CN115195749A

CN115195749A - Vehicle braking method, device, electronic equipment and storage medium

Info

Publication number: CN115195749A
Application number: CN202211058864.XA
Authority: CN
Inventors: 曲慧; 孟俊峰; 白丽莎; 芦冰; 陈晓愚; 袁文建; 许恒; 王杨; 佟宇琪; 武浩远
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-10-18

Abstract

The invention discloses a vehicle braking method, a vehicle braking device, electronic equipment and a storage medium. The method comprises the following steps: acquiring current state information of at least one obstacle to be recognized corresponding to a target vehicle, and determining the type of the obstacle corresponding to each obstacle to be recognized based on the current state information; determining the type of the obstacle as a preset obstacle type of the obstacle to be used, and determining a corresponding identification result of the obstacle to be used based on the current state information of the obstacle to be used; determining a target obstacle based on the obstacle to be used with the abnormal collision as a result of the recognition; and controls the target vehicle braking based on a travel time period when the target vehicle travels to the target obstacle. The problem of among the prior art through carrying out collision risk discernment to the barrier information of ordinary millimeter wave radar collection, lead to the barrier discernment accuracy poor is solved, realize improving the accuracy of barrier discernment, and then improve the promptness and the validity of vehicle braking, reach the effect of guaranteeing driving safety.

Description

Vehicle braking method, device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of computer processing technologies, and in particular, to a vehicle braking method and apparatus, an electronic device, and a storage medium.

Background

With the rapid development of the automobile industry, the automobile popularity rate is significantly improved, and safe driving of an automobile becomes a hot spot problem which is mainly concerned at the present stage, and in order to effectively prevent vehicle collision and reduce traffic accidents, an Automatic Emergency Braking (AEB) system is usually arranged in the automobile, so that when an obstacle is detected, an automatic Braking function of the automobile is automatically triggered based on the AEB system, and the safety and reliability of the automobile in driving are improved.

The traditional AEB system mainly utilizes a common millimeter wave radar to sense the environment, identifies obstacle information (such as distance, speed, acceleration and the like) in a front monitoring area, identifies collision risks based on the obstacle information, and sends a control instruction under the condition that the collision risks exist, and a vehicle executes set control to avoid collision. However, the resolution ratio of the common millimeter wave radar is lower, and accordingly, the accuracy of the obtained obstacle information is also lower, so that the obstacle identification accuracy is low, the braking timeliness is poor, and the risk of collision is increased.

Disclosure of Invention

The invention provides a vehicle braking method, a vehicle braking device, electronic equipment and a storage medium, which are used for improving the obstacle identification accuracy, further improving the timeliness and effectiveness of vehicle braking and achieving the technical effect of ensuring the driving safety.

According to an aspect of the present invention, there is provided a vehicle braking method, including:

the method comprises the steps that in the running process of a target vehicle, current state information of at least one obstacle to be recognized corresponding to the target vehicle is obtained, and the type of the obstacle corresponding to each obstacle to be recognized is determined based on the current state information; the current state information comprises at least one of position information, speed information, height information, pose information and contour information;

determining the type of the obstacle as a preset obstacle type of an obstacle to be used, and determining an identification result corresponding to the obstacle to be used based on the current state information of the obstacle to be used;

determining a target obstacle based on the obstacle to be used with abnormal collision as the identification result;

and determining the corresponding running time when the target vehicle runs to the target obstacle, and controlling the target vehicle to brake based on the running time.

According to another aspect of the present invention, there is provided a vehicle brake device, including:

the obstacle type determination module is used for acquiring the current state information of at least one obstacle to be identified corresponding to a target vehicle in the running process of the target vehicle and determining the obstacle type corresponding to each obstacle to be identified based on the current state information; the current state information comprises at least one of position information, speed information, height information, pose information and contour information;

the identification result determining module is used for determining the type of the obstacle as a preset obstacle type of the obstacle to be used and determining an identification result corresponding to the obstacle to be used based on the current state information of the obstacle to be used;

the target obstacle determining module is used for determining a target obstacle based on the recognition result as the obstacle to be used with abnormal collision;

and the running time determining module is used for determining the running time corresponding to the target vehicle running to the target obstacle and controlling the target vehicle to brake based on the running time.

According to another aspect of the present invention, there is provided an electronic apparatus 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 to enable the at least one processor to perform a vehicle braking method according to any one of the embodiments of the invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement a vehicle braking method according to any one of the embodiments of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the current state information of at least one obstacle to be identified corresponding to a target vehicle is obtained in the running process of the target vehicle, and the type of the obstacle corresponding to each obstacle to be identified is determined based on the current state information; determining the type of the obstacle as a preset obstacle type of the obstacle to be used, and determining a corresponding identification result of the obstacle to be used based on the current state information of the obstacle to be used; determining a target obstacle based on the obstacle to be used with the abnormal collision as a result of the recognition; the method comprises the steps of determining the corresponding running time when a target vehicle runs to a target obstacle, controlling the target vehicle to brake based on the running time, solving the problems that in the prior art, the obstacle identification accuracy is poor and the braking timeliness is poor due to the fact that collision risk identification is carried out on obstacle information collected by a common millimeter wave radar, judging the type of the obstacle corresponding to the obstacle to be identified through state information of multiple dimensions such as position information, speed information, height information, pose information and contour information of the obstacle to be identified, selecting the obstacle to be used with the obstacle type being a preset obstacle type to carry out next collision risk evaluation, achieving rough screening on the obstacle, determining the target obstacle based on an evaluation identification result, improving the accuracy of obstacle identification, further improving the timeliness and effectiveness of vehicle braking, and achieving the technical effect of guaranteeing the driving safety.

