CN115649190A

CN115649190A - Control method, device, medium, vehicle and chip for vehicle auxiliary braking

Info

Publication number: CN115649190A
Application number: CN202210625793.0A
Authority: CN
Inventors: 王琨
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2023-01-31

Abstract

The disclosure relates to the field of automatic driving, in particular to a control method, a device, a medium, a vehicle and a chip for vehicle auxiliary braking, wherein the method comprises the following steps: acquiring running state information of a target vehicle, wherein the target vehicle is a running vehicle right in front of the vehicle; determining whether the target vehicle is in an abnormal state or not according to the running state information; in a case where it is determined that the target vehicle is in an abnormal state, a brake system of the host vehicle is controlled to perform pre-charging of a brake pressure for brake assist of the host vehicle. Therefore, the driving state of the front vehicle can be accurately monitored, when the target vehicle is determined to be in an abnormal state, the brake system of the vehicle is controlled to perform brake pressure pre-filling so as to perform brake assistance according to the driving state of the front vehicle in time, the vehicle brake can be quickly responded after a brake signal is received, the response speed of the brake system is increased, and the safety performance of the vehicle is improved.

Description

Control method, device, medium, vehicle and chip for vehicle auxiliary braking

Technical Field

The disclosure relates to the field of automatic driving, in particular to a control method, a device, a medium, a vehicle and a chip for vehicle auxiliary braking.

Background

A vehicle auxiliary brake system is one of driving assistance functions for assisting a driver in performing a braking operation of a vehicle to avoid a collision with an obstacle as much as possible in an emergency to protect the driver.

In the related art, a braking system in a vehicle usually performs trigger control based on detected environmental information, and when an obstacle exists in front of a lane where the vehicle is located, the obstacle is usually detected only after the lane change of the vehicle in front of the vehicle is completed, so that the vehicle is braked, and potential safety driving hazards are easily generated due to untimely braking.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a method, an apparatus, a medium, a vehicle, and a chip for controlling auxiliary braking of a vehicle.

According to a first aspect of an embodiment of the present disclosure, there is provided a control method of vehicle auxiliary braking, including:

acquiring running state information of a target vehicle, wherein the target vehicle is a running vehicle right in front of the vehicle;

determining whether the target vehicle is in an abnormal state or not according to the running state information;

and under the condition that the target vehicle is determined to be in an abnormal state, controlling a brake system of the host vehicle to perform pre-filling of brake pressure, wherein the brake pressure is used for performing brake assistance on the host vehicle.

Optionally, the driving state information includes driving information and indicator light information;

the determining whether the target vehicle is in an abnormal state according to the driving state information includes:

determining whether the driving information meets an abnormal lane change condition;

and under the condition that the running information is determined to meet the abnormal lane changing condition, determining whether the target vehicle is in an abnormal state or not according to the indicator light information.

Optionally, the driving information includes lateral acceleration, lateral speed, longitudinal distance between the target vehicle and the host vehicle; the determining whether the driving information meets the abnormal lane changing condition comprises the following steps:

and if the transverse acceleration is greater than a first threshold, the transverse speed is greater than a second threshold, the variation of the longitudinal distance is negative, and the absolute value of the variation of the longitudinal distance is greater than a third threshold, determining that the running information meets an abnormal lane change condition, wherein the variation of the longitudinal distance is the difference obtained by subtracting the previous longitudinal distance from the longitudinal distance.

Optionally, the indicator light information is turn light information;

the determining whether the target vehicle is in an abnormal state according to the indicator light information includes:

if the steering lamp information is on, determining that the target vehicle is in an abnormal state;

and if the steering lamp information is off, continuously acquiring the running state information of the target vehicle in a first preset time period, and determining that the target vehicle is in an abnormal state under the condition that the running information in the continuously acquired running state information meets the abnormal lane changing condition.

