results comprises: the at least one target detection result;
the confirming module is further configured to confirm whether the obstacle in the next plurality of target detection results is located in the driving direction based on the position information of the obstacle in the next plurality of target detection results in response to the position information of the obstacle in the next plurality of target detection results being consistent;
the sending module is further configured to send an emergency braking instruction to the electronic stability program through the low-speed emergency braking auxiliary system in response to that an obstacle in the next plurality of target detection results is located in the driving direction, and a distance between the obstacle in the next plurality of target detection results and the vehicle is smaller than the preset distance, so that the electronic stability program controls the vehicle to brake.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-6.
18. A vehicle having distributed thereon vision sensors and ultrasonic radar, and comprising the apparatus of any one of claims 8-14.
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| CN202111597352.6A CN114379547A (en) | 2021-12-24 | 2021-12-24 | Brake control method, brake control device, vehicle, electronic device, and storage medium |
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| CN202111597352.6A CN114379547A (en) | 2021-12-24 | 2021-12-24 | Brake control method, brake control device, vehicle, electronic device, and storage medium |
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