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 needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of a method for braking a vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a vehicle braking system to which a second embodiment of the present invention is applied;

FIG. 3 is a schematic diagram of a vehicle braking method according to a second embodiment of the invention;

FIG. 4 is a schematic structural diagram of a vehicle braking device according to a third embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device that implements a vehicle braking method of an embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, 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. Moreover, 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 vehicle braking method according to an embodiment of the present invention, where the embodiment is applicable to a case of active braking of a vehicle, and the method may be performed by a vehicle braking device, which may be implemented in a form of hardware and/or software, and the vehicle braking device may be configured in a computing device. As shown in fig. 1, the method includes:

s110, in the running process of a target vehicle, obtaining the current state information of at least one obstacle to be recognized corresponding to the target vehicle, and determining the type of the obstacle corresponding to each obstacle to be recognized based on the current state information.

The obstacle to be identified may be understood as an obstacle that needs to be identified, for example, for the vehicle a, the obstacle to be identified may be a person, a vehicle, an object, or the like around the vehicle a. The current state information may include, but is not limited to, position information, velocity information, altitude information, pose information, contour information, and the like. The type of the obstacle can be used for representing the category of the obstacle, such as pedestrians, vehicles, well covers, speed reducing belts, overpasses, traffic signs or portal frames.

In the method, a certain determination error exists, for example, an obstacle that does not need braking, such as a portal frame and a signboard, is used as the obstacle that needs braking of the vehicle.

In this embodiment, when the target vehicle is running, obstacle detection may be performed on the surrounding environment where the target vehicle is running, and current state information of at least one obstacle to be identified is acquired, so as to determine which of the obstacles are at risk of collision based on the current state information. Furthermore, in order to improve the accuracy of obstacle identification and the braking performance, and avoid the situation that braking is still performed in front of obstacles (such as overpasses, portal frames and the like), the obstacles to be identified can be identified based on the current state information of each obstacle to be identified, and the type of the obstacle corresponding to each obstacle to be identified is determined. For example, based on the direction information, speed information, altitude information, and relative distance information with respect to the vehicle of the obstacle a to be recognized, it is determined that the obstacle a is stationary and located 20m higher in front of and above the vehicle by a horizontal distance 500m, and it is determined that the obstacle type of the obstacle a is a high-altitude stationary object. So that subsequent obstacles that do not require vehicle braking are screened out based on the type of obstacle.

It should be noted that, when acquiring the current state information of at least one obstacle to be recognized corresponding to the target vehicle, the current state information of the obstacles around the vehicle may be acquired based on a camera in the target vehicle, and may also be acquired based on a radar.

It should be further noted that some blocked obstacles may exist around the vehicle and cannot be detected by the camera and the radar, and in order to improve the richness and effectiveness of obstacle detection and further improve the driving safety of the vehicle, in the process of acquiring the current state information of at least one obstacle to be identified corresponding to the target vehicle, the obstacle monitoring area corresponding to the current position information can be determined based on the current position information of the target vehicle, and the first state information of at least one blocked obstacle located in the obstacle monitoring area is retrieved from the cellular internet of vehicles; performing target detection on the current surrounding environment of the target vehicle based on radar equipment in the target vehicle to obtain second state information of at least one display obstacle; and determining the current state information of at least one obstacle to be identified based on the first state information of each shielding obstacle and/or the second state information of each display obstacle.

The obstacle monitoring area corresponds to the position information of the target vehicle, and the obstacle monitoring areas corresponding to different position information may be different, for example, the position information is a, and the obstacle monitoring area may be a circle having a center at a radius of 50m or an area of 80% of the circle, or may be a rectangular area having a center at a length of 80m and a width of 50 m. Specifically, the method for determining the obstacle monitoring area according to the position information is not limited in the technical scheme, and can be determined by technical personnel according to the actual working condition. The Cellular internet of vehicles may be C-V2X (Cellular-Vehicle to event) and is configured to store information of obstacles in driving areas of each Vehicle, for example, in practical applications, a road test device (such as a radar or a camera) may be deployed on a driving road, and the road test device may monitor each obstacle on the road, acquire information of the obstacle, and upload the information to the Cellular internet of vehicles. Or, the direct wireless communication between the vehicles can be realized by using the C-V2X technology, and the information (such as speed, position, brake information) of a certain vehicle is uploaded to the cellular internet of vehicles or the vehicles communicating with the cellular internet of vehicles, so that the vehicle information communicating with the cellular internet of vehicles in the obstacle monitoring area corresponding to the position information can be acquired based on the position information of the certain vehicle, or the information of each obstacle in the obstacle monitoring area can be directly retrieved from the cellular internet of vehicles. The radar equipment can be a vehicle-mounted 4D millimeter wave radar, the number of channels reaches hundreds, and the distance, the speed, the horizontal angle information, the pitch angle information, the height information and the like of a measured target can be calculated. It should be noted that the more radar channels, the more points that can be formed, i.e. the higher resolution, are used to determine the space coordinates and speed information of the obstacle, so as to fully identify the detailed and specific information of the obstacle, such as the outline, category, behavior, etc. of the obstacle, such as a pedestrian or a vehicle.