Optionally, the driving information includes lateral acceleration, lateral speed, longitudinal distance and lateral distance between the target vehicle and the host vehicle; the indicator light information is danger alarm flash lamp information;

the determining whether the driving information meets an abnormal lane change condition includes:

if the transverse acceleration is greater than a first threshold, the transverse speed is greater than a second threshold, the variation of the longitudinal distance is negative, the absolute value of the variation of the longitudinal distance is not greater than a third threshold, and the transverse distance is greater than a fourth threshold, determining that the driving information meets an abnormal lane change condition, wherein the variation of the longitudinal distance is a difference value obtained by subtracting a previous longitudinal distance from the longitudinal distance;

and if the information of the danger alarm flash lamp is on, determining that the target vehicle is in an abnormal state.

Optionally, the driving state information includes a longitudinal distance between the target vehicle and the host vehicle and hazard warning flash information;

and if the variation of the longitudinal distance is negative, the absolute value of the variation of the longitudinal distance is greater than a third threshold value, and the information of the hazard warning flash lamp is turned on, determining that the target vehicle is in an abnormal state, wherein the variation of the longitudinal distance is the difference obtained by subtracting the previous longitudinal distance from the longitudinal distance.

Optionally, the method further comprises:

and if the brake signal is not received within a second preset time after the brake system for controlling the vehicle is pre-filled with the brake pressure, controlling the brake system of the vehicle to release the brake pressure.

Optionally, the acquiring the driving state information of the target vehicle includes:

acquiring camera data information and radar data information which are acquired by a vehicle and correspond to the target vehicle, wherein the radar data information comprises first radar information acquired based on a millimeter wave radar and/or second radar information acquired based on a laser radar;

and determining the running state information of the target vehicle according to the camera data information and the radar data information.

According to a second aspect of the embodiments of the present disclosure, there is provided a control device of a vehicle auxiliary brake, including:

an acquisition module configured to acquire driving state information of a target vehicle, wherein the target vehicle is a driving vehicle directly in front of a host vehicle;

a determination module configured to determine whether the target vehicle is in an abnormal state according to the running state information;

a first control module configured to control a brake system of a host vehicle to perform brake pressure pre-charging in a case where it is determined that the target vehicle is in an abnormal state, wherein the brake pressure is used for brake assist of the host vehicle.

According to a third aspect of an embodiment of the present disclosure, there is provided a vehicle including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

in a case where it is determined that the target vehicle is in an abnormal state, a brake system of the host vehicle is controlled to perform pre-charging of a brake pressure for brake assist of the host vehicle.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of any one of the methods provided by the first aspect of the present disclosure.

According to a fifth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of any one of the aspects provided by the first aspect of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

in the above technical solution, the driving state of the target vehicle may be monitored by acquiring the driving state information of the target vehicle, so that when it is determined that the target vehicle is in an abnormal state, the brake system of the host vehicle is controlled to perform pre-charging of the brake pressure, so as to facilitate brake assistance for the host vehicle. Therefore, the driving state of the front vehicle can be accurately monitored, meanwhile, the braking assistance can be timely carried out according to the driving state of the front vehicle, the braking of the vehicle can be quickly responded when a braking signal is received, the response speed of a braking system is improved, the braking response time and the response distance are reduced, and the safety performance of the vehicle is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart illustrating a method of controlling vehicle auxiliary braking according to an exemplary embodiment.

Fig. 2 is a block diagram illustrating a control apparatus for vehicle auxiliary braking according to an exemplary embodiment.

Fig. 3 is a block diagram illustrating a control apparatus for vehicle auxiliary braking according to an exemplary embodiment.

FIG. 4 is a functional block diagram schematic of a vehicle shown in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.

It should be noted that all actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

FIG. 1 is a flow chart illustrating a method of controlling vehicle auxiliary braking, as shown in FIG. 1, according to an exemplary embodiment, which may include the steps of:

in step S101, the traveling state information of the target vehicle is acquired, wherein the target vehicle is a traveling vehicle directly in front of the host vehicle.

