CN113581075A - Emergency braking method, system, readable storage medium and vehicle - Google Patents
Emergency braking method, system, readable storage medium and vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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Abstract
The invention provides an emergency braking method, a system, a readable storage medium and a vehicle, wherein the method comprises the steps of acquiring the running information of a target vehicle and the running information of a rear vehicle when a braking instruction is received, and acquiring second lane information of the rear vehicle according to the running information of the rear vehicle; judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle; if the braking speed is consistent with the deceleration speed of the target vehicle, judging whether the current braking of the target vehicle is emergency braking; if the target vehicle is braked emergently, judging the current emergency braking risk level according to the real-time speed and real-time deceleration of the target vehicle; and executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle. According to the emergency braking method provided by the invention, whether a vehicle exists behind the vehicle is monitored during emergency braking of the vehicle owner, so that an alarm signal is sent out in time to remind a square vehicle of avoiding, and safe driving of the vehicle owner is ensured.
Description
Technical Field
The invention relates to the technical field of automobile safety, in particular to an emergency braking method, an emergency braking system, a readable storage medium and a vehicle.
Background
With the continuous improvement of living standard of people, the number of automobiles is increased year by year, the traffic becomes more and more complex, and the safety problem of drivers is more and more concerned by people.
In the vehicle driving process, when an emergency occurs, a vehicle owner deeply treads the brake pedal and shallowly treads the brake pedal to control the vehicle to decelerate, the brake intensity of shallowly treading the brake pedal is low, the vehicle decelerates slowly, when a rear vehicle sees a brake lamp signal of a front vehicle, the response is timely generally, the brake intensity of deeply treading the brake pedal is high, the vehicle is in an emergency deceleration state, when the rear vehicle sees the brake lamp signal of the front vehicle, enough time can be available for the response to be timely, and the rear-end collision accident is avoided.
However, in the prior art, because the driving speed is high on the highway, no matter the brake pedal is deeply stepped or lightly stepped, as long as the brake switch of the vehicle is triggered, the state of the brake lamp which is lighted at the tail of the vehicle is the same, so that the possibility that the rear vehicle knocks into the rear due to the fact that the brake of the rear vehicle is emergency brake or conventional deceleration cannot be effectively reminded, and serious potential safety driving hazards exist.
Disclosure of Invention
Based on this, the object of the present invention is to provide an emergency braking method, system, readable storage medium and vehicle to solve the above problems.
The emergency braking method provided by the invention is applied to a driving assistance system of a vehicle, and comprises the following steps:
when a braking instruction is received, acquiring running information of a target vehicle, wherein the running information at least comprises a vehicle speed, a deceleration and first lane information;
acquiring the driving information of a rear vehicle, and acquiring second lane information of the rear vehicle according to the driving information of the rear vehicle;
judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle or not, if not, returning to obtain the driving information of the rear vehicle, and obtaining the second lane information of the rear vehicle according to the driving information of the rear vehicle;
if so, judging whether the current braking of the target vehicle is emergency braking according to the deceleration of the target vehicle;
if the target vehicle is braked emergently, judging the current emergency braking risk level according to the real-time speed and real-time deceleration of the target vehicle;
and executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle.
According to the emergency braking method, whether a vehicle exists behind the vehicle is monitored when the vehicle owner brakes the vehicle in an emergency mode, so that an alarm signal is sent out in time to remind a square vehicle of avoiding, and the safe driving of the vehicle owner is ensured. Specifically, when a vehicle owner controls the vehicle to brake, the driving information of a target vehicle and the driving information of a rear vehicle are respectively obtained, so that whether the target vehicle and the rear vehicle are in the same lane or adjacent lanes is analyzed, if the target vehicle and the rear vehicle are in the same lane or adjacent lanes, whether the current braking of the target vehicle is emergency braking is judged according to the speed and the deceleration of the target vehicle, if the current braking is confirmed to be emergency braking, the risk level of the current emergency braking is analyzed, and a corresponding alarm strategy is executed according to the risk level, so that the rear vehicle can avoid the rear-end collision timely, and the occurrence of the rear-end collision accident is avoided.