In this embodiment, an obstacle monitoring area corresponding to the current position information may be determined based on the current position information of the target vehicle, and then at least one obstacle information that blocks an obstacle, that is, the first state information, located in the obstacle monitoring area is retrieved from the cellular internet of vehicles, so that the advantage based on this is that: the method can acquire some obstacle information in the monitoring blind area of the monitoring equipment carried by the vehicle, such as pedestrians shielded by other vehicles or obstacles on the road, pedestrians at night, suddenly exposed front static vehicles, probes suddenly appearing on windows and the like. The method can also be used for carrying out target detection on the current running surrounding environment based on 4D millimeter wave radar equipment in the target vehicle to obtain at least one piece of monitored information for displaying the obstacle, and the information is used as second state information, so that the method has the advantages that: the data of four dimensions such as distance, position, speed, height of the barrier can be obtained by using the 4D millimeter wave radar, the height and the outline of the barrier can be fully recognized, the confidence coefficient weight of the 4D millimeter wave radar is greatly improved under certain scenes such as camera faults, the accuracy of barrier recognition is improved, and the performance of active braking is effectively improved. Meanwhile, the number of channels of the 4D millimeter wave radar reaches up to hundreds, so that the obtained obstacle data has higher resolution, the detailed and specific information of obstacles such as pedestrians and vehicles can be fully reflected, and the accuracy of recognizing the outline, the category and the behavior of the obstacles is improved. Further, when the first state information of each blocking obstacle and/or the second state information of each display obstacle is obtained, it may be considered that the current state information of the obstacle to be identified is obtained, that is, the blocking obstacle and/or the display obstacle may be used as the obstacle to be identified.

It should be noted that, in the process of driving of the target vehicle, the obstacle information in front of the vehicle may be collected based on the front-view camera and the infrared camera in the target vehicle, and the information is used as the current state information of the obstacle to be identified, so that the effectiveness of obstacle monitoring is improved, and missing detection is prevented.

S120, determining the type of the obstacle as a to-be-used obstacle of a preset obstacle type, and determining an identification result corresponding to the to-be-used obstacle based on the current state information of the to-be-used obstacle.

The preset obstacle type can be a high-altitude static object (such as a portal frame) or a low-altitude static object (such as a well cover or a deceleration strip), and specifically can be determined by technical personnel according to the actual working condition, and the technical scheme is not limited. The identification result can be abnormal collision and can also be no risk of collision.

In practical application, the obstacle to be recognized with the obstacle type being the preset obstacle type can be used as the obstacle to be used, coarse screening of the obstacle is achieved, and further, the recognition result of the obstacle to be used can be judged based on the current state information of each obstacle to be used. For example, the current state information of a certain obstacle to be used may be used as an input of a recognition algorithm, and a recognition result of the obstacle to be used may be output, or features such as a contour, a category, and a behavior of the obstacle to be used may be extracted based on the current state information of the certain obstacle to be used by using a feature extraction algorithm, and then the recognition result of the obstacle to be used may be determined based on these features, and whether the obstacle to be used has a collision risk or does not have a collision risk may be determined.

Specifically, determining an identification result corresponding to the obstacle to be used based on the current state information of the obstacle to be used includes: determining current driving information, current road information and surrounding environment information corresponding to a target vehicle; performing collision assessment on the barrier to be used based on the current driving information, the current road information, the surrounding environment information and the current state information of the barrier to be used to obtain an assessment attribute corresponding to the barrier to be used; and determining the identification result corresponding to the obstacle to be used based on the evaluation attribute.

The current driving information may include, but is not limited to, a driving speed, a driving angle, a driving direction, a vehicle position, and the like. The current road information may include, but is not limited to, road flatness information, road surface placement information, road surface material information, road surface gradient information, and the like. The surrounding environment information includes, but is not limited to, position information, height information, and movement information of surrounding obstacles, such as pedestrians, vehicles, and other subjects that may collide with the vehicle. The evaluation attribute may be used to characterize the risk of collision, for example, a larger evaluation attribute value may indicate a greater likelihood of damage from collision of the obstacle with the target vehicle, and a smaller evaluation attribute value may indicate a lesser likelihood of damage from collision of the obstacle with the target vehicle.

