阅读说明：本技术 刹车控制方法、装置、电子设备和存储介质 (Brake control method and device, electronic equipment and storage medium ) 是由 张伍召 杨凯 张磊 殷其娟 王晓艳 于 2020-05-14 设计创作，主要内容包括：本申请公开了一种刹车控制方法、装置、电子设备和存储介质,涉及自动驾驶领域。具体实现方案为：在车辆行驶时,检测车辆中集成的各模块的运行值；若根据各模块的运行值,确定各模块中存在目标模块,则根据目标模块,判断是否控制车辆执行刹车操作,目标模块的运行值超出目标模块的预设运行值范围。本实施例中在车辆中集成的模块的运行值超出预设运行值范围时,会对模块进行分析,确定哪些异常数据会造成车辆驾驶危险,哪些异常数据不会造成车辆驾驶危险,进而有效控制车辆进行刹车,避免了车辆不断急刹的问题,提高了用户体验。(The application discloses a brake control method and device, electronic equipment and a storage medium, and relates to the field of automatic driving. The specific implementation scheme is as follows: detecting operation values of modules integrated in a vehicle while the vehicle is running; and if the target module exists in each module according to the operation value of each module, judging whether the vehicle is controlled to execute the braking operation or not according to the target module, wherein the operation value of the target module exceeds the preset operation value range of the target module. When the running value of the integrated module in the vehicle exceeds the preset running value range in the embodiment, the module can be analyzed, and it is determined which abnormal data can cause the driving danger of the vehicle, which abnormal data can not cause the driving danger of the vehicle, so that the vehicle is effectively controlled to brake, the problem that the vehicle is continuously braked suddenly is avoided, and the user experience is improved.)

1. A brake control method, comprising:

detecting operation values of modules integrated in a vehicle when the vehicle runs, wherein the modules are modules for supporting the vehicle to operate;

and if the target module exists in each module is determined according to the operation value of each module, judging whether the vehicle is controlled to execute the braking operation or not according to the target module, wherein the operation value of the target module exceeds the preset operation value range of the target module.

2. The method of claim 1, wherein the determining whether to control the vehicle to perform a braking operation according to the target module comprises:

and if the target module belongs to a preset module, determining not to control the vehicle to execute the braking operation.

3. The method of claim 1, wherein the determining whether to control the vehicle to perform a braking operation according to the target module comprises:

if the target module does not belong to a preset module, determining the driving danger degree of the vehicle caused by the operation value of the target module according to the operation value of the target module;

determining a braking value of the vehicle brake according to the driving danger degree;

and controlling the vehicle to brake by adopting the brake value.

4. The method of claim 3, wherein determining a braking value for the vehicle brakes based on the driving risk level comprises:

obtaining a confidence level of an operation value of the target module;

and determining the braking value of the vehicle brake according to the confidence coefficient and the driving danger degree.

5. The method of claim 3 or 4, wherein determining the degree of driving risk of the vehicle caused by the operational value of the target module based on the operational value of the target module comprises:

and determining the driving danger degree according to the degree of the deviation of the operation value of the target module from the central value of the preset operation value range.

6. The method of claim 4, wherein the target module is a plurality of modules, and wherein determining a braking value of the vehicle brake based on the confidence level and the driving risk level comprises:

determining a brake value corresponding to each target module according to the confidence coefficient of each target module and the driving danger degree of each target module;

if the driving risk degrees of the target module are all smaller than the preset risk degree, taking the maximum brake value in the brake values as the brake value of the vehicle brake; alternatively, the first and second electrodes may be,

and if the driving risk degree of the target module is larger than or equal to the preset risk degree, the sum of the brake values corresponding to the target modules is used as the brake value of the vehicle brake.

7. The method of claim 4 or 6, wherein determining a braking value of the vehicle brakes according to the confidence level and the driving risk level comprises:

obtaining the score of the confidence coefficient according to the confidence coefficient and the weight of the confidence coefficient;

determining the score of the driving danger degree according to the driving danger degree and the weight of the driving danger degree;

and determining the braking value of the vehicle brake according to the sum of the confidence score and the driving risk degree score.

8. The method of any of claims 3-7, wherein the controlling the vehicle to brake with the brake value comprises:

and sending the braking message to a main control system in the vehicle, wherein the braking message instructs the main control system to control the vehicle to brake by adopting the braking value.

9. The method of claim 8, further comprising:

and if the master control system is determined not to control the vehicle to brake, starting the standby brake equipment, and controlling the standby brake equipment to control the vehicle to brake by adopting the brake value.