Further, the step of determining whether the current braking of the target vehicle is an emergency braking according to the deceleration of the target vehicle specifically includes:
when the deceleration of the target vehicle is greater than or equal to a preset deceleration threshold value within a second preset time, the target vehicle is braked emergently;
and when the deceleration of the target vehicle is smaller than the preset deceleration threshold value within second preset time, the target vehicle is braked normally at this time.
Further, the method further comprises:
setting a plurality of emergency braking risk levels according to a plurality of vehicle speeds and decelerations of the vehicle;
when V < V1And a is not less than a1Then, set as four-level risk;
when V is1≤V＜V2And a is not less than a1Setting the risk as a third-level risk;
when V is2≤V＜V3And a is not less than a1Setting as a secondary risk;
when V is more than or equal to V3And a is not less than a1Then, setting as a first-level risk;
wherein: v represents the real-time vehicle speed when the target vehicle is braked, V1Indicates a first predetermined vehicle speed threshold value, V2Indicating a second predetermined vehicle speed threshold, V3Representing a third preset vehicle speed threshold value, a representing real-time deceleration of the target vehicle during braking, a1Representing the preset deceleration threshold.
Further, when the deceleration of the target vehicle is greater than or equal to a preset deceleration threshold value within a second preset time, the step of braking the target vehicle to an emergency braking further includes:
when the target vehicle is braked emergently, sending an activation request to an anti-lock brake system of the target vehicle within a first preset time so as to activate a danger signal of the anti-lock brake system;
and when the danger signal sent by the anti-lock braking system is received, starting a timer to acquire the duration of the danger signal.
Further, the step of executing a corresponding warning strategy according to the current emergency braking risk level of the target vehicle comprises:
if the current emergency braking risk level is a first-level risk, controlling the brake lamp to perform multi-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of the vehicle to sound, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer;
if the current emergency braking risk level is a secondary risk, controlling the brake lamp to perform double-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of the vehicle to sound, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer;
if the current emergency braking risk level is a third-level risk, controlling the brake lamp to carry out monochromatic flash within a third preset time according to a preset flash frequency, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer;
and if the current emergency braking risk level is a four-level risk, controlling the brake lamp to be normally on within a third preset time, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer.
Further, the step of executing the corresponding warning strategy according to the current emergency braking risk level of the target vehicle further comprises:
acquiring first position information of the target vehicle according to the running information of the target vehicle, and acquiring second position information of the rear vehicle according to the running information of the rear vehicle;
acquiring the real-time distance between the target vehicle and the rear vehicle according to the first position information of the target vehicle and the second position information of the rear vehicle;
when the distance between the target vehicle and the rear vehicle is smaller than or equal to a preset safe distance threshold value, controlling the reversing image of the target vehicle to be started to monitor the driving condition of the rear vehicle;
and acquiring video information generated by monitoring the driving condition of the rear vehicle through the reversing image, and sending the video information to a cloud service platform for backup and storage.
Further, the calculation formula of the preset time for the flashing of the brake lamp of the target vehicle is as follows:
T＝T1+1, where T represents the third preset time for the brake lamp to flash, T1An integer part representing the duration of the hazard signal;
the calculation formula of the preset flashing times of the flashing of the brake lamp of the target vehicle is as follows: and n is 3T, wherein n represents the preset number of flickering of the brake lamp of the target vehicle.
An emergency braking system according to an embodiment of the present invention is applied to a driving assistance system of a vehicle, and includes:
a first obtaining module: the system comprises a control unit, a first vehicle control unit and a second vehicle control unit, wherein the control unit is used for acquiring running information of a target vehicle when a braking instruction is received, and the running information at least comprises a vehicle speed, a deceleration and first lane information;
a second obtaining module: the lane information acquisition module is used for acquiring the driving information of a rear vehicle and acquiring second lane information of the rear vehicle according to the driving information of the rear vehicle;
a lane detection module: the system is used for judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle or not, and if not, the previous step is repeated;
emergency braking detection module: the system comprises a control unit, a first lane information acquisition unit, a second lane information acquisition unit and a control unit, wherein the control unit is used for judging whether the braking of the target vehicle is emergency braking or not according to the deceleration of the target vehicle when the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle;
a risk level detection module: the emergency braking risk level judging module is used for judging the current emergency braking risk level according to the real-time speed and the real-time deceleration of the target vehicle if the target vehicle is braked emergently at this time;
an alarm module: and the system is used for executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle.