In practical applications, the current driving information, the current road information and the surrounding environment information of the target vehicle can be detected by using a 4D millimeter wave radar, a forward-looking camera and/or an infrared camera in the target vehicle. The method can further include the steps of acquiring surrounding environment information related to the current position information of the target vehicle from the cellular vehicle network, fusing current driving information, current road information and surrounding environment information acquired by the cellular vehicle network, the 4D millimeter wave radar, the forward-looking camera and/or the infrared camera and current state information of the obstacle to be used, evaluating collision risks of the obstacle to be used and the target vehicle, and obtaining an evaluation attribute corresponding to the obstacle to be used. For example, external environment information around the target vehicle, including external vehicle driving state information, surrounding road condition information, and pedestrian information, may be acquired through a 4D millimeter wave radar, a forward-looking camera and/or an infrared camera, a cellular vehicle network, vehicle-to-vehicle communication. And performing front collision risk assessment according to the current road information, the vehicle running information, the external environment information and the front obstacle state information of the vehicle running. The identification result corresponding to the obstacle to be used may be determined based on the evaluation attribute, for example, if the evaluation attribute is in a certain set collision abnormal interval, the corresponding identification result may be regarded as a collision abnormality; if the evaluation attribute is in a certain set collision risk-free interval, the corresponding recognition result can be regarded as collision risk-free.

And S130, determining a target obstacle based on the recognition result as the obstacle to be used with abnormal collision.

In practical application, the obstacle to be used, the recognition result of which is abnormal collision, can be used as a target obstacle, and at this time, it is shown that if the target obstacle collides with the target vehicle, the risk exists, and then the AEB system can be used for actively braking the vehicle, so as to ensure the driving safety of the vehicle.

S140, determining the corresponding running time length when the target vehicle runs to the target obstacle, and controlling the target vehicle to brake based on the running time length.

The running period may be expressed as a period required for the target vehicle to run to the target obstacle, that is, a period required for the target vehicle to collide with the target obstacle.

In practical application, the 4D millimeter wave radar may detect a relative distance between the target vehicle and the target obstacle, and may obtain a driving time required for the target vehicle to travel to the target obstacle based on the relative distance between the target vehicle and the target obstacle and a relative speed between the target vehicle and the target obstacle, and then may control the AEB system to actively brake the target vehicle when the driving time reaches a preset time.

Specifically, the manner of determining the travel time period corresponding to the target vehicle traveling to the target obstacle may be: determining relative distance information between the target vehicle and the target obstacle based on the current position information of the target obstacle and the current position information of the target vehicle; determining relative speed information between the target vehicle and the target obstacle based on the current speed information of the target obstacle and the current speed information of the target vehicle; and determining a corresponding running time length when the target vehicle runs to the target obstacle based on the relative distance information and the relative speed information.

In practical applications, the separation distance between the current position information of the target obstacle and the current position information of the target vehicle may be calculated as the relative distance information. If the current speed information of the target vehicle is 1m/s and the current speed information of the target obstacle is 0, it can be said that the target vehicle is moving towards the target obstacle, and the target obstacle is stationary at this time, and the relative speed information is 1m/s. The relative distance information and the relative speed information may be subjected to a quotient, and the obtained quotient value is used as a corresponding running duration when the target vehicle runs to the target obstacle.

On the basis of the scheme, in the process of controlling the braking of the target vehicle based on the running time, when the running time is detected to be less than the preset time threshold, the steering path information can be determined based on the current state information of the target obstacle, the current surrounding environment information of the target vehicle and the relative speed information between the target vehicle and the target obstacle; generating brake control information based on the steering path information; and adjusting the rotation angle and the rotation speed of the output shaft of the servo motor in the target vehicle based on the braking control information, and driving a braking pedal to brake wheels in the rotation process of the output shaft.

The preset time threshold may be 20s or 25s, and specifically, may be determined by a technician according to an actual working condition, and the technical scheme is not limited. The steering path information includes a steering angle, a steering speed, a steering route, and the like. A servo motor refers to an engine that controls the operation of mechanical components.

In practical application, when it is detected that the running time is less than the preset time threshold, the vehicle is considered to have a collision risk, a steering path can be planned based on the current position information of the target obstacle, the relative speed information between the target vehicle and the target obstacle, the peripheral vehicle information of the target vehicle, the peripheral obstacles, pedestrians and other related information, and an AEB active braking control instruction, namely braking control information, is sent, wherein the braking control information comprises a vehicle braking enable signal and a vehicle braking intensity signal. Further, when the brake controller receives an AEB brake control command, the servo motor torque is controlled. The servo motor adjusts the rotation angle and the rotation speed of the output shaft of the motor according to parameters carried in the control command, drives the pedal rotating shaft to rotate, further adjusts the braking force and realizes the AEB active braking.

Optionally, the vehicle braking method further includes: determining a driving area corresponding to the current position information based on the current position information of the target vehicle; the method comprises the steps of sending vehicle braking information of a target vehicle to a vehicle-mounted terminal of at least one vehicle to be prevented in a driving area, sending the vehicle braking information to a cellular vehicle networking, and updating first state information of a barrier sheltered in the cellular vehicle networking based on the vehicle braking information.

The target vehicle and the vehicle to be protected from obstacles can utilize C-V2X to carry out wireless communication so as to realize information interaction. The driving area may be a surrounding area of the target vehicle, and the driving area corresponding to different position information is different from the current position information of the target vehicle. The vehicle braking information may include, but is not limited to, position, braking force, steering angle, vehicle speed, acceleration, and the like.