The driving state information may be parameters representing the driving state of the target vehicle, for example, the driving state information may include a lateral speed, a lateral acceleration, a longitudinal distance between the target vehicle and the host vehicle, a state of a turn light of the target vehicle, a state of a hazard warning flash of the target vehicle, and the like. For example, the target vehicle may be a traveling vehicle that is closest to the host vehicle in front of the host vehicle in the same lane as the host vehicle, and the host vehicle may be an unmanned vehicle or a vehicle driven by a user. In this step, the subsequent motion control of the host vehicle can be realized by sensing the running state information of the target vehicle.

In step S102, it is determined whether the target vehicle is in an abnormal state based on the running state information.

The abnormal state may include an abnormal lane change and an abnormal fault, among others. For example, the scene of the abnormal lane change may be that the target vehicle changes lane due to an emergency avoidance of a vehicle or an obstacle or the like appearing on the road ahead, and the abnormal fault may be that the target vehicle is in a fault or an accident.

In step S103, in a case where it is determined that the target vehicle is in an abnormal state, the brake system of the host vehicle is controlled to perform brake pressure pre-charging, wherein the brake pressure is used for brake assist for the host vehicle.

Specifically, in the case where it is determined that the target vehicle is in an abnormal state, the host vehicle may need to be braked next for safe travel of the vehicle, and therefore, in this embodiment, the brake system of the host vehicle may be controlled to perform brake pressure pre-charging, for example, a brake pre-charging trigger signal may be sent to the brake system by the controller, so that the brake system performs brake pressure pre-charging after receiving the brake pre-charging trigger signal. The gap between the friction plate and the brake disc can be reduced in advance by pre-filling the brake pressure, if the brake signal is subsequently received, the brake signal can be directly responded, the response speed of a brake system is improved, the brake response time and the response distance are reduced, and the safety performance of a vehicle is improved.

In the above technical solution, the driving state information of the target vehicle may be acquired to monitor the driving state of the target vehicle, so that when it is determined that the target vehicle is in an abnormal state, the brake system of the host vehicle is controlled to perform pre-charging of the brake pressure, so as to assist braking of the host vehicle. Therefore, the driving state of the front vehicle can be accurately monitored, meanwhile, the braking assistance can be timely carried out according to the driving state of the front vehicle, the braking of the vehicle can be quickly responded when a braking signal is received, the response speed of a braking system is improved, the braking response time and the response distance are reduced, and the safety performance of the vehicle is improved.

In one possible embodiment, the driving state information includes driving information and indicator light information;

correspondingly, the determining whether the target vehicle is in an abnormal state according to the running state information includes:

and determining whether the driving state information meets an abnormal lane change condition.

In one possible embodiment, the travel information includes a lateral acceleration, a lateral velocity, a longitudinal distance between the target vehicle and the host vehicle; the determining whether the driving information meets an abnormal lane change condition includes:

and if the transverse acceleration is greater than a first threshold, the transverse speed is greater than a second threshold, the variation of the longitudinal distance is negative, and the absolute value of the variation of the longitudinal distance is greater than a third threshold, determining that the driving information meets an abnormal lane change condition, wherein the variation of the longitudinal distance is a difference obtained by subtracting a previous longitudinal distance from the longitudinal distance.

The transverse acceleration is the acceleration perpendicular to the automobile running direction, the transverse speed is the speed perpendicular to the automobile running direction, and the longitudinal distance is the distance between the target vehicle and the host vehicle in the direction parallel to the automobile running direction. For example, the first threshold, the second threshold, and the third threshold may be set according to an actual usage scenario, and the disclosure is not limited herein. In an actual application scenario, when the target vehicle changes lanes, the lateral acceleration of the target vehicle increases, the lateral speed of the target vehicle increases to change to an adjacent lane, and if the longitudinal distance between the target vehicle and the host vehicle decreases in the process, the driving state of the target vehicle may affect safe driving of the host vehicle. Therefore, in this aspect, if the lateral acceleration is greater than the first threshold value, the lateral speed is greater than the second threshold value, that is, the target vehicle rapidly changes lanes, the change amount of the longitudinal distance is negative, and the absolute value of the change amount of the longitudinal distance is greater than the third threshold value, that is, the longitudinal distance between the target vehicle and the host vehicle decreases while the target vehicle is changing lanes, and the decreased distance is large, which may cause the longitudinal distance between the target vehicle and the host vehicle to sharply decrease, it may be considered that the target vehicle is in an abnormal lane change state, so that the host vehicle operation is controlled in time according to the operation of the target vehicle.