In another aspect, the present invention also provides a readable storage medium, which includes one or more programs stored thereon, and when executed, the program implements the emergency braking method as described above.
Another aspect of the present invention also provides a vehicle comprising a memory and a processor, wherein:
a memory: for storing a computer program;
a processor: for implementing the emergency braking method as described above when executing a computer program stored on a memory.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of an emergency braking method according to a first embodiment of the present invention;
fig. 2 is a flowchart of an emergency braking method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an emergency braking system according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the alarm module of FIG. 3;
fig. 5 is a schematic structural diagram of the monitoring module in fig. 3.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a flowchart of an emergency braking method according to a first embodiment of the present invention is shown, the emergency braking method includes steps S01 to S06, wherein:
step S01: when a braking instruction is received, acquiring running information of a target vehicle, wherein the running information at least comprises a vehicle speed, a deceleration and first lane information;
it can be understood that, during the running process, when the owner of the vehicle encounters a special condition, the owner of the vehicle may immediately lightly step or heavily step on the brake pedal to control the deceleration of the vehicle, and at this time, the assistant driving system may automatically detect and acquire the brake instruction sent by the brake pedal, thereby determining that the vehicle is in the braking state, and starting to acquire the running information of the target vehicle, and acquire the speed, the deceleration, the first lane information, and the like of the target vehicle through the running information.
Step S02: acquiring the driving information of a rear vehicle, and acquiring second lane information of the rear vehicle according to the driving information of the rear vehicle;
it is understood that, since the vehicle is in a braking state, in order to prevent the occurrence of a rear-end collision, it is also necessary to acquire the traveling information of the rear vehicle and acquire the second lane information of the rear vehicle according to the traveling information of the rear vehicle in order to analyze whether there is a vehicle behind the target vehicle.
Step S03: judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle, if not, repeatedly executing the step S02;
it should be noted that the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle, and not only indicates that the lanes where the target vehicle and the rear vehicle travel are the same, but also indicates that the lanes where the target vehicle and the rear vehicle travel are adjacent to each other are consistent with each other, on one hand, the target vehicle and the rear vehicle are identified to be in the same lane, so as to perform the targeted emergency braking early warning, on the other hand, when there is no vehicle behind the target vehicle or the rear vehicle in the same lane, the emergency braking early warning is not needed, and at this time, the normal braking early warning manner, such as keeping the brake lamp normally on, is performed.
Step S04: if the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle, judging whether the target vehicle is braked emergently or not according to the deceleration of the target vehicle;
it can be understood that when a vehicle is detected behind the target vehicle, since the driver of the rear vehicle usually has enough reaction time under the condition of normal braking, since the vehicle speed is fast on the highway, and the driver of the rear vehicle often does not react timely once the vehicle is braked emergently, it is necessary to further judge whether the braking is normal braking or emergency braking according to the deceleration of the target vehicle.
It is noted that when the deceleration of the target vehicle is greater than or equal to a preset deceleration threshold value within a second preset time, the target vehicle is braked emergently; and when the deceleration of the target vehicle is smaller than the preset deceleration threshold value, the target vehicle is braked normally at this time. In the present embodiment, the preset deceleration threshold is specifically set to 5m/s2Meanwhile, in order to prevent the situation that the false alarm of the emergency brake occurs because the vehicle owner mistakenly steps on the brake, the deceleration of the target vehicle is set to be not lower than 5m/s within the second preset time2It is very necessary that the second preset time value is generally 0.5-1s, and since the second preset time value is related to the driving habit of the driver, the second preset time value is not limited in this embodiment, and the owner can set itself according to the driving habit.
Step S05: if the target vehicle is braked emergently, judging the current emergency braking risk level according to the real-time speed and real-time deceleration of the target vehicle;
it can be understood that when it is determined that the braking of the vehicle driven by the vehicle owner is emergency braking, it is also necessary to determine which emergency braking risk level the braking state of the target is located according to the vehicle speed and deceleration of the target vehicle, so as to perform more effective early warning according to the emergency braking risk.