10. The method of claim 2, wherein the preset module is at least one of: the vehicle safety monitoring system comprises a module for detecting the electric quantity or the oil quantity of the vehicle, a module for detecting the state of a safety belt of the vehicle, and a module for detecting the height of a seat of the vehicle.

11. A brake control apparatus, comprising:

the processing module is used for detecting the operation values of all modules integrated in the vehicle when the vehicle runs;

and the processing module is further configured to determine whether to control the vehicle to perform a braking operation according to the target module if the target module exists in each module according to the operation value of each module, where the operation value of the target module exceeds a preset operation value range of the target module.

12. The device according to claim 11, wherein the processing module is configured to determine not to control the vehicle to perform a braking operation if the target module belongs to a preset module.

13. The device according to claim 11, wherein the processing module is specifically configured to determine, according to the operation value of the target module, a driving risk degree of the vehicle caused by the operation value of the target module if the target module does not belong to a preset module;

determining a braking value of the vehicle brake according to the driving danger degree;

and controlling the vehicle to brake by adopting the brake value.

14. The apparatus according to claim 13, wherein the processing module is specifically configured to obtain a confidence level of the operation value of the target module;

and determining the braking value of the vehicle brake according to the confidence coefficient and the driving danger degree.

15. The device according to claim 13 or 14, wherein the processing module is configured to determine the driving risk level based on a degree of deviation of the operation value of the target module from a center value of the preset operation value range.

16. The apparatus of claim 14, wherein the target module is plural; the processing module is specifically used for determining a brake value corresponding to each target module according to the confidence coefficient of each target module and the driving risk degree of each target module;

if the driving risk degrees of the target module are all smaller than the preset risk degree, taking the maximum brake value in the brake values as the brake value of the vehicle brake; alternatively, the first and second electrodes may be,

and if the driving risk degree of the target module is larger than or equal to the preset risk degree, the sum of the brake values corresponding to the target modules is used as the brake value of the vehicle brake.

17. The apparatus according to claim 14 or 16, wherein the processing module is specifically configured to obtain a score of the confidence level according to the confidence level and a weight of the confidence level;

determining the score of the driving danger degree according to the driving danger degree and the weight of the driving danger degree;

and determining the braking value of the vehicle brake according to the sum of the confidence score and the driving risk degree score.

18. The apparatus according to any one of claims 13-17, further comprising: a transceiver module;

the receiving and sending module is used for sending the braking message to a main control system in the vehicle, and the braking message indicates the main control system to control the vehicle to brake by adopting the braking value.

19. The apparatus of claim 18, wherein the processing module is further configured to start a backup braking device if it is determined that the main control system does not control the braking of the vehicle, and control the backup braking device to control the vehicle to brake with the braking value.

20. The apparatus of claim 12, wherein the preset module is at least one of: the vehicle safety monitoring system comprises a module for detecting the electric quantity or the oil quantity of the vehicle, a module for detecting the state of a safety belt of the vehicle, and a module for detecting the height of a seat of the vehicle.

21. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.

22. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-10.

Technical Field

The present application relates to the field of automatic driving technologies, and in particular, to a brake control method and apparatus, an electronic device, and a storage medium.

Background

The autonomous driving vehicle comprises a main control system and a safety redundancy system, wherein a plurality of modules such as a sensor, a chip/processor and the like are integrated in the main control system, and the sensor is a radar, a camera, a positioning module and the like. The sensors in the main control system are used for detecting the environment around the vehicle, and the chip/processor is used for controlling the vehicle to perform operations such as turning, deceleration and the like according to data detected by the sensors. The safety redundant system is used for carrying out safety monitoring on a plurality of modules such as a sensor, a chip/a processor and the like in the main control system.

At present, the temperature of each module, the sending frequency of data, the occupation of a CPU and the like in a main control system are all provided with corresponding normal data ranges, for example, the temperature of the module is within the range of 10-20 ℃. In the prior art, if the safety redundancy system monitors that the data of the module is abnormal, that is, the data of the module is not within the corresponding normal data range, the safety redundancy system determines that the vehicle is in a dangerous state, and sends an emergency braking message to the main control system, so that the main control system controls the emergency braking of the vehicle.

In the mode, once the safety redundancy system detects that the data of each module in the main control system is abnormal, the vehicle is controlled to be suddenly braked, and then the vehicle is continuously suddenly braked to cause the problem of unsmooth driving.