In practical applications, the travel area corresponding to the current position information may be determined based on the current position information of the target vehicle. For example, assuming that the current position information is a, the travel area may be a circle having a radius of 500 at the center of a. The vehicle braking information of the target vehicle can be sent to at least one vehicle to be prevented, which is located in the driving area and is in communication with the target vehicle, so that the vehicle to be prevented can judge the road condition or judge whether the target vehicle is a target obstacle based on the vehicle braking information of the target vehicle. The vehicle braking information can also be sent to a cellular internet of vehicles, and the cellular internet of vehicles stores the current state information of the obstacles to be identified for other vehicles.

According to the technical scheme of the embodiment, the current state information of at least one obstacle to be recognized corresponding to a target vehicle is acquired in the running process of the target vehicle, and the type of the obstacle corresponding to each obstacle to be recognized is determined based on the current state information; determining the type of the obstacle as a to-be-used obstacle of a preset obstacle type, and determining an identification result corresponding to the to-be-used obstacle based on the current state information of the to-be-used obstacle; determining a target obstacle based on the obstacle to be used with the abnormal collision as a recognition result; the method comprises the steps of determining the corresponding running time when a target vehicle runs to a target obstacle, controlling the target vehicle to brake based on the running time, solving the problems that in the prior art, the obstacle identification accuracy is poor and the braking timeliness is poor due to the fact that collision risk identification is carried out on obstacle information collected by a common millimeter wave radar, judging the type of the obstacle corresponding to the obstacle to be identified through state information of multiple dimensions such as position information, speed information, height information, pose information and contour information of the obstacle to be identified, selecting the obstacle to be used with the obstacle type being a preset obstacle type to carry out next collision risk evaluation, achieving rough screening on the obstacle, determining the target obstacle based on an evaluation identification result, improving the accuracy of obstacle identification, further improving the timeliness and effectiveness of vehicle braking, and achieving the technical effect of guaranteeing the driving safety.

Example two

As an alternative embodiment of the above embodiment, fig. 2 is a schematic structural diagram of a vehicle braking system to which a second embodiment of the present invention is applied. Specifically, the following details can be referred to.

Referring to fig. 2, the target vehicle may include an intelligent vehicle-mounted device 202, a forward-looking camera 203, a 4D millimeter wave radar 204, an infrared camera 205, and the like, and in the process of traveling of the target vehicle, the environmental information (including obstacle information such as people, vehicles, roads, and the like, or surrounding road condition information) around the target vehicle is collected based on the devices, and the environmental information may be uploaded to a cellular vehicle network 212. The number of channels of the 4D millimeter wave radar 204 is up to hundreds, and the more radar channels, the more points can be formed, that is, the higher resolution is provided, and through the points, the distance, the speed, the horizontal angle information, the pitch angle information, the height information and the like of the detected target can be calculated, the space coordinate and the speed information of the obstacle can be determined, and further detailed and specific information of the obstacle such as the outline, the category, the behavior and the like of the obstacle such as a pedestrian or a vehicle can be fully identified. Meanwhile, the intelligent drive test device 201 may be disposed on a traffic road to collect environmental information in a monitored area, and may upload the environmental information to the cellular vehicle network 212. The Cellular Internet of vehicles may be C-V2X (Cellular-Vehicle to evolution). Further, in the running process of the target vehicle, the T-BOX 213 in the target vehicle receives environment information acquired by the intelligent drive test device 201, the cellular vehicle network 212, the intelligent vehicle-mounted device 202, the forward-looking camera 203, the 4D millimeter wave radar 204, and the infrared camera 205, and estimates the collision risk of the vehicle based on the current state information of the obstacle to be identified in the environment information by using the obstacle avoidance estimation unit 207 in the entire vehicle area control module 206, and when the vehicle has the collision risk, the obstacle avoidance decision unit 208 triggers the AEB active braking, and the safe driving trajectory planning module 214 plans a path based on the environment information. The obstacle avoidance decision unit 208 generates an AEB active braking control command based on the planned path and returns to the T-BOX 213, the T-BOX 213 forwards the active braking control command to the whole vehicle braking controller 209, when the whole vehicle braking controller 209 receives the active braking control command, the moment of the servo motor 210 is controlled, the servo motor 210 drives the pedal rotating shaft 211 to rotate, the magnitude of the braking force is adjusted, and the AEB active braking is achieved. This technical scheme can be through all-round monitoring vehicle surrounding environment such as digital communication platform, foresight camera and infrared camera based on C-V2X technique, 4D point cloud formation of image radar perception technique, intelligent vehicle-mounted system (car end), intelligent drive test system (roadside end + high in the clouds) and honeycomb car networking, make people, car, road high efficiency in coordination, improve the accuracy of obstacle discernment, and then improve the performance of vehicle active braking, reliability and the security that the promotion vehicle travel.

On the basis of the above scheme, fig. 3 is a schematic diagram of a vehicle braking method according to a second embodiment of the present invention, and as shown in fig. 3, the method includes:

s301, in the running process of the target vehicle, receiving running information of the front vehicle and current state information of the obstacle to be recognized, which is sent by the 4D millimeter wave radar, the forward-looking camera, the infrared camera, the road test system and the cellular vehicle network.