Further, the emergency braking risk level is preset in advance according to the speed and the deceleration of a plurality of vehicles, and the vehicle owner can modify the emergency braking risk level according to the driving habit of the vehicle owner, wherein the specific emergency braking risk level setting step comprises the following steps:
when V < V1And a is not less than a1Then, set as four-level risk;
when V is1≤V＜V2And a is not less than a1Setting the risk as a third-level risk;
when V is2≤V＜V3And a is not less than a1Setting as a secondary risk;
when V is more than or equal to V3And a is not less than a1Then, setting as a first-level risk;
wherein: v represents the real-time vehicle speed when the target vehicle is braked, V1Indicates a first predetermined vehicle speed threshold value, V2Indicating a second predetermined vehicle speed threshold, V3Representing a third preset vehicle speed threshold value, a representing real-time deceleration of the target vehicle during braking, a1Representing the preset deceleration threshold.
In the present embodiment, V1Specifically 60km/h, V2Specifically 80km/h, V3In particular 100km/h, a1In particular 5m/s2。
Step S06: and executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle.
It should be noted that each emergency braking risk level corresponds to a different warning strategy, for example, when the target vehicle is braked emergently at a vehicle speed of 110km/h, the deceleration is less than the preset deceleration threshold value of 5m/s when the target vehicle is decelerated to 50km/h2And then the emergency braking risk can be switched sequentially through the first-level risk, the second-level risk, the third-level risk and the fourth-level risk, and the corresponding alarm strategy can be changed along with the switching of the emergency braking risk level, so that the rear vehicle can more clearly judge the running condition of the target vehicle, and therefore, the rear-end collision accident is avoided, and the rear-end collision accident is more pertinently and effectively avoided.
In conclusion, according to the emergency braking method provided by the embodiment of the invention, when the vehicle owner performs emergency braking, whether a vehicle exists behind the vehicle owner is monitored, so that an alarm signal is sent out in time to remind the vehicle owner of avoiding the vehicle owner, and the safe driving of the vehicle owner is ensured. Specifically, when a vehicle owner controls the vehicle to brake, the driving information of a target vehicle and the driving information of a rear vehicle are respectively obtained, so that whether the target vehicle and the rear vehicle are in the same lane or adjacent lanes is analyzed, if the target vehicle and the rear vehicle are in the same lane or adjacent lanes, whether the current braking of the target vehicle is emergency braking is analyzed according to the speed and the deceleration of the target vehicle, if the current braking is determined to be emergency braking, the risk level of the current emergency braking is analyzed, and a corresponding alarm strategy is executed according to the risk level, so that a driver of the rear vehicle can judge the braking condition of the target vehicle more accurately, and accordingly, more targeted effective avoidance is performed, and rear-end accidents are avoided.
Referring to fig. 2, an emergency braking method according to a second embodiment of the present invention is shown, which is substantially the same as the first embodiment except that:
the steps S11 and S12 are also included when the target vehicle is determined to be braked suddenly.
Step S11: when the target vehicle is braked emergently, an activation request is sent to an anti-lock brake system of the target vehicle within a first preset time so as to activate a danger signal of the anti-lock brake system.
It can be understood that, if the vehicle is braked, the self-carried anti-lock system of the vehicle is triggered to start working at the same time, and the anti-lock system is used for automatically controlling the braking force of the brake when the vehicle is braked, so that the wheels are not locked and are in a rolling and slipping state (the slip rate is about 20%) to ensure that the adhesion between the wheels and the ground is at a maximum value.
Further, when it is detected that the target vehicle is braked emergently, the anti-lock system receives an activation request sent by the assistant driving system within a first preset time, in the embodiment, the first preset time is set to 0.1s, so that the danger signal is activated rapidly, the anti-lock system activates the danger signal according to the activation request, and continuously sends the danger signal to the assistant driving system.
Step S12: and when the danger signal sent by the anti-lock braking system is received, starting a timer to acquire the duration of the danger signal.
It should be noted that when a danger signal from the anti-lock braking system is received, timing is started to calculate the duration of the danger signal, which is generally regarded as the duration of emergency braking.