Disclosure of Invention

The application provides a brake control method, a brake control device, electronic equipment and a storage medium, which avoid the problem that a vehicle is continuously braked suddenly in the driving process and improve the user experience.

A first aspect of the present application provides a brake control method, including: detecting operation values of modules integrated in a vehicle while the vehicle is running; and if the target module exists in each module is determined according to the operation value of each module, judging whether the vehicle is controlled to execute the braking operation or not according to the target module, wherein the operation value of the target module exceeds the preset operation value range of the target module.

A second aspect of the present application provides a brake control apparatus, comprising:

the processing module is used for detecting the operation values of all modules integrated in the vehicle when the vehicle runs.

And the processing module is further configured to determine whether to control the vehicle to perform a braking operation according to the target module if the target module exists in each module according to the operation value of each module, where the operation value of the target module exceeds a preset operation value range of the target module.

The beneficial effects of the brake control device provided by the second aspect and various possible designs can be referred to the beneficial effects brought by the first aspect, which are not described herein again.

A third aspect of the present application provides an electronic device comprising: at least one processor and memory; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the electronic device executes the brake control method of the first aspect.

A fourth aspect of the present application provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the method for controlling braking according to the first aspect is implemented.

The application provides a brake control method, a brake control device, electronic equipment and a storage medium, wherein the method comprises the following steps: detecting operation values of modules integrated in a vehicle while the vehicle is running; and if the target module exists in each module according to the operation value of each module, judging whether the vehicle is controlled to execute the braking operation or not according to the target module, wherein the operation value of the target module exceeds the preset operation value range of the target module. When the running value of the integrated module in the vehicle exceeds the preset running value range in the embodiment, the module can be analyzed, and it is determined which abnormal data can cause the driving danger of the vehicle, which abnormal data can not cause the driving danger of the vehicle, so that the vehicle is effectively controlled to brake, the problem that the vehicle is continuously braked suddenly is avoided, and the user experience is improved.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a schematic diagram of a prior art autonomous vehicle;

FIG. 2 is a schematic flowchart of a first embodiment of a brake control method provided in the present application;

fig. 3 is a schematic flowchart of a second embodiment of a brake control method provided in the present application;

fig. 4 is a schematic flowchart of a third embodiment of a brake control method provided in the present application;

FIG. 5 is a schematic structural diagram of a brake control apparatus provided in the present application;

fig. 6 is a schematic structural diagram of an electronic device provided in the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In order to more clearly explain the brake control method provided in the present application, a brake control method in the related art will be first explained below. It should be understood that the brake control method provided by the present application is applied to the field of automatic driving, and is applied to an automatic driving vehicle (hereinafter, simply referred to as a vehicle).

Fig. 1 is a schematic diagram of a structure of an autonomous vehicle in the related art. As shown in fig. 1, an autonomous vehicle includes a primary control system 10 and a safety redundant system 20. The master control system 10 integrates a plurality of devices such as sensors, chips/processors, etc., such as radar, cameras, positioning devices, etc. A positioning device such as a Global Navigation Satellite System (GNSS). The sensor is used for collecting data around the vehicle, and the radar is used for transmitting radar signals to the periphery of the vehicle and collecting point cloud data around the vehicle. The camera is used to capture images of the surroundings of the vehicle. The positioning device is used for determining the position of the vehicle in real time.

The chip in the main control system 10 may include a data storage chip for storing data collected by the sensor. In addition, the chip of the main control system 10 may further include a sensing chip for requesting point cloud data from the data storage chip to acquire an environment around the vehicle from the point cloud data. The chips in the main control system 10 may further include a decision chip, where the decision chip is configured to perform operations such as turning, decelerating, and the like according to the environment around the vehicle, or the decision chip requests the data storage chip for image data to control the vehicle to perform corresponding operations such as turning, decelerating, and the like according to the image data. It should be understood that the sensors and chips included in the above-described master control system are illustrative, and that other types of sensors and chips may also be included in practical applications.

The safety redundant system 20 is configured to perform safety monitoring on each module in the main control system 10, to determine whether the vehicle is in a dangerous state according to the operation values in each module in the main control system 10, and to control the vehicle to perform emergency braking when the vehicle is in the dangerous state. The operation value of each module is correspondingly set in a normal data range, for example, the temperature of the module is within the range of 10-20 ℃, the data transmission frequency range of the module is 80Hz-100Hz, the CPU occupies 10% -20%, and the like. And if the safety redundancy system monitors that the data of the module is abnormal, namely the data of the module is not in the corresponding normal data range, determining that the vehicle is in a dangerous state, namely sending emergency brake information to the main control system, and further enabling the main control system to control the emergency brake of the vehicle.

However, in the prior art, in many situations, data abnormality of a module in a vehicle does not represent that the vehicle is in a dangerous state. For example, the data transmission frequency is 70Hz, which does not pose a threat to the driving of the vehicle. In the prior art, abnormal data of the modules are not distinguished, abnormal data causing vehicle driving danger are not analyzed, and once the safety redundancy system detects that data of each module in the main control system are abnormal, the vehicle is controlled to be suddenly braked, so that continuous sudden braking of the vehicle is caused, the problem of unsmooth driving is caused, and the riding experience of a user is influenced.

In order to solve the problem, the application provides a brake control method, when data abnormality of an integrated module in a vehicle is detected, the data of the module is analyzed, and it is determined which abnormal data can cause vehicle driving danger and which abnormal data can not cause vehicle driving danger, so that the vehicle is effectively controlled to brake, the problem that the vehicle is continuously braked suddenly is avoided, and the user riding experience is improved.

It should be understood that the executing body of the vehicle brake control method in the following embodiments may be a vehicle brake control device, which may be implemented by any software and/or hardware. The vehicle brake control device is a vehicle, or a processor or a chip in the vehicle, or a processor or a chip in a safety redundant system in the vehicle. The following embodiments are explained with respect to a vehicle brake control device.

The brake control method provided by the present application is described below with reference to specific embodiments, which may be combined with each other. Fig. 2 is a schematic flowchart of a first embodiment of a brake control method provided in the present application. As shown in fig. 2, the brake control method provided in this embodiment may include:

s201, when the vehicle runs, detecting the operation value of each module integrated in the vehicle, wherein the module is used for supporting the vehicle to run.

S202, if the target module exists in each module according to the operation value of each module, judging whether the vehicle is controlled to execute the braking operation according to the target module, wherein the operation value of the target module exceeds the preset operation value range of the target module.

In the above S201, the vehicle may detect the operation values of the respective modules integrated in the vehicle during running. It should be understood that a module is a module that supports vehicle operation, which refers to a module that contributes to vehicle operation. The module integrated in the vehicle may include a sensor integrated in the vehicle, such as the radar, the camera, the positioning device, etc., and may further include other chips, processors, etc. for controlling the vehicle according to data collected by the sensor, and may further include other processors, chips, etc. for controlling other functions, such as vehicle display, voice playing, etc.

The operational values of the module may include the temperature of the module, the frequency at which data is sent, the CPU occupancy, etc. Wherein the operational value of the module may be different according to the function of the module. For example, if the module is a radar sensor, the operation value of the module may further include sparsity of point cloud collected by the radar, and if the radar is a lidar, the operation value of the module may further include laser intensity emitted by the lidar. If the module is a sensing chip and is used for requesting point cloud data from the data storage chip to acquire the environment around the vehicle according to the point cloud data, the operation value of the module may further include the accuracy of the environment around the vehicle acquired by the sensing chip, and the like. In summary, the operation value of the module may characterize whether the module is currently operating normally.

In the above S202, it is also stated that the operation value of each module is correspondingly set to be within a preset data range (i.e. the normal data range), for example, the temperature of the module should be within a range of 10-20 ℃, the data transmission frequency range of the module is 80Hz-100Hz, the CPU occupies 10% -20%, and the like. Accordingly, the sparsity of the point cloud collected by the laser radar in the above example also has a preset numerical range. It should be noted that the preset value range in the present embodiment can also be interpreted as (a, a), i.e. the preset value range can be a preset value.

In this embodiment, whether the operation value of each module exceeds the preset operation value range of the module may be determined according to the operation value of each module. It is conceivable that, when the preset value range is the preset value, whether the operation value of each module is the preset value may be determined based on the operation values of the modules. The following description will be made with reference to a preset operation value range.

When the operation value of the module exceeds the preset operation value range of the module, the module is taken as a target module in this embodiment. It should be understood that the module has a plurality of operation values, and as long as one operation value exceeds the preset operation value range corresponding to the operation value, the module can be determined as the target module. That is, in this embodiment, whether or not a target module exists in each module may be determined according to the operation value of each module.

If the target module exists in each module integrated in the vehicle, whether the vehicle is controlled to execute the braking operation can be judged according to the target module. Optionally, in this embodiment, whether to control the vehicle to perform a braking operation may be determined according to the type of the target module. For example, if the type of the target module is a type of controlling the vehicle to display and play voice, and the like, when the operation value of the target module of the type exceeds the preset operation value range, the driving safety of the vehicle is not affected, and it may be determined that the vehicle is not controlled to perform a braking operation. And otherwise, controlling the vehicle to perform the braking operation.

Optionally, in this embodiment, whether to control the vehicle to perform a braking operation may be determined according to the operation value of the target module. For example, although the operation value of the target module exceeds the preset operation value range, the value of the operation value exceeding is within the preset range, which does not affect the driving safety of the vehicle, and thus it may be determined that the vehicle is not controlled to perform the braking operation. And otherwise, controlling the vehicle to perform the braking operation. For example, if the preset operation value range of the temperature of the target module is 10-20 ℃ and the operation value of the temperature of the target module is 21 ℃ and the value of the operation value exceeding is ± 3 ℃ within the preset range, it may be determined that the value of the temperature exceeding of the target module is within the preset range, and does not have an influence on the driving safety of the vehicle.

The brake control method provided by the embodiment comprises the following steps: detecting operation values of modules integrated in a vehicle while the vehicle is running; and if the target module exists in each module according to the operation value of each module, judging whether the vehicle is controlled to execute the braking operation or not according to the target module, wherein the operation value of the target module exceeds the preset operation value range of the target module. When the running value of the integrated module in the vehicle exceeds the preset running value range in the embodiment, the module can be analyzed, and it is determined which abnormal data can cause the driving danger of the vehicle, which abnormal data can not cause the driving danger of the vehicle, so that the vehicle is effectively controlled to brake, the problem that the vehicle is continuously braked suddenly is avoided, and the user experience is improved.

On the basis of the above embodiments, how to control whether the vehicle brakes according to the target module in the braking control method provided by the present application is further described in detail below with reference to fig. 3. Fig. 3 is a schematic flowchart of a second embodiment of the brake control method provided in the present application. As shown in fig. 3, the brake control method in this embodiment may include:

s301 detects an operation value of each module integrated in the vehicle while the vehicle is running.

And S302, if a target module exists in each module according to the operation value of each module and belongs to a preset module, determining that the vehicle is not controlled to execute the braking operation.

And S303, if the target module exists in each module according to the operation value of each module and does not belong to a preset module, determining the driving danger degree of the vehicle caused by the operation value of the target module according to the operation value of the target module.

And S304, determining the braking value of the vehicle brake according to the driving danger degree.

And S305, controlling the vehicle to brake by adopting the brake value.

The implementation in S301 in this embodiment may specifically refer to the relevant description in S201 in the above embodiment, and the description about "determining that a target module exists in each module according to the operation value of each module" in S302 and S302 may also refer to the relevant description in S202 in the above embodiment, which is not described herein again.

In the above S302, when a target module exists in each module integrated in the vehicle, if the target module belongs to a preset module, the vehicle is controlled to output alarm information. Wherein, the preset module in this embodiment is at least one of the following: the device comprises a module for detecting the electric quantity or the oil quantity of the vehicle, a module for detecting the state of a safety belt of the vehicle and a module for detecting the height of a seat of the vehicle.

It should be understood that the preset module is a module for detecting power consumption/oil consumption of the vehicle and a safety belt, a seat and the like which do not pose a danger to driving safety of the vehicle, wherein the preset module may also be a module for controlling the vehicle to display an interface, play voice and the like. When the operation value of the preset module exceeds the corresponding preset operation value range, the vehicle can not be controlled to execute the braking operation.

Furthermore, after the vehicle is determined not to be controlled to execute the braking operation, the vehicle can be controlled to output alarm information so as to remind a user of abnormal operation of the preset module.

Optionally, the mode of controlling the vehicle to output the alarm information may be displaying the alarm information on an interface of a vehicle machine of the vehicle, such as a text reminding message of "low oil, capable of driving for 30 minutes, and please add oil in time". Or the vehicle can be controlled to play voice reminding information of 'low fuel, driving for 30 minutes and please add fuel in time'. In addition, the alarm information can also be sent to the terminal equipment of the user, such as a mobile phone.

In S303, when a target module exists in the modules integrated in the vehicle and the target module does not belong to the preset module, the driving safety of the vehicle may be affected by the abnormality of the operation value of the control target module, so that the driving risk degree of the vehicle caused by the operation value of the target module may be determined according to the operation value of the target module in this embodiment.

In this embodiment, the driving risk level may be determined according to the degree to which the operation value of the target module deviates from the center value of the preset operation value range. The greater the deviation degree of the operation value of the target module from the central value is, the greater the driving risk degree is, and the smaller the driving risk degree is otherwise.

In a possible implementation manner, in this embodiment, the risk degree function affine Y ═ f(s) may be preset, where s is a deviation of the operation value of the target module from the preset operationThe degree of the center value of the value range, Y, characterizes the driving risk degree. Illustratively, for data transmission frequency monitoring of the module, the preset operation value range of the data transmission frequency is (H)_min-H_max) H of the reaction system_minRepresenting the minimum value, H, of the data transmission frequency in a predetermined operating value range_maxThe maximum value of the data transmission frequency in the preset operation value range is shown, and if the preset risk degree affine function Y is ax, the risk degree at this time can be shown as Y ═ a | H_mid-H |/H, where H is the operating value of the target module, H_midA is a coefficient in the hazard affine function, which is a known quantity.

It should be understood that y-ax is an exemplary affine function of risk, and other affine functions of risk may also be used in the present embodiment. It should be noted that, when the preset operation value range is a preset value, the central value of the preset operation value range is the preset value.

In the above S304 and S305, in this embodiment, a corresponding relationship between the driving risk degree and the braking value of the vehicle brake may be preset, wherein the larger the driving risk degree is, the larger the braking value of the vehicle brake is. The aforesaid is after confirming driving danger degree, can confirm the brake value of vehicle brake according to driving danger degree in this embodiment, specifically can confirm the brake value of vehicle brake according to this driving danger degree and corresponding relation.

It should be noted that, once the data of each module in the main control system is detected by the safety redundancy system to be abnormal in the prior art, the vehicle is controlled to be suddenly braked, and the brake value corresponding to the sudden brake is large, so that the user experience is low, the data abnormality is not analyzed, and when the sudden brake is adopted, the aging of a brake device in the vehicle is accelerated. And for the target module that the running value surpassed the preset running value scope in this embodiment, can confirm corresponding brake value according to the driving danger degree of the vehicle that the running value of this target module arouses, can guarantee when driving danger degree, slowly brake, when driving danger degree is great, control the vehicle and carry out emergency braking, can improve user experience on the basis of guaranteeing vehicle driving safety.

It should be noted that, in order to further ensure the accuracy of the operation value of the target module, different confidence levels may be set in advance for the operation value of the module integrated in the vehicle. For example, a higher confidence may be used for the collision detection chip, and a lower confidence may be set for the frequency operation value or the temperature operation value of each module because the detection error exists, and even if such a problem occurs, the driving risk degree is lower.

Accordingly, one possible implementation manner of determining the braking value of the vehicle brake in the embodiment may also be: and obtaining the confidence coefficient of the operation value of the target module, and further determining the brake value of the vehicle brake according to the confidence coefficient and the driving danger degree. It should be understood that the confidence level of obtaining the operating value of the target module may be obtained from a confidence level configuration file, which may include the preset confidence level of the operating value of each module. It should be understood that the confidence level of the operational values of the modules in the confidence level configuration file may also be modified by the user, and for example, the user may set the confidence level of the operational values of the modules to a higher value in order to improve the driving safety of the vehicle.

After the confidence level of the operation value of the target module and the driving danger degree are obtained, the braking value of the vehicle brake can be determined. The confidence coefficient weight and the driving risk degree weight can be preset in the embodiment, the confidence coefficient score can be obtained according to the confidence coefficient and the confidence coefficient weight, the driving risk degree score is determined according to the driving risk degree and the driving risk degree weight, and the braking value of the vehicle brake is determined according to the sum of the confidence coefficient score and the driving risk degree score.

Illustratively, the weight of confidence and the weight of driving risk are 0.4 and 0.6, respectively. In this embodiment, a braking value function, such as g, can also be set_break＝K₁×X+K₂× Y. wherein, g_breakRepresenting a braking value, X representing a confidence level of an operational value of the target module, Y representing a driving risk level, K₁Weight, K, representing confidence₂A weight representing the degree of driving risk. Accordingly, the brake value corresponding to the target module can be determined.

It should be noted that, when the target module is one, the braking value g of the vehicle brake can be obtained in the above manner in the present embodiment_breakWhen a plurality of target modules are provided, the method can be correspondingly adopted to determine the brake value corresponding to each target module according to the confidence coefficient of each target module and the driving risk degree of each target module.

In this embodiment, when a plurality of target modules are provided, if the driving risk degrees of the target modules are all smaller than the preset risk degree, it is indicated that the driving risk of the vehