CN114872669A

CN114872669A - Braking control method and device for parking abnormity, vehicle-mounted terminal, vehicle and medium

Info

Publication number: CN114872669A
Application number: CN202210609860.XA
Authority: CN
Inventors: 李林润; 王超; 张建; 刘秋铮; 姜洪伟; 孟祥希; 张伟; 白泽文
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-08-09

Abstract

The invention discloses a braking control method and device for parking abnormity, a vehicle-mounted terminal, a vehicle and a medium. The specific implementation scheme is as follows: acquiring vehicle state information and surrounding environment state information of a vehicle in a parking state; determining an abnormal type according to the vehicle state information and the environment state information; controlling application of a braking force to the vehicle according to the abnormality type. The potential movement risk of the vehicle caused by the abnormal condition can be effectively avoided, the potential safety hazard of the vehicle in the parking state is reduced, and the safety of the vehicle in the parking stopping period is guaranteed.

Description

Braking control method and device for parking abnormity, vehicle-mounted terminal, vehicle and medium

Technical Field

The invention relates to the technical field of vehicle control, in particular to a braking control method and device for parking abnormity, a vehicle-mounted terminal, a vehicle and a medium.

Background

The braking system of the existing vehicle usually comprises two main parts, namely a service brake and a parking brake. Specifically, when a driver steps on a brake pedal, a brake system is converted into hydraulic braking force to realize deceleration or uniform motion of the vehicle; when the vehicle is parked, the driver operates the parking brake switch, so that the parking brake system is activated to generate parking brake force, and the vehicle can be kept parked under the condition that the vehicle speed is zero.

At present, various abnormal conditions may occur during the parking and stopping of the vehicle, so that the vehicle cannot respond in time, and certain potential safety hazards are generated.

Disclosure of Invention

The invention provides a braking control method and device for parking abnormity, a vehicle-mounted terminal, a vehicle and a medium, which are used for improving the safety of the vehicle in a parking state.

In a first aspect, the present invention provides a braking control method for a parking abnormality, the method including:

acquiring vehicle state information and surrounding environment state information of a vehicle in a parking state;

determining an abnormal type according to the vehicle state information and the environment state information;

controlling application of a braking force to the vehicle according to the abnormality type.

In a second aspect, the present invention provides a brake control device for an abnormal parking, the device including:

the information acquisition module is used for acquiring vehicle state information of the vehicle in a parking state and surrounding environment state information;

the abnormal type determining module is used for determining an abnormal type according to the vehicle state information and the environment state information;

and the braking force application module is used for controlling the application of the braking force to the vehicle according to the abnormal type.

In a third aspect, the present invention provides a vehicle-mounted terminal, 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 a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a parking-abnormal brake control method as provided by any of the embodiments of the present invention.

In a fourth aspect, the invention provides a vehicle provided with any one of the vehicle-mounted terminals as provided in the embodiment of the third aspect.

In a fifth aspect, the present invention provides a computer-readable storage medium storing computer instructions for causing a processor to execute a method for controlling a parking-abnormal brake provided in any one of the embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, the vehicle state information and the surrounding environment information of the vehicle in the parking state are acquired, so that the abnormity of the vehicle in the parking and stopping period can be identified in time, and the corresponding braking force is applied to the vehicle based on the determined abnormity type, so that the potential movement risk of the vehicle due to the abnormal condition is effectively avoided, the potential safety hazard of the vehicle in the parking state is reduced, and the safety of the vehicle in the parking and stopping period is favorably ensured.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a braking control method for parking abnormality according to an embodiment of the present invention;

FIG. 2 is a flowchart of a braking control method for parking abnormality according to a second embodiment of the present invention;

FIG. 3 is a flowchart of a braking control method for parking abnormality according to a third embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a braking control device for parking abnormality according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a vehicle-mounted terminal according to a fifth embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a braking control method for parking abnormality according to a first embodiment of the present invention, which is applicable to a case where braking control is performed on a vehicle due to abnormality during parking and stopping. The method may be performed by an abnormal parking brake control device, which may be implemented in hardware and/or software, and may be configured in a vehicle-mounted terminal. As shown in fig. 1, the method includes:

and S110, acquiring vehicle state information of the vehicle in a parking state and surrounding environment state information.