The step of executing the corresponding alert strategy according to the current emergency braking risk level of the target vehicle may specifically comprise steps S13 to S16:
step S13: if the current emergency braking risk level is a first-level risk, controlling the brake lamp to perform multi-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of the vehicle to sound, and simultaneously closing an electromagnetic valve in an engine oil injector;
further, the brake lamp of the vehicle comprises LED lamps with various colors such as red, blue, yellow, orange and the like, when the current emergency braking risk level is detected to be a first-level risk, the initial speed of the vehicle before braking is not lower than 100km/h, and the vehicle speed is very high and the deceleration is not lower than 5m/s2The braking distance is shorter, and in order to effectively prevent the emergence of rear-end collision accident, the brake light can begin the polychrome and explode in turn this moment to keep loudspeaker to ring, close the solenoid valve in the engine fuel injector simultaneously, so that the braking condition of target vehicle can clearly and accurately be judged to the car behind, thereby more effectually dodge.
Step S14: if the current emergency braking risk level is a secondary risk, controlling the brake lamp to perform double-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of the vehicle to sound, and simultaneously closing an electromagnetic valve in an engine oil injector;
step S15: if the current emergency braking risk level is a third-level risk, controlling the brake lamp to carry out monochromatic flash explosion according to the preset flash frequency within a third preset time, and simultaneously closing an electromagnetic valve in an engine oil sprayer;
step S16: and if the current emergency braking risk level is a four-level risk, controlling the brake lamp to be normally on within a third preset time, and simultaneously closing an electromagnetic valve in an engine oil sprayer.
It should be noted that, the specific steps of closing the electromagnetic valve in the engine fuel injector are as follows: when a dangerous signal sent by an anti-lock system is received, a closing signal is immediately sent to a vehicle body controller of the vehicle, the vehicle body controller controls an engine oil sprayer to be kept closed according to the received closing signal, at the moment, the vehicle cannot accelerate even if an accelerator pedal is stepped on, when the dangerous signal is relieved, namely, the deceleration of a target vehicle is smaller than a preset deceleration threshold value, the sending of the closing signal to the vehicle body controller of the vehicle is stopped, at the moment, the engine oil sprayer is directly controlled by the accelerator pedal, the engine oil sprayer is controlled to be closed during emergency braking, the situation that an accelerator pedal and a brake pedal are simultaneously stepped on by a vehicle owner in an emergency situation is avoided, the acceleration situation of the vehicle is prevented, and the driving safety of the vehicle owner is further ensured.
Further, the calculation formula of the preset time for the flashing of the brake lamp of the target vehicle is as follows:
T＝T1+1, where T represents the third preset time for the brake lamp to flash, T1An integer part representing the duration of the hazard signal;
the calculation formula of the preset flashing times of the flashing of the brake lamp of the target vehicle is as follows: and n is 3T, wherein n represents the preset flashing number of the brake lamp of the target vehicle, and it can be understood that the flashing number of the flashing of the brake lamp is three times of the flashing time, namely the flashing frequency of the brake lamp is three times per second.
The step of executing the corresponding warning strategy according to the current emergency braking risk level of the target vehicle further includes step S17: and monitoring the driving condition of the rear vehicle, and uploading the generated video information to a cloud service platform.
The method specifically comprises the following steps: acquiring first position information of the target vehicle according to the running information of the target vehicle, and acquiring second position information of the rear vehicle according to the running information of the rear vehicle;
acquiring the real-time distance between the target vehicle and the rear vehicle according to the first position information of the target vehicle and the second position information of the rear vehicle;
when the distance between the target vehicle and the rear vehicle is smaller than or equal to a preset safe distance threshold value, controlling the reversing image of the target vehicle to be started to monitor the driving condition of the rear vehicle;
it can be understood that the real-time distance between the target vehicle and the rear vehicle is monitored in real time so as to determine whether the current distance is about to exceed a preset safe distance threshold, in this embodiment, the preset safe distance threshold is 200m, a vehicle owner can set the distance according to own requirements, when the distance between the target vehicle and the rear vehicle is not less than the preset safe distance threshold, it is indicated that rear-end collision may occur, and in order to prevent unnecessary disputes from being caused afterwards, the auxiliary driving system controls the backing influence of the target vehicle to be turned on, so as to start to monitor the driving condition of the rear vehicle.
And acquiring video information generated by monitoring the driving condition of the rear vehicle through the reversing image, and sending the video information to a cloud service platform for backup and storage.
It can be understood that the driving condition of the rear vehicle is generated into a video record and stored to the cloud service platform, so that the video record can be called and checked when needed subsequently, and therefore when the rear vehicle is maliciously not avoided and a rear-end collision event occurs when the vehicle owner emergently brakes and sends out an alarm signal, relevant video evidence can be provided, and disputes are avoided.