Therefore, by the scheme, the driving state of the target vehicle can be accurately judged based on the transverse acceleration, the transverse speed and the longitudinal distance between the target vehicle and the vehicle, and data support is provided for timely and accurately controlling the vehicle subsequently, so that the safe driving of the vehicle is ensured.

Further, in a case where it is determined that the running information satisfies the abnormal lane change condition, it is determined whether the target vehicle is in an abnormal state according to the indicator light information.

In an actual application scenario, when the vehicle changes lanes, a corresponding turn light is usually required to be turned on to prompt other vehicles, and therefore in this embodiment, when it is determined that the driving information of the vehicle meets the abnormal lane change condition based on the driving information of the vehicle, the actual state of the vehicle is further determined in an auxiliary manner by combining with the indicator light information of the vehicle, so that accurate perception of the driving state of the target vehicle is improved, accurate control of the vehicle is guaranteed, and user experience is improved. In one possible embodiment, the indicator light information is turn light information;

accordingly, the determining whether the target vehicle is in an abnormal state according to the indicator light information may include:

and if the steering lamp information is on, determining that the target vehicle is in an abnormal state.

As shown above, in the embodiment, if it is determined that the abnormal lane change condition is satisfied according to the driving information of the target vehicle and the turn signal information is on, it indicates that the target vehicle is currently in the lane change process, and at this time, it may be determined that the target vehicle is in the abnormal state, so that the driving state of the vehicle may be monitored by combining the driving information of the vehicle and the indicator light information.

And if the steering lamp information is off, continuously acquiring the running state information of the target vehicle in a first preset time period, and determining that the target vehicle is in an abnormal state under the condition that the running information in the continuously acquired running state information meets the lane change condition. The first preset duration may be set based on an actual application scenario, which is not limited herein.

In this step, if it is determined that the abnormal lane change condition is satisfied according to the driving information of the target vehicle, but the turn signal light information is turned off at this time, the turn signal light may not be turned on according to the driving standard in the lane change process, or the current vehicle may not be in the lane change state. In this case, the driving state information of the target vehicle may be acquired again for a first preset time period, and the driving state information corresponding to the acquired one or more times may be determined.

In this scenario, if the driving information in the driving state information obtained again within the first preset time period satisfies the lane change condition, it may be determined that the target vehicle is in an abnormal state. By acquiring the running state information of the target vehicle again within the first preset time, the running state of the target vehicle can be judged based on the continuous running condition of the target vehicle, the accuracy of judging that the target vehicle is in the lane changing state can be improved to a certain extent, and the fact that the turn light is not turned on according to the standard at the moment can be considered as the fact that the turn light is not turned on according to the standard when the turn light is not detected.

Therefore, by means of the scheme, whether the vehicle is in an abnormal state or not can be accurately judged according to the steering lamp information and the abnormal lane changing condition, so that the vehicle can predict the front road condition in advance, the vehicle can avoid the collision risk in advance, the driving safety of the vehicle is improved, and the road passing efficiency can be improved to a certain extent.

In one possible embodiment, the travel information includes a lateral acceleration, a lateral velocity, a longitudinal distance and a lateral distance between the target vehicle and the host vehicle; the indicator light information is danger alarm flash lamp information;

the determining whether the travel information satisfies an abnormal lane change condition may include:

if the transverse acceleration is larger than a first threshold, the transverse speed is larger than a second threshold, the variation of the longitudinal distance is negative, the absolute value of the variation of the longitudinal distance is not larger than a third threshold, and the transverse distance is larger than a fourth threshold, it is determined that the driving information meets an abnormal lane change condition, wherein the variation of the longitudinal distance is a difference obtained by subtracting a previous longitudinal distance from the longitudinal distance.