The vehicle state information may be parameter information corresponding to a state where the vehicle is currently located. The environmental state information may be parameter information corresponding to a state in which the environment around the vehicle is currently located.

Specifically, different types of vehicle-mounted sensing devices may be provided on the vehicle in advance, and when the vehicle is in a parked state, the vehicle surrounding environment information may be acquired by the different types of vehicle-mounted sensing devices, and the corresponding environment state information may be determined based on the acquired environment information. In addition, through the vehicle-mounted sensing device arranged on the vehicle, various parameter information corresponding to the current state of the vehicle can be acquired, namely, the vehicle state information of the vehicle in the parking state can be acquired. The vehicle-mounted sensing device may be a vehicle-mounted device for collecting vehicle state information and vehicle surrounding environment information.

For example, acquiring the environmental state information of the surroundings of the vehicle in the parking state may include: acquiring environmental information around the vehicle according to at least two vehicle-mounted sensing devices in the vehicle; and carrying out fusion processing on the environment information acquired by the at least two vehicle-mounted sensing devices to determine the environment state information around the vehicle.

The vehicle-mounted sensing device may include at least one of a millimeter-wave radar, a sound sensor, a forward-looking camera, a look-around camera, and the like. The environmental information around the vehicle may have different expressions, and may include, for example, picture information collected by a forward-looking camera and/or a look-around camera, point cloud information collected by a millimeter wave radar, and the like.

Specifically, the environmental information around the vehicle can be collected through at least two vehicle-mounted sensor devices in the vehicle, so that the environmental information in different expression forms can be obtained. And the environment information in different expression forms is subjected to fusion processing, and the unique environment state information corresponding to the surrounding environment of the vehicle is determined by analyzing and comparing the data information actually contained in each environment information.

It can be understood that, by collecting the environmental information around the vehicle according to at least two vehicle-mounted sensing devices in the vehicle and fusing the collected environmental information, when the environmental state information around the vehicle is determined, the finally determined environmental state information can be corrected based on the environmental information collected by the plurality of vehicle-mounted sensing devices, so that the limitation caused by only referring to the environmental information collected by a single vehicle-mounted sensing device is avoided, and the accuracy of determining the environmental state information around the vehicle is effectively improved.

And S120, determining an abnormal type according to the vehicle state information and the environment state information.

The abnormal type may be a type to which an abnormal condition of the current vehicle belongs.

Specifically, the mapping relationship between the vehicle state information, the environmental state information, and the abnormality type may be established in advance. Based on the mapping relationship, the corresponding abnormality type can be matched according to the vehicle state information and the environment state information. Specifically, if the matching is successful, determining that the matched abnormal type is the type of the abnormal condition where the vehicle is currently located; if the matching fails, the vehicle state information and the environment state information can be obtained again, and the matching is carried out again.

And S130, controlling to apply braking force to the vehicle according to the abnormal type.

Wherein the braking force may be a force that resists movement of the vehicle.

Specifically, the braking force types and magnitudes corresponding to different abnormality types may be set in advance. Accordingly, the type and magnitude of the braking force to be applied to the vehicle can be determined based on the determined abnormality type according to the mapping relationship between the abnormality type and the corresponding braking force.

In an optional embodiment, after determining the type of abnormality based on the vehicle state information and the environment state information, the method further comprises: and sending a corresponding abnormal reminding message to the terminal equipment matched with the current vehicle according to the abnormal type.

The terminal device can be a mobile terminal successfully paired with the current vehicle, can perform data communication with the current vehicle, and can be used for remotely controlling the current vehicle. For example, the terminal device may be a mobile phone or a tablet computer. The abnormality warning message may be a message for warning of an abnormal situation occurring in the current vehicle.

Specifically, after the abnormal type corresponding to the current vehicle is determined, the corresponding abnormal reminding message can be edited based on the abnormal type and sent to the mobile terminal matched with the current vehicle, so as to remind an operator of the mobile terminal of acquiring the abnormal condition of the current vehicle.