In conclusion, according to the emergency braking method provided by the embodiment of the invention, when the vehicle owner performs emergency braking, whether a vehicle exists behind the vehicle owner is monitored, so that an alarm signal is sent out according to the risk level pertinently to remind the vehicle owner of avoiding, and the safe driving of the vehicle owner is ensured. In addition, the brake lamp of the vehicle is controlled in a grading mode to emit alternate flashing of multiple colors or flashing of a single color, and the fuel injector of the vehicle sender is controlled to be kept in a closed state in time, so that a driver of a vehicle behind can judge the braking condition of the target vehicle more accurately on one hand, the target vehicle can be avoided rapidly, the rear-end collision event is avoided, and on the other hand, the situation that the target vehicle accelerates due to the fact that an owner of the target vehicle steps on an accelerator pedal and a brake pedal at the same time because of over stress can be prevented under the emergency situation, and the safe driving of the vehicle is further guaranteed. Meanwhile, after the early warning signal is sent to the rear vehicle, the opening of the reversing image is controlled, and when the rear vehicle is maliciously avoided and a rear-end collision accident occurs, related video evidence can be provided, so that traffic disputes are avoided.
As shown in fig. 3, which is a schematic structural diagram of an emergency braking system in a third embodiment of the present invention, the emergency braking system is applied to a driving assistance system of a vehicle, and the emergency braking system includes:
risk level setting module 10: for setting a plurality of emergency braking risk levels depending on a number of vehicle speeds and decelerations of the vehicle
The first acquisition module 11: the system comprises a control unit, a first vehicle control unit and a second vehicle control unit, wherein the control unit is used for acquiring running information of a target vehicle when a braking instruction is received, and the running information at least comprises a vehicle speed, a deceleration and first lane information;
the second acquisition module 12: the lane information acquisition module is used for acquiring the driving information of a rear vehicle and acquiring second lane information of the rear vehicle according to the driving information of the rear vehicle;
the lane detection module 13: the system is used for judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle or not, and if not, the previous step is repeated;
emergency braking detection module 14: the system comprises a control unit, a first lane information acquisition unit, a second lane information acquisition unit and a control unit, wherein the control unit is used for judging whether the braking of the target vehicle is emergency braking or not according to the deceleration of the target vehicle when the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle;
risk level detection module 15: the emergency braking risk level judging module is used for judging the current emergency braking risk level according to the real-time speed and the real-time deceleration of the target vehicle if the target vehicle is braked emergently at this time;
the alarm module 16: the system is used for executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle;
danger signal excitation module 17: and sending an activation request to an anti-lock system of the target vehicle within a first preset time to activate the danger signal of the anti-lock system when the target vehicle is braked emergently.
Hazard signal timing module 18: when the danger signal sent by the anti-lock braking system is received, a timer is started to acquire the duration of the danger signal.
The monitoring module 19: the system is used for monitoring the driving condition of the rear vehicle and uploading the generated video information to a cloud service platform
Further, referring to fig. 4, the alarm module 16 further includes:
flash time calculation unit 161: for according to the formula T ═ T1+1, calculating the third preset time for the brake lamp to flash;
the flash count calculation unit 162: the method is used for calculating the preset flashing times of the brake lamp according to the formula n-3T;
primary risk alert unit 163: is used for controlling the stop lamp to carry out multi-color alternate flashing within a third preset time according to preset flashing times, controlling the horn of the vehicle to sound and simultaneously closing the electromagnetic valve in the engine oil injector
Secondary risk alert unit 164: the brake lamp is used for controlling the brake lamp to carry out double-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of a vehicle to sound, and simultaneously closing an electromagnetic valve in an engine oil injector;
tertiary risk alarm unit 165: the brake lamp is used for controlling the brake lamp to carry out single-color flash within a third preset time according to a preset flash frequency, and simultaneously closing an electromagnetic valve in an engine oil sprayer;
fourth-level risk alert unit 166: and the brake lamp is controlled to be normally on within a third preset time, and meanwhile, the electromagnetic valve in the engine oil sprayer is closed.