In practical application, the communication connection between vehicles can be established by using a C-V2X technology, and further, data collected by monitoring equipment in one vehicle or vehicle brake information can be transmitted to the vehicle communicated with the monitoring equipment by using the C-V2X technology, and accordingly, the driving information of the vehicle in front can be obtained.

S302, performing front collision risk assessment according to current road environment information, vehicle state information, front vehicle running information and current state information of the obstacle to be recognized (vehicle, object and person), judging whether the obstacle to be recognized and the target vehicle have collision risk or not, and if so, taking the obstacle to be recognized as the target obstacle.

And S303, judging whether to execute active braking, namely judging whether the active braking condition can be met. If the running time length corresponding to the target vehicle running to the target obstacle is determined based on the relative distance information and the relative speed information between the target vehicle and the target obstacle, when the running time length is smaller than the preset time length threshold value, it is indicated that the target vehicle and the target obstacle have a collision risk, the condition of active braking is met, and active braking needs to be executed. If the running time is longer than the preset time threshold, it is indicated that the target vehicle and the target obstacle have no collision risk, active braking is not needed, and the vehicle can run safely.

And S304, when the vehicle has collision risk, executing active braking, and triggering and sending an active braking control command through the whole vehicle domain control module. For example, a steering path can be planned according to the position information of the target obstacle, the relative speed information, the information of the surrounding vehicles, the surrounding obstacles, pedestrians and other related information, and the whole vehicle area control unit can send an AEB active braking control command by combining the steering path. In rainy and snowy weather or under the condition that the forward-looking camera sends a fault, the confidence coefficient of the 4D millimeter wave radar is increased, and the accuracy and the performance of the AEB for executing braking are improved.

S305, the whole vehicle brake controller receives an AEB active brake control command (comprising a vehicle brake enabling signal and a vehicle brake strength signal) and controls the torque of the servo motor.

And S306, the servo motor adjusts the rotating speed and the rotating angle of the output shaft according to the control instruction parameters.

And S307, the servo motor drives the pedal rotating shaft to rotate, the magnitude of braking force is adjusted, and vehicle braking is achieved.

S308, sending the vehicle braking information (such as braking force, steering, speed, acceleration and the like) of the target vehicle to surrounding vehicles, and uploading the vehicle braking information to the cellular internet to avoid collision of other vehicles

It should be noted that based on the cellular internet in the technical scheme, the information of obstacles such as pedestrians, night pedestrians, suddenly disappearing front vehicles, front stationary vehicles, window probes, opposite lane vehicles and the like which are shielded by other vehicles or obstacles on the road can be acquired, the comprehensiveness, accuracy and timeliness of the detection of the obstacle information are improved, the condition of collision accidents caused by missed detection of the obstacles is prevented, the driving safety is improved, and the performance of the AEB active braking is improved.

Furthermore, the 4D millimeter wave radar in the technical scheme is added with height data on the basis of a common millimeter wave radar. The common millimeter wave radar only has a top view angle, and the view angle is a plane. No matter be the deceleration strip on the ground, still the awl bucket of meeting can judge all to be the barrier to ordinary millimeter wave radar, nevertheless can't rely on the height to distinguish who is the deceleration strip, who is the awl bucket, can't judge whether will stop or stop. The 4D millimeter wave radar based on this technical scheme can calculate the data of four dimensions such as distance, position, speed and height data of barrier, and 4D millimeter wave radar, the channel is up to hundreds simultaneously. The more channels, the more points can be formed, the higher resolution is also achieved, when an obstacle is identified, the space coordinate and the speed information of the obstacle can be determined based on the distance, the speed, the horizontal angle information, the pitch angle information, the height information and the like of a detected target, further, the detailed and specific information of the obstacle such as a pedestrian or a vehicle can be fully identified, such as the outline, the category, the behavior and the like of the obstacle, the accuracy of the obstacle identification is effectively improved, the confidence coefficient weight of the 4D millimeter wave radar is greatly improved under certain special extreme scenes such as camera faults and the like, and the AEB performance is effectively improved. ,

on the basis of the scheme, the technical scheme judges the type of the obstacle to be recognized, such as a well cover, a speed bump, an overpass, a traffic signboard or a portal frame, or an anchored automobile, a triangular cone bucket placed on the road and the like, by acquiring the driving information of the front vehicle and the current state information of the obstacle to be recognized, which is sent by a 4D millimeter wave radar, a forward looking camera, an infrared camera, a road test system and a cellular vehicle network, roughly screens the obstacle according to the type of the obstacle to be recognized, performs collision risk assessment on the obstacle to be used, which is of a preset obstacle type, improves the accuracy of obstacle recognition, prevents the obstacle which does not need to be determined as the obstacle from being a target obstacle, and improves the braking performance.