It can be understood that the corresponding abnormal reminding message is sent to the mobile terminal matched with the current vehicle, so that the owner of the current vehicle can timely know the abnormal condition of the vehicle, the condition that the abnormal condition is not processed in time to generate larger potential safety hazard is avoided, and the loss caused by the abnormal condition is reduced.

According to the embodiment of the invention, the vehicle state information and the surrounding environment information of the vehicle in the parking state are acquired, the abnormality of the vehicle in the parking and stopping period can be identified in time, and the corresponding braking force is applied to the vehicle based on the determined abnormality type, so that the potential movement risk of the vehicle caused by the abnormal condition is effectively avoided, the potential safety hazard of the vehicle in the parking state is reduced, and the safety of the vehicle in the parking and stopping period is favorably ensured.

Example two

Fig. 2 is a flowchart of a braking control method for parking abnormality according to a second embodiment of the present invention, which is further optimized based on the above embodiments.

Further, it is added that "the environmental state information includes person movement information and vehicle movement information, and the vehicle state information includes wheel speed pulse information" to define the specific information types included in the environmental state information and the vehicle state information; correspondingly, the step of determining the abnormal type according to the vehicle state information and the environment state information is refined into the step of determining the abnormal movement result of the personnel according to the personnel movement information; determining an abnormal movement result of the vehicle according to the vehicle movement information; determining a wheel speed abnormal result according to the wheel speed pulse information; and determining the abnormal type' according to at least one of the abnormal movement result of the person, the abnormal movement result of the vehicle and the abnormal result of the wheel speed so as to perfect a determination mechanism of the abnormal type.

As shown in fig. 2, the method includes:

s210, acquiring vehicle state information and surrounding environment state information of a vehicle in a parking state; the environment state information comprises personnel movement information and vehicle movement information, and the vehicle state information comprises wheel speed pulse information.

The person movement information may be information that a person is present around the vehicle to move. The vehicle movement information may be information that the vehicle appears to move around the vehicle. The wheel speed pulse information may be pulse information triggered by rotation of a wheel of the vehicle.

And S220, determining an abnormal personnel movement result according to the personnel movement information.

The abnormal movement result of the person may be a result of determination as to whether or not the person is moving abnormally around the vehicle, and may be, for example, presence or absence of an abnormality.

Specifically, if the acquired environmental state information includes corresponding personnel movement information, the specific movement condition of personnel in the personnel movement information can be identified; and if the acquired environmental state information does not include corresponding personnel movement information, determining that the personnel abnormal movement result is abnormal. Correspondingly, if the fact that the person approaches the current vehicle is recognized, the fact that the abnormal movement result of the person is abnormal can be judged; if the fact that the person is gradually far away from the current vehicle is recognized, the fact that the person moves abnormally can be judged to be abnormal.

And S230, determining an abnormal movement result of the vehicle according to the vehicle movement information.

The vehicle abnormal movement result may be a determination result of whether there is abnormal movement of the vehicle around the vehicle, and may be, for example, presence or absence of an abnormality.

Specifically, if the acquired environmental state information includes corresponding vehicle movement information, the specific movement condition of the vehicle in the vehicle movement information can be identified; and if the acquired environmental state information does not include corresponding vehicle movement information, determining that the abnormal movement result of the vehicle is abnormal. Correspondingly, if the vehicle is identified to be close to the current vehicle, the abnormal movement result of the vehicle can be judged to be abnormal; if the vehicle is identified to be gradually far away from the current vehicle, the abnormal movement result of the vehicle can be judged to be abnormal.

And S240, determining a wheel speed abnormal result according to the wheel speed pulse information.

The wheel speed abnormality result may be a determination result of whether the wheel is abnormally rotated, and may be, for example, an abnormality or no abnormality.

Specifically, if the acquired vehicle state information includes corresponding wheel speed pulse information indicating that the wheel rotates, the motion parameter of the corresponding wheel may be determined based on the wheel speed pulse information; if the acquired vehicle state information does not include corresponding wheel speed pulse information, which indicates that the wheels do not rotate, the wheel speed abnormality result can be determined to be no abnormality. The motion parameters of the wheel may include at least one of rotation speed, rotation time, and rotation direction. A mapping relationship between the motion parameters of the wheels and the wheel speed abnormality results may be established in advance, and based on the mapping relationship, the corresponding wheel speed abnormality results may be determined from the motion parameters of the wheels determined by the wheel speed pulse information.