As described above, if the lateral acceleration is greater than the first threshold value, and the lateral speed is greater than the second threshold value, it indicates that the target vehicle is shifted to the side lane, where the amount of change in the longitudinal distance is negative, the absolute value of the amount of change in the longitudinal distance is not greater than the third threshold value, and the lateral distance is greater than the fourth threshold value, it indicates that the amount of decrease in the longitudinal distance between the host vehicle and the target vehicle is small, but the amount of shift of the target vehicle to the side lane is large, indicating that the vehicle has already shifted to the side lane, and it may be considered that the target vehicle may assume the intention of a quick lane change due to a temporary fault or a preceding obstacle, and at this time, it may be considered that the traveling information of the target vehicle satisfies the abnormal lane change situation.

The determining whether the target vehicle is in an abnormal state according to the indicator light information may include:

further, when the running information of the target vehicle meets the abnormal lane changing condition, if the danger alarm flash lamp information is on, the abnormality of the vehicle is further represented, and at the moment, the target vehicle is determined to be in an abnormal state. Therefore, according to the technical scheme, the running state of the target vehicle can be judged in advance by further combining the running information of the vehicle and the indicator light information, effective support is provided for safety control of the vehicle, and safe running of the vehicle is guaranteed.

In some possible embodiments, the driving state information includes a longitudinal distance between the target vehicle and the host vehicle and hazard warning flash information;

Under the general driving standard of the vehicle, when the vehicle breaks down or has a traffic accident, the danger alarm flash lamp can be turned on to prompt other vehicles. Therefore, in this embodiment, when the hazard warning flash is turned on by the target vehicle and the amount of change in the longitudinal distance from the host vehicle to the target vehicle is negative and the absolute value of the amount of change in the longitudinal distance is greater than the third threshold value, it indicates that the target vehicle has failed and that the amount of decrease in the longitudinal distance from the host vehicle is large, that is, the longitudinal distance from the target vehicle to the host vehicle sharply decreases and the amount of decrease is large, at which time it can be determined that the target vehicle is in an abnormal state. Therefore, the state of the target vehicle can be judged by detecting the state of the danger alarm flash lamp and the longitudinal distance variation, so that the vehicle can monitor and predict the state of the target vehicle, the vehicle can timely take countermeasures against the abnormity of the target vehicle, the driving safety of the vehicle is improved, and the accident risk is reduced.

In one possible embodiment, the method may further comprise:

The second preset duration may be set based on an actual application scenario, which is not limited herein. After the brake system for controlling the vehicle is controlled to perform brake pressure pre-filling, if a brake signal is received, the vehicle can be directly controlled to perform braking, and at the moment, because the brake pressure is pre-filled, the gap between the friction plate and the brake disc can be reduced in advance, the response speed of the brake system is improved, the brake response time and the brake response distance are reduced, and the safety performance of the vehicle is improved. If the braking signal is not received within the second preset time, it indicates that the vehicle is not required to be braked temporarily in the current state, and at the moment, the braking pressure can be released to reset the gap between the friction plate and the brake disc, so that the normal running of the vehicle is ensured, and the service life of the vehicle can be prolonged.

In one possible embodiment, the step of acquiring the travel state information of the target vehicle may include:

the camera shooting data information can be video information shot by a camera, and the transverse speed and the transverse acceleration of the target vehicle, the longitudinal distance between the target vehicle and the vehicle, the state of a steering lamp of the target vehicle and the state of a danger alarm flash lamp of the target vehicle can be obtained by processing the video information. Such as frame extraction of video information, speed information, acceleration information, longitudinal distance and the like based on the position of the vehicle in the image frames and the adjacent time between the image frames, and the state of the relevant signal lamp in the vehicle is determined by identifying the image frames. It can be determined by image recognition and image processing means commonly used in the art, and will not be described herein. Accordingly, processing may be performed based on the first radar information and the second radar information to obtain speed information, acceleration information, longitudinal distance, and the like of the target vehicle.

And then, determining the running state information of the target vehicle according to the camera data information and the radar data information.