According to the technical scheme of the embodiment, the current state information of at least one obstacle to be recognized corresponding to a target vehicle is acquired in the running process of the target vehicle, and the type of the obstacle corresponding to each obstacle to be recognized is determined based on the current state information; determining the type of the obstacle as a preset obstacle type of the obstacle to be used, and determining a corresponding identification result of the obstacle to be used based on the current state information of the obstacle to be used; determining a target obstacle based on the obstacle to be used with the abnormal collision as a recognition result; the method comprises the steps of determining the corresponding running time when a target vehicle runs to a target obstacle, controlling the target vehicle to brake based on the running time, solving the problems that in the prior art, the obstacle identification accuracy is poor and the braking timeliness is poor due to the fact that collision risk identification is carried out on obstacle information collected by a common millimeter wave radar, judging the type of the obstacle corresponding to the obstacle to be identified through state information of multiple dimensions such as position information, speed information, height information, pose information and contour information of the obstacle to be identified, selecting the obstacle to be used with the obstacle type being a preset obstacle type to carry out next collision risk evaluation, achieving rough screening on the obstacle, determining the target obstacle based on an evaluation identification result, improving the accuracy of obstacle identification, further improving the timeliness and effectiveness of vehicle braking, and achieving the technical effect of guaranteeing the driving safety.

EXAMPLE III

Fig. 4 is a schematic structural diagram of a vehicle braking device according to a third embodiment of the invention. As shown in fig. 4, the apparatus includes: an obstacle type determination module 410, a recognition result determination module 420, a target obstacle determination module 430, and a travel period determination module 440.

The obstacle type determining module 410 is configured to, in a running process of a target vehicle, obtain current state information of at least one obstacle to be identified corresponding to the target vehicle, and determine, based on the current state information, an obstacle type corresponding to each obstacle to be identified; the current state information comprises at least one of position information, speed information, height information, pose information and contour information; the identification result determining module 420 is configured to determine that the type of the obstacle is a to-be-used obstacle of a preset obstacle type, and determine an identification result corresponding to the to-be-used obstacle based on current state information of the to-be-used obstacle; a target obstacle determination module 430, configured to determine a target obstacle based on the recognition result being an obstacle to be used that is abnormal in collision; and a running time length determining module 440, configured to determine a running time length corresponding to when the target vehicle runs to the target obstacle, and control braking of the target vehicle based on the running time length.

According to the technical scheme of the embodiment, the current state information of at least one obstacle to be recognized corresponding to a target vehicle is acquired in the running process of the target vehicle, and the type of the obstacle corresponding to each obstacle to be recognized is determined based on the current state information; determining the type of the obstacle as a preset obstacle type of the obstacle to be used, and determining a corresponding identification result of the obstacle to be used based on the current state information of the obstacle to be used; determining a target obstacle based on the obstacle to be used with the abnormal collision as a result of the recognition; the method comprises the steps of determining the corresponding running time when a target vehicle runs to a target obstacle, controlling the target vehicle to brake based on the running time, solving the problems that in the prior art, the obstacle identification accuracy is poor and the braking timeliness is poor due to the fact that collision risk identification is carried out on obstacle information collected by a common millimeter wave radar, judging the type of the obstacle corresponding to the obstacle to be identified through state information of multiple dimensions such as position information, speed information, height information, pose information and contour information of the obstacle to be identified, selecting the obstacle to be used with the obstacle type being a preset obstacle type to carry out next collision risk evaluation, achieving rough screening on the obstacle, determining the target obstacle based on an evaluation identification result, improving the accuracy of obstacle identification, further improving the timeliness and effectiveness of vehicle braking, and achieving the technical effect of guaranteeing the driving safety.

On the basis of the above device, optionally, the obstacle type determining module 410 includes a first state information determining unit, a second state information determining unit, and a current state information determining unit.

The first state information determining unit is used for determining an obstacle monitoring area corresponding to the current position information based on the current position information of the target vehicle and calling first state information of at least one obstacle in the obstacle monitoring area from a cellular internet of vehicles;

a second state information determination unit, configured to perform target detection on a current surrounding environment of the target vehicle based on a radar device in the target vehicle, to obtain second state information of at least one display obstacle;

and the current state information determining unit is used for determining the current state information of the at least one obstacle to be identified based on the first state information of each shielding obstacle and/or the second state information of each display obstacle.

On the basis of the foregoing apparatus, optionally, the recognition result determining module 420 includes an ambient environment information determining unit, an evaluation attribute determining unit, and a recognition result determining unit.

A surrounding environment information determination unit configured to determine current travel information, current road information, and surrounding environment information corresponding to the target vehicle;

the evaluation attribute determining unit is used for performing collision evaluation on the obstacle to be used based on the current driving information, the current road information, the surrounding environment information and the current state information of the obstacle to be used to obtain an evaluation attribute corresponding to the obstacle to be used;

and the identification result determining unit is used for determining the identification result corresponding to the obstacle to be used based on the evaluation attribute.

On the basis of the above device, optionally, the target obstacle determining module 430 is further configured to use the obstacle to be used, whose identification result is the collision abnormality, as the target obstacle.

On the basis of the above device, optionally, the driving duration determination module 440 includes a relative distance information determination unit, a relative speed information determination unit, and a driving duration determination unit.

A relative distance information determination unit configured to determine relative distance information between the target vehicle and the target obstacle based on current position information of the target obstacle and current position information of the target vehicle;

a relative speed information determination unit configured to determine relative speed information between the target vehicle and the target obstacle based on current speed information of the target obstacle and current speed information of the target vehicle;

and the running time length determining unit is used for determining the running time length corresponding to the target vehicle running to the target obstacle based on the relative distance information and the relative speed information.

On the basis of the above device, optionally, the driving time period determination module 440 includes a steering path information determination unit, a brake control information determination unit, and a brake control unit.

A steering path information determination unit configured to determine steering path information based on current state information of the target obstacle and current surrounding environment information of the target vehicle, and relative speed information between the target vehicle and the target obstacle when it is detected that the travel time is less than the preset time threshold;

a brake control information determination unit for generating brake control information based on the steering path information;

and the brake control unit is used for adjusting the rotation angle and the rotation speed of an output shaft of a servo motor in the target vehicle based on the brake control information and driving the brake pedal to brake the wheel in the rotating process of the output shaft.

On the basis of the above device, optionally, the device further includes: the vehicle braking information sending module comprises a driving area determining unit and a vehicle braking information sending unit.

A travel region determination unit configured to determine a travel region corresponding to current position information of the target vehicle based on the current position information;

and the vehicle braking information sending unit is used for sending the vehicle braking information of the target vehicle to a vehicle-mounted terminal of at least one vehicle to be prevented in the driving area, and sending the vehicle braking information to a cellular internet of vehicles so as to update first state information of an obstacle sheltered in the cellular internet of vehicles based on the vehicle braking information.

The vehicle braking device provided by the embodiment of the invention can execute the vehicle braking method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 5 is a schematic structural diagram of an electronic device that implements a vehicle braking method according to an embodiment of the present invention. 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 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 electronic device 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, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may 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 number of components in the electronic device 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, an 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 electronic device 10 to exchange information/data with other devices via 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 performs the various methods and processes described above, such as a vehicle braking method.

In some embodiments, the vehicle braking method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle braking method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle braking 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 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 an electronic device 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 electronic device. 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 results 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 vehicle braking method, characterized by comprising:

acquiring current state information of at least one obstacle to be recognized corresponding to a target vehicle in the running process of the target vehicle, and determining the type of the obstacle corresponding to each obstacle to be recognized based on the current state information; the current state information comprises at least one of position information, speed information, height information, pose information and contour information;

2. The method of claim 1, wherein the obtaining current status information of at least one obstacle to be identified corresponding to the target vehicle comprises:

determining an obstacle monitoring area corresponding to the current position information based on the current position information of the target vehicle, and calling first state information of at least one obstacle located in the obstacle monitoring area from a cellular internet of vehicles;

performing target detection on the current surrounding environment of the target vehicle based on radar equipment in the target vehicle to obtain second state information of at least one display obstacle;

and determining the current state information of the at least one obstacle to be identified based on the first state information of each shielding obstacle and/or the second state information of each display obstacle.

3. The method according to claim 1, wherein the determining the identification result corresponding to the obstacle to be used based on the current state information of the obstacle to be used comprises:

determining current driving information, current road information and surrounding environment information corresponding to the target vehicle;

performing collision assessment on the obstacle to be used based on the current driving information, the current road information, the surrounding environment information and the current state information of the obstacle to be used to obtain an assessment attribute corresponding to the obstacle to be used;

and determining the identification result corresponding to the obstacle to be used based on the evaluation attribute.

4. The method according to claim 1, wherein the determining a target obstacle based on the recognition result being an obstacle to be used which is abnormal in collision comprises:

and taking the obstacle to be used with the abnormal collision as a target obstacle.

5. The method of claim 1, wherein the determining a travel period corresponding to when the target vehicle travels to the target obstacle comprises:

determining relative distance information between the target vehicle and the target obstacle based on the current position information of the target obstacle and the current position information of the target vehicle;

determining relative speed information between the target vehicle and the target obstacle based on the current speed information of the target obstacle and the current speed information of the target vehicle;

and determining a corresponding running time length when the target vehicle runs to the target obstacle based on the relative distance information and the relative speed information.

6. The method of claim 1, wherein said controlling said target vehicle braking based on said travel period comprises:

when the driving time is detected to be smaller than the preset time threshold, determining steering path information based on the current state information of the target obstacle, the current surrounding environment information of the target vehicle and the relative speed information between the target vehicle and the target obstacle;

generating brake control information based on the steering path information;

and adjusting the rotation angle and the rotation speed of an output shaft of a servo motor in the target vehicle based on the braking control information, and driving a brake pedal to brake wheels in the process of rotating the output shaft.

7. The method of claim 1, further comprising:

determining a travel area corresponding to the current position information based on the current position information of the target vehicle;

and sending the vehicle braking information of the target vehicle to a vehicle-mounted terminal of at least one vehicle to be prevented from being obstructed in the driving area, and sending the vehicle braking information to a cellular vehicle networking so as to update first state information of an obstacle sheltered in the cellular vehicle networking based on the vehicle braking information.

8. A vehicular brake device, characterized by comprising:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle braking method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle braking method of any one of claims 1-7 when executed.