For example, determining a wheel speed abnormality result according to the wheel speed pulse information may include: determining the total trigger time length of the triggered vehicle wheel speed pulse according to the wheel speed pulse information of the vehicle; and determining an abnormal wheel speed result according to the total trigger time and a preset time threshold.

The preset time threshold may be a minimum value of a total trigger duration corresponding to a predetermined determination that the wheel speed abnormality result is abnormal.

Specifically, when a vehicle wheel speed pulse is triggered, corresponding wheel speed pulse information may be generated. Based on the wheel speed pulse information, the time period during which the wheel speed pulse of the vehicle is triggered can be counted to determine the total trigger time period during which the wheel speed pulse of the vehicle is triggered. Based on this, the total trigger time period may be compared with a preset time threshold, and a wheel speed abnormality result may be determined based on the comparison result. Specifically, if the total trigger duration is less than the preset time threshold, it may be determined that the wheel speed abnormality result is no abnormality; if the total trigger duration is greater than or equal to the preset time threshold, it may be determined that the wheel speed abnormality result is abnormal.

It can be understood that, the total trigger time length of the triggered vehicle wheel speed pulse is determined through the wheel speed pulse information of the vehicle, and the wheel speed abnormal result is determined based on the total trigger time length and the preset time threshold, so that when the wheel speed abnormal result is determined, the condition that the wheel speed abnormal result is determined to be abnormal due to the fact that the vehicle wheel speed pulse is triggered temporarily and accidentally can be avoided, the probability that the wheel speed abnormal result is misjudged is reduced, and the accuracy of determining the wheel speed abnormal result is effectively improved.

S250, determining the abnormal type according to at least one of the abnormal movement result of the person, the abnormal movement result of the vehicle and the abnormal result of the wheel speed.

Specifically, a mapping relationship between at least one of the result of abnormal movement of the person, the result of abnormal movement of the vehicle, and the result of abnormal wheel speed, and the abnormality type may be established in advance. Accordingly, based on the mapping relationship, the corresponding abnormality type may be matched by at least one of the determined result of the abnormal movement of the person, the result of the abnormal movement of the vehicle, and the result of the abnormal wheel speed.

For example, determining the abnormality type according to at least one of the abnormal movement result of the person, the abnormal movement result of the vehicle, and the wheel speed abnormality result may include: if the abnormal movement result of the person is determined to be abnormal, but the abnormal movement result of the vehicle and the abnormal wheel speed result are determined to be abnormal, determining that the abnormal type is approaching abnormality; if the abnormal movement result of the vehicle and the abnormal wheel speed result are determined to be abnormal, but the abnormal movement result of the person is not abnormal, determining that the abnormal type is collision abnormality; and if the abnormal movement result of the personnel and the wheel speed is determined to be abnormal, but the abnormal movement result of the vehicle is determined to be abnormal, determining that the abnormal type is the robbery abnormality.

The approach anomaly may be an anomaly type in which a person approaches the periphery of the current vehicle; the collision abnormality may be an abnormality type in which the current vehicle is collided with by another vehicle; the robbery abnormality may be a type of abnormality in which the current vehicle is robbed.

Specifically, if it is determined that the abnormal movement result of the person is abnormal, but the abnormal movement result of the vehicle and the abnormal wheel speed result are abnormal, indicating that the person is approaching around the current vehicle, it may be determined that the abnormal type is approaching abnormality; if the abnormal movement result of the vehicle and the abnormal wheel speed result are determined to be abnormal, but the abnormal movement result of the person is not abnormal, which indicates that the current vehicle is collided by other vehicles, the abnormal type can be determined as collision abnormality; if the abnormal movement result of the personnel and the wheel speed is determined to be abnormal, but the abnormal movement result of the vehicle is determined to be abnormal, which indicates that the current vehicle is stolen and robbed, the abnormal type can be determined to be the stealing and robbing abnormality.

It can be understood that the abnormal type is judged according to the result types corresponding to the abnormal movement result of the person, the abnormal movement result of the vehicle and the abnormal wheel speed result, so that in the process of determining the abnormal type, multiple reference factors can be integrated to serve as the basis for judgment, the probability of misjudgment on the abnormal type is reduced, and the accuracy of determining the abnormal type is improved.

Optionally, determining the abnormality type according to at least one of the result of the abnormal movement of the person, the result of the abnormal movement of the vehicle, and the result of the abnormal wheel speed may further include: judging whether abnormality exists according to at least one of the abnormal personnel movement result, the abnormal vehicle movement result and the abnormal wheel speed result; if yes, determining the exception type.

Specifically, a mapping relationship may be established in advance between at least one of the result of the abnormal movement of the person, the result of the abnormal movement of the vehicle, and the result of the determination of whether the current vehicle is abnormal; the judgment result of the abnormality may be whether there is an abnormality or not. Correspondingly, based on the mapping relationship, the corresponding judgment result can be matched according to the determined abnormal personnel movement result, the abnormal vehicle movement result and the abnormal wheel speed result, so as to determine whether the current vehicle is abnormal. If the exception exists, the exception type can be determined; and if the exception does not exist, ending the operation of determining the exception type.

It can be understood that, by judging whether the abnormality exists before determining the abnormality type, the occurrence of the situation that the abnormality type is determined without the abnormality of the current vehicle can be avoided, so that the abnormality type is determined only when the abnormality exists, the waste of processing resources is effectively reduced, and the determination efficiency of the abnormality type is improved.

And S260, controlling to apply braking force to the vehicle according to the abnormal type.

According to the embodiment of the invention, the abnormal type is determined according to at least one of the determined abnormal personnel movement result, the abnormal vehicle movement result and the abnormal wheel speed movement result, so that the determining process of the abnormal type has diversity, and the determining mode of the abnormal type is enriched. In addition, in the process of determining the abnormal type, the method can integrate various reference factors as the basis of judgment, so that the probability of misjudgment of the abnormal type is reduced, and the accuracy of determining the abnormal type is improved.

EXAMPLE III

Fig. 3 is a flowchart of a braking control method for parking abnormality according to a third embodiment of the present invention, which is further optimized based on the above embodiments.

Further, the "control of the application of the braking force to the vehicle according to the type of the abnormal state" is refined to "the maximum parking braking force is applied to the vehicle if the type of the abnormality is an approaching abnormality or a collision abnormality; and if the abnormal type is robbery abnormality, applying the maximum parking braking force and a preset driving braking force to the vehicle so as to perfect a braking force applying mechanism.

As shown in fig. 3, the method includes:

and S310, acquiring vehicle state information of the vehicle in a parking state and surrounding environment state information.

And S320, determining an abnormal type according to the vehicle state information and the environment state information.

And S330, if the abnormal type is approaching abnormity or collision abnormity, applying the maximum parking braking force to the vehicle.

Wherein the parking braking force may be based on a braking force generated by a parking brake system. The parking brake system may be a manual brake system installed in the vehicle, such as an electronic handbrake, etc. The maximum parking brake force may be based on a maximum brake force that can be generated by the parking brake.

Specifically, when it is determined that the abnormality type is an approach abnormality or a collision abnormality, it is possible to acquire the current parking braking force of the vehicle and determine whether the parking braking force has been applied. If the parking braking force is not applied, the parking braking system can be controlled to apply the maximum parking braking force to the vehicle; and if the parking braking force is applied, judging whether the parking braking force is the maximum parking braking force. Correspondingly, if the applied parking braking force is not the maximum parking braking force, controlling the parking braking system to apply the maximum parking braking force to the vehicle; if the applied parking brake force is the maximum parking brake force, the maximum parking brake force is kept unchanged.

And S340, if the abnormal type is robbery abnormality, applying the maximum parking braking force and a preset driving braking force to the vehicle.

Wherein the service braking force may be based on a braking force generated by a service braking system. The service brake system may be a brake system installed in the vehicle to brake during driving, such as a service brake. The preset magnitude of the service braking force can be a preset service braking force required to be applied to the vehicle.