Further, referring to fig. 5, the monitoring module 19 further includes:
position information acquisition unit 191: the system comprises a vehicle body, a front vehicle, a rear vehicle and a control unit, wherein the vehicle body is used for driving the rear vehicle to drive the rear vehicle;
the distance acquisition unit 192: the real-time distance acquisition module is used for acquiring the real-time distance between the target vehicle and the rear vehicle according to the first position information of the target vehicle and the second position information of the rear vehicle;
image pickup execution unit 193: the system comprises a monitoring module, a control module and a display module, wherein the monitoring module is used for controlling the opening of a reversing image of a target vehicle to monitor the driving condition of a rear vehicle when the distance between the target vehicle and the rear vehicle is smaller than or equal to a preset safe distance threshold value;
the pre-storing unit 194: the system is used for acquiring video information generated by monitoring the driving condition of the rear vehicle through the reversing image and sending the video information to a cloud service platform for backup and storage.
In conclusion, according to the emergency braking system provided by the embodiment of the invention, when an owner brakes emergently, whether a vehicle exists behind the owner is monitored, so that an alarm signal is sent out pertinently according to the risk level to remind the owner of the vehicle to avoid, and the owner is ensured to drive safely. In addition, the brake lamp of the vehicle is controlled in a grading mode to emit alternate flashing of multiple colors or flashing of a single color, and the fuel injector of the vehicle sender is controlled to be kept in a closed state in time, so that a driver of a vehicle behind can judge the braking condition of the target vehicle more accurately on one hand, the target vehicle can be avoided rapidly, the rear-end collision event is avoided, and on the other hand, the situation that the target vehicle accelerates due to the fact that an owner of the target vehicle steps on an accelerator pedal and a brake pedal at the same time because of over stress can be prevented under the emergency situation, and the safe driving of the vehicle is further guaranteed. Meanwhile, after the early warning signal is sent to the rear vehicle, the opening of the reversing image is controlled, and when the rear vehicle is maliciously avoided and a rear-end collision accident occurs, related video evidence can be provided, so that traffic disputes are avoided.
In another aspect, the present invention also provides a computer-readable storage medium having one or more programs stored thereon, which when executed by a processor implement the emergency braking method described above.
In another aspect, the present invention further provides a vehicle including a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the emergency braking method.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An emergency braking method, characterized by being applied to a driver assistance system of a vehicle, the method comprising:
when a braking instruction is received, acquiring running information of a target vehicle, wherein the running information at least comprises a vehicle speed, a deceleration and first lane information;
acquiring the driving information of a rear vehicle, and acquiring second lane information of the rear vehicle according to the driving information of the rear vehicle;
judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle or not, if not, returning to obtain the driving information of the rear vehicle, and obtaining the second lane information of the rear vehicle according to the driving information of the rear vehicle;
if so, judging whether the current braking of the target vehicle is emergency braking according to the deceleration of the target vehicle;
if the target vehicle is braked emergently, judging the current emergency braking risk level according to the real-time speed and real-time deceleration of the target vehicle;
and executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle.
2. The emergency braking method according to claim 1, wherein the step of determining whether the current braking of the target vehicle is emergency braking according to the deceleration of the target vehicle specifically comprises:
when the deceleration of the target vehicle is greater than or equal to a preset deceleration threshold value within a second preset time, the target vehicle is braked emergently;
and when the deceleration of the target vehicle is smaller than the preset deceleration threshold value, the target vehicle is braked normally at this time.
3. The emergency braking method of claim 2, further comprising:
setting a plurality of emergency braking risk levels according to a plurality of vehicle speeds and decelerations of the vehicle;
when V < V1And a is not less than a1Then, set as four-level risk;
when V is1≤V＜V2And a is not less than a1Setting the risk as a third-level risk;
when V is2≤V＜V3And a is not less than a1Setting as a secondary risk;
when V is more than or equal to V3And a is not less than a1Then, setting as a first-level risk;
wherein: v represents the real-time vehicle speed when the target vehicle is braked, V1Indicates a first predetermined vehicle speed threshold value, V2Indicating a second predetermined vehicle speed threshold, V3Representing a third preset vehicle speed threshold value, a representing real-time deceleration of the target vehicle during braking, a1Representing the preset deceleration threshold.