As an example, for each piece of driving state information to be determined, information determined based on the respective source data may be fused to obtain final fused information. Taking the lateral speed of the target vehicle as an example, the lateral speed V1 may be determined according to the camera data information, the lateral speed V2 may be determined according to the first radar information, and the lateral speed V3 may be determined according to the second radar information, so that the average value of V1, V2, and V3 may be determined as the lateral speed of the target vehicle, or the weighted values of V1, V2, and V3 may be determined as the lateral speed of the target vehicle, and the weights corresponding to each source data, that is, the camera data information, the first radar information, and the second radar information, may be set based on an actual application scenario, which is not limited thereto. For example, the indicator light information may be directly determined as the indicator light information corresponding to the target vehicle, which is determined based on the imaging data information.

As another example, determining the travel state information of the target vehicle from the camera data information and the radar data information may be setting data sources corresponding to the respective travel state information in advance. For example, if the data source corresponding to the lateral velocity and the lateral acceleration of the vehicle is set as the second radar information and the data source corresponding to the longitudinal distance is set as the first radar information, the lateral velocity and the lateral acceleration may be directly determined as the lateral velocity and the lateral acceleration of the target vehicle when the lateral velocity and the lateral acceleration are determined based on the second radar information, and similarly, the longitudinal distance may be directly determined as the longitudinal distance of the target vehicle when the longitudinal distance is determined based on the first radar information. If the travel state information cannot be determined based on the corresponding data source, the travel state information may be further determined based on the collected information of the other data source, and if the longitudinal distance is not determined based on the first radar information, the travel state information may be further determined based on the second radar information, and the determined longitudinal distance may be used as the longitudinal distance of the target vehicle.

According to the technical scheme, data acquisition can be carried out on related sensors installed on the vehicle, and data acquired through each sensor are fused to obtain final driving state information, on one hand, new components do not need to be installed on the vehicle, the deployment process of the method can be simplified while the workload is saved, on the other hand, the accuracy of the driving state information of the target vehicle can be further improved through multi-source data fusion, data support is provided for follow-up accurate judgment on the driving state of the target vehicle, the timeliness and accuracy of auxiliary braking control of the vehicle are further improved, and the user experience is improved.

Fig. 2 is a block diagram illustrating a control apparatus for vehicle auxiliary braking according to an exemplary embodiment. Referring to fig. 2, the apparatus 500 includes:

an obtaining module 510 configured to obtain driving state information of a target vehicle, wherein the target vehicle is a driving vehicle directly in front of a host vehicle;

a determination module 520 configured to determine whether the target vehicle is in an abnormal state according to the driving state information;

a first control module 530 configured to control a brake system of the host vehicle to perform brake pressure pre-charging, in a case where it is determined that the target vehicle is in an abnormal state, wherein the brake pressure is used for brake assist of the host vehicle.

the determining module comprises:

a first determination submodule configured to determine whether the travel information satisfies an abnormal lane change condition;

a second determination submodule configured to determine whether the target vehicle is in an abnormal state according to the indicator light information in a case where it is determined that the travel information satisfies the abnormal lane change condition.

Optionally, the driving information includes lateral acceleration, lateral speed, longitudinal distance between the target vehicle and the host vehicle; the first determination submodule is configured to:

Optionally, the indicator light information is turn light information;

the second determination submodule includes:

a third determination submodule configured to determine that the target vehicle is in an abnormal state if the turn signal information is on;

and the fourth determining submodule is configured to continuously acquire the running state information of the target vehicle for a first preset time period if the steering lamp information is turned off, and determine that the target vehicle is in an abnormal state under the condition that the running information in the continuously acquired running state information meets the abnormal lane changing condition.

Optionally, the driving information includes lateral acceleration, lateral speed, longitudinal distance and lateral distance between the target vehicle and the host vehicle; the indicator light information is hazard warning flash lamp information;

the first determination submodule is configured to:

the second determination submodule is configured to:

the determining module comprises:

and the fifth determining submodule is configured to determine that the target vehicle is in an abnormal state if the variation of the longitudinal distance is negative, the absolute value of the variation of the longitudinal distance is greater than a third threshold, and the hazard warning flash lamp information is on, wherein the variation of the longitudinal distance is a difference value obtained by subtracting a previous longitudinal distance from the longitudinal distance.