Specifically, after it is determined that the type of the abnormality is a robbery abnormality, the current parking braking force of the vehicle may be acquired, and it may be determined whether the parking braking force has been applied. If the parking braking force is not applied, the parking braking system can be controlled to apply the maximum parking braking force to the vehicle, and meanwhile, the service braking system is controlled to apply the service braking force with the preset magnitude to the vehicle; and if the parking braking force is applied, judging whether the parking braking force is the maximum parking braking force. Correspondingly, if the applied parking braking force is not the maximum parking braking force, controlling the parking braking system to apply the maximum parking braking force to the vehicle, and simultaneously controlling the service braking system to apply the service braking force with the preset magnitude to the vehicle; and if the applied parking braking force is the maximum parking braking force, keeping the maximum parking braking force unchanged, and simultaneously controlling the service braking system to apply service braking force with a preset magnitude to the vehicle.

According to the embodiment of the invention, when the abnormal type is approaching abnormity or collision abnormity, the maximum parking braking force is applied to the vehicle, so that the current vehicle can be kept in the parking stop state under the condition of approaching abnormity or collision abnormity, thereby avoiding the generation of potential movement risk and further effectively reducing the potential safety hazard caused by vehicle sliding. In addition, when the abnormal type is the stealing and robbing abnormity, the maximum parking braking force and the driving braking force with the preset size are applied to the vehicle, so that the difficulty of moving the current vehicle is greatly increased, the stealing and robbing risk of the vehicle is reduced, and the safety of the vehicle is improved.

Example four

Fig. 4 is a schematic structural diagram of a braking control device with an abnormal parking according to a fourth embodiment of the present invention, which is applicable to a case where braking control is performed on a vehicle due to an abnormality during a parking stop. The device can be realized in a software and/or hardware mode and can be configured in the vehicle-mounted terminal. As shown in fig. 4, the apparatus includes:

the information acquiring module 410 is used for acquiring vehicle state information of the vehicle in a parking state and surrounding environment state information.

And an anomaly type determining module 420, configured to determine an anomaly type according to the vehicle state information and the environment state information.

And a braking force application module 430 for controlling the application of a braking force to the vehicle according to the abnormality type.

Optionally, the environmental status information may include person movement information and vehicle movement information, and the vehicle status information may include wheel speed pulse information;

accordingly, the anomaly type determining module 420 may include:

the personnel abnormal movement result determining unit is used for determining a personnel abnormal movement result according to the personnel movement information;

the vehicle abnormal movement result determining unit is used for determining a vehicle abnormal movement result according to the vehicle movement information;

a wheel abnormality result determination unit for determining a wheel speed abnormality result based on the wheel speed pulse information;

an abnormality type determination unit configured to determine the abnormality type based on at least one of the person abnormal movement result, the vehicle abnormal movement result, and the wheel speed abnormal result.

Optionally, the wheel abnormality result determination unit may include:

the total trigger duration determining subunit is used for determining the total trigger duration of the triggered vehicle wheel speed pulse according to the wheel speed pulse information of the vehicle;

and the wheel speed abnormal result determining subunit is used for determining a wheel speed abnormal result according to the total trigger time and a preset time threshold.

Optionally, the exception type determining unit may include:

the approaching abnormity determining subunit is used for determining that the abnormity type is approaching abnormity if the abnormal movement result of the person is determined to be abnormal, but the abnormal movement result of the vehicle and the abnormal wheel speed result are abnormal;

a collision abnormality determination subunit operable to determine that the abnormality type is a collision abnormality if it is determined that there is an abnormality in the result of abnormal movement of the vehicle and the result of abnormal wheel speed, but there is no abnormality in the result of abnormal movement of the person; and the robbery abnormality determining subunit is used for determining that the abnormality type is robbery abnormality if the abnormal movement result of the personnel and the abnormal wheel speed result are determined to be abnormal and the abnormal movement result of the vehicle is determined to be abnormal.

Optionally, the braking force applying module 430 may include:

a parking braking force applying first unit configured to apply a maximum parking braking force to the vehicle if the abnormality type is an approach abnormality or a collision abnormality;

and the parking braking force applying unit is used for applying the maximum parking braking force and the driving braking force with the preset magnitude to the vehicle if the abnormal type is robbery abnormality.

Optionally, the information obtaining module 410 may include:

the environment information acquisition unit is used for acquiring environment information around the vehicle according to at least two vehicle-mounted sensing devices in the vehicle;

and the environment state information determining unit is used for fusing the environment information acquired by the at least two vehicle-mounted sensing devices to determine the environment state information around the vehicle.

The braking control device for parking abnormity provided by the embodiment of the invention can execute the braking control method for parking abnormity provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the braking control method for parking abnormity. The embodiments of the present invention not described in detail may refer to the description of any embodiment of the parking-abnormality brake control method of the present invention.

EXAMPLE five

FIG. 5 illustrates a block diagram of the in-vehicle terminal 10 that may be used to implement an embodiment of the present invention. Vehicle terminals 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 in-vehicle terminal may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the in-vehicle terminal 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, where the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the in-vehicle terminal 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A plurality of components in the in-vehicle terminal 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the in-vehicle terminal 10 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 executes the various methods and processes described above, such as a parking-abnormal brake control method.

In an alternative embodiment, the present disclosure also provides another vehicle in which an in-vehicle terminal as shown in fig. 5 is provided.

In some embodiments, the park-abnormal brake control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the in-vehicle terminal 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the parking-abnormal brake control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the park-abnormal brake control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated 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.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage 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. Alternatively, the computer readable storage medium may be a machine readable signal medium. 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 may be implemented on a vehicle terminal 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 in-vehicle terminal. 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), blockchain networks, and the internet.

The computing 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 can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

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 invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. 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 invention should be included in the protection scope of the present invention.

Claims

1. A braking control method for a parking abnormality, characterized by comprising:

2. The method of claim 1, wherein the environmental status information includes personnel movement information and vehicle movement information, the vehicle status information including wheel speed pulse information;

correspondingly, the determining the abnormal type according to the vehicle state information and the environment state information includes:

determining an abnormal personnel movement result according to the personnel movement information;

determining an abnormal movement result of the vehicle according to the vehicle movement information;

determining a wheel speed abnormal result according to the wheel speed pulse information;

and determining the abnormal type according to at least one of the abnormal movement result of the person, the abnormal movement result of the vehicle and the abnormal wheel speed result.

3. The method of claim 2, wherein determining a wheel speed anomaly from the wheel speed pulse information comprises:

determining the total trigger time length of the triggered vehicle wheel speed pulse according to the wheel speed pulse information of the vehicle;

and determining an abnormal wheel speed result according to the total trigger time and a preset time threshold.

4. The method of claim 2, wherein said determining the abnormality type based on at least one of the person abnormal movement result, the vehicle abnormal movement result, and the wheel speed abnormal result comprises:

if the abnormal movement result of the person is determined to be abnormal, but the abnormal movement result of the vehicle and the abnormal wheel speed result are determined to be abnormal, determining that the abnormal type is approaching abnormality;

if the abnormal movement result of the vehicle and the abnormal wheel speed result are determined to be abnormal, but the abnormal movement result of the person is not abnormal, determining that the abnormal type is collision abnormality;

and if the abnormal movement result of the personnel and the wheel speed is determined to be abnormal, but the abnormal movement result of the vehicle is determined to be abnormal, determining that the abnormal type is the robbery abnormality.

5. The method of claim 1, wherein said controlling application of a braking force to the vehicle in accordance with the type of the abnormal state comprises:

if the abnormal type is approaching abnormity or collision abnormity, applying the maximum parking braking force to the vehicle;

and if the abnormal type is robbery abnormality, applying the maximum parking braking force and a preset driving braking force to the vehicle.

6. The method according to claim 1, wherein acquiring the environmental state information of the surroundings of the vehicle in the parked state includes:

acquiring environmental information around the vehicle according to at least two vehicle-mounted sensing devices in the vehicle;

and fusing the environmental information collected by the at least two vehicle-mounted sensing devices to determine the environmental state information around the vehicle.

7. A parking-abnormality brake control device, characterized by comprising:

8. A vehicle-mounted terminal, characterized in that the vehicle-mounted terminal comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the park-abnormal brake control method of any of claims 1-6.

9. A vehicle characterized in that the in-vehicle terminal of claim 8 is provided therein.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the park-abnormal brake control method according to any one of claims 1 to 6 when executed.