4. The emergency braking method according to claim 2, wherein when the deceleration of the target vehicle is greater than or equal to a preset deceleration threshold for a second preset time, the step of braking the target vehicle for the time being the emergency braking further comprises:
when the target vehicle is braked emergently, sending an activation request to an anti-lock brake system of the target vehicle within a first preset time so as to activate a danger signal of the anti-lock brake system;
and when the danger signal sent by the anti-lock braking system is received, starting a timer to acquire the duration of the danger signal.
5. The emergency braking method according to claim 4, wherein the step of executing a corresponding warning strategy according to the current emergency braking risk level of the target vehicle comprises:
if the current emergency braking risk level is a first-level risk, controlling the brake lamp to perform multi-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of the vehicle to sound, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer;
if the current emergency braking risk level is a secondary risk, controlling the brake lamp to perform double-color alternate flashing within a third preset time according to a preset flashing frequency, controlling a horn of the vehicle to sound, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer;
if the current emergency braking risk level is a third-level risk, controlling the brake lamp to carry out monochromatic flash within a third preset time according to a preset flash frequency, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer;
and if the current emergency braking risk level is a four-level risk, controlling the brake lamp to be normally on within a third preset time, and simultaneously closing an electromagnetic valve in a transmitter oil sprayer.
6. The emergency braking method according to claim 1, wherein the step of executing a corresponding warning strategy according to the current emergency braking risk level of the target vehicle is further followed by:
acquiring first position information of the target vehicle according to the running information of the target vehicle, and acquiring second position information of the rear vehicle according to the running information of the rear vehicle;
acquiring the real-time distance between the target vehicle and the rear vehicle according to the first position information of the target vehicle and the second position information of the rear vehicle;
when the distance between the target vehicle and the rear vehicle is smaller than or equal to a preset safe distance threshold value, controlling the reversing image of the target vehicle to be started to monitor the driving condition of the rear vehicle;
and acquiring video information generated by monitoring the driving condition of the rear vehicle through the reversing image, and sending the video information to a cloud service platform for backup and storage.
7. The vehicle emergency braking method according to claim 5, wherein the preset time for the brake lamp of the target vehicle to flash is calculated by the formula:
T＝T1+1, where T represents the third preset time for the brake lamp to flash, T1An integer part representing the duration of the hazard signal;
the calculation formula of the preset flashing times of the flashing of the brake lamp of the target vehicle is as follows: and n is 3T, wherein n represents the preset number of flickering of the brake lamp of the target vehicle.
8. An emergency braking system for a vehicle, the emergency braking system comprising:
a first obtaining module: the system comprises a control unit, a first vehicle control unit and a second vehicle control unit, wherein the control unit is used for acquiring running information of a target vehicle when a braking instruction is received, and the running information at least comprises a vehicle speed, a deceleration and first lane information;
a second obtaining module: the lane information acquisition module is used for acquiring the driving information of a rear vehicle and acquiring second lane information of the rear vehicle according to the driving information of the rear vehicle;
a lane detection module: the system is used for judging whether the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle or not, and if not, the previous step is repeated;
emergency braking detection module: the system comprises a control unit, a first lane information acquisition unit, a second lane information acquisition unit and a control unit, wherein the control unit is used for judging whether the braking of the target vehicle is emergency braking or not according to the deceleration of the target vehicle when the first lane information of the target vehicle is consistent with the second lane information of the rear vehicle;
a risk level detection module: the emergency braking risk level judging module is used for judging the current emergency braking risk level according to the real-time speed and the real-time deceleration of the target vehicle if the target vehicle is braked emergently at this time;
an alarm module: and the system is used for executing a corresponding alarm strategy according to the current emergency braking risk level of the target vehicle.
9. A readable storage medium, comprising: the readable storage medium stores one or more programs which, when executed by a processor, implement the emergency braking method according to any one of claims 1 to 7.
10. A vehicle, comprising a memory and a processor, wherein:
a memory: for storing a computer program;
a processor: for implementing the emergency braking method according to any one of claims 1 to 7 when executing a computer program stored on a memory.
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| CN202110795309.4A CN113581075A (en) | 2021-07-14 | 2021-07-14 | Emergency braking method, system, readable storage medium and vehicle |
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| CN114802165A (en) * | 2022-05-05 | 2022-07-29 | 江铃汽车股份有限公司 | Vehicle braking method, device, equipment and storage medium |
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