Optionally, the apparatus further comprises:

the second control module is configured to control the brake system of the vehicle to release the brake pressure if the brake signal is not received within a second preset time period after the brake system of the vehicle is controlled to perform brake pressure pre-filling.

Optionally, the obtaining module includes:

the acquisition submodule is configured to acquire camera data information and radar data information corresponding to the target vehicle acquired by the vehicle, wherein the radar data information comprises first radar information acquired based on a millimeter wave radar and/or second radar information acquired based on a laser radar;

a sixth determination submodule configured to determine traveling state information of the target vehicle from the camera data information and the radar data information.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of controlling vehicle auxiliary braking provided by the present disclosure.

Fig. 3 is a block diagram illustrating a control apparatus 800 for vehicle auxiliary braking according to an exemplary embodiment. For example, the apparatus 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 3, the apparatus 800 may include one or more of the following components: a processing component 802, a first memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more first processors 820 to execute instructions to perform all or a portion of the steps of a method of controlling vehicle auxiliary braking. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The first memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The first memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

A power supply component 806 provides power to the various components of the device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 800.

The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the first memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

Input/output (I/O) interface 812 provides an interface between processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed status of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in the temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The apparatus 800 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing a control method for vehicle auxiliary braking.

In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the first memory 804 comprising instructions, executable by the first processor 820 of the apparatus 800 to perform a method of controlling vehicle assisted braking is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

The apparatus may be a part of a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip can be used for executing executable instructions (or codes) to realize the control method of the vehicle auxiliary brake. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, for example, where the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions may be stored in the processor, and when executed by the processor, implement the vehicle auxiliary braking control method described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the processor for execution, so as to implement the vehicle auxiliary brake control method.

Referring to fig. 4, fig. 4 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 600 may acquire environmental information around the vehicle through the sensing system 620 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement fully automatic driving, or present the analysis results to the user to implement partially automatic driving.

The vehicle 600 may include various subsystems such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 600 may be interconnected by wire or wirelessly.

In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

The communication system 611 may comprise a wireless communication system that may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system 612 may include a display device, a microphone, and a sound box, and a user may listen to a broadcast in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.

In some cases, the voice signal of the user may be acquired through a microphone, and certain control of the vehicle 600 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.

The navigation system 613 may include a map service provided by a map provider to provide navigation of a route for the vehicle 600, and the navigation system 613 may be used in conjunction with a global positioning system 621 and an inertial measurement unit 622 of the vehicle. The map service provided by the map provider can be a two-dimensional map or a high-precision map.

The sensing system 620 may include several sensors that sense information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system 621 (the global positioning system may be a GPS system, a beidou system or other positioning system), an Inertial Measurement Unit (IMU) 622, a laser radar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors of internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.

Global positioning system 621 is used to estimate the geographic location of vehicle 600.

The inertial measurement unit 622 is used to sense a pose change of the vehicle 600 based on the inertial acceleration. In some embodiments, the inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

Lidar 623 utilizes laser light to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 may also be used to sense the speed and/or heading of objects.

The ultrasonic radar 625 may sense objects around the vehicle 600 using ultrasonic signals.

The camera 626 is used to capture image information of the surrounding environment of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 626 may include still images or video stream information.

Decision control system 630 includes a computing system 631 that makes analytical decisions based on information acquired by sensing system 620, decision control system 630 further includes a vehicle control unit 632 that controls the powertrain of vehicle 600, and a steering system 633, throttle 634, and brake system 635 for controlling vehicle 600.

The computing system 631 may operate to process and analyze the various information acquired by the perception system 620 to identify objects, and/or features in the environment surrounding the vehicle 600. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 631 may use object recognition algorithms, structure From Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the various information obtained and derive a control strategy for the vehicle.

The vehicle controller 632 may be used to perform coordinated control on the power battery and the engine 641 of the vehicle to improve the power performance of the vehicle 600.

The steering system 633 is operable to adjust the heading of the vehicle 600. For example, in one embodiment, a steering wheel system.

The throttle 634 is used to control the operating speed of the engine 641 and, in turn, the speed of the vehicle 600.

The braking system 635 is used to control the deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheel 644. In some embodiments, the braking system 635 may convert the kinetic energy of the wheels 644 into electrical current. The braking system 635 may also take other forms to slow the rotational speed of the wheels 644 to control the speed of the vehicle 600.

The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.

Examples of energy source 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 642 may also provide energy to other systems of the vehicle 600.

The transmission 643 may transmit mechanical power from the engine 641 to the wheels 644. The transmission 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 643 may also include other components, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.

Some or all of the functionality of the vehicle 600 is controlled by the computing platform 650. Computing platform 650 can include at least one second processor 651, which second processor 651 can execute instructions 653 stored in a non-transitory computer-readable medium, such as second memory 652. In some embodiments, computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

The second processor 651 can be any conventional processor, such as a commercially available CPU. Alternatively, the second processor 651 may also include a processor such as a Graphics Processor Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 4 functionally illustrates processors, memories, and other elements of the computer in the same block, one of ordinary skill in the art will appreciate that the processors, computers, or memories may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer are to be understood as including references to a collection of processors or computers or memories which may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some of the components, such as the steering and deceleration components, may each have their own processor that performs only computations related to the component-specific functions.

In the presently disclosed embodiment, the second processor 651 may execute the above-described control method of vehicle auxiliary braking.

In various aspects described herein, the second processor 651 can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to perform a single maneuver.

In some embodiments, the second memory 652 can contain instructions 653 (e.g., program logic), which instructions 653 can be executed by the second processor 651 to perform various functions of the vehicle 600. The second memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the infotainment system 610, the perception system 620, the decision control system 630, the drive system 640.

In addition to instructions 653, second memory 652 may also store data such as road maps, route information, the location, direction, speed, and other such vehicle data of the vehicle, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.

The computing platform 650 may control functions of the vehicle 600 based on inputs received from various subsystems (e.g., the drive system 640, the perception system 620, and the decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.

Optionally, one or more of these components described above may be mounted or associated separately from the vehicle 600. For example, the second memory 652 may exist partially or completely separate from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 4 should not be construed as limiting the embodiment of the present disclosure.

An autonomous automobile traveling on a roadway, such as vehicle 600 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and may be used to determine the speed at which the autonomous vehicle is to be adjusted based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, and the like.

Optionally, the vehicle 600 or a sensory and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may provide instructions to modify the steering angle of the vehicle 600 to cause the autonomous vehicle to follow a given trajectory and/or to maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

The vehicle 600 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the disclosed embodiment is not particularly limited.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable device, the computer program having code portions for performing the above-mentioned vehicle auxiliary brake control method when executed by the programmable device.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of controlling auxiliary braking of a vehicle, comprising:

2. The method of claim 1, wherein the driving status information includes driving information and indicator light information;

3. The method of claim 2, wherein the driving information includes lateral acceleration, lateral velocity, longitudinal distance between the target vehicle and the host vehicle; the determining whether the driving information meets the abnormal lane changing condition comprises the following steps:

4. The method of claim 2, wherein the indicator light information is turn light information;

5. The method of claim 2, wherein the driving information includes a lateral acceleration, a lateral velocity, a longitudinal distance and a lateral distance between the target vehicle and a host vehicle; the indicator light information is danger alarm flash lamp information;

the determining whether the driving information meets the abnormal lane changing condition comprises the following steps:

6. The method of claim 1, wherein the driving status information includes a longitudinal distance between the target vehicle and a host vehicle and hazard warning flash information;

7. The method of claim 1, further comprising:

8. The method according to claim 1, wherein the obtaining of the travel state information of the target vehicle comprises:

9. A control device for auxiliary braking of a vehicle, characterized by comprising:

10. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

11. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 8.

12. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of any one of claims 1 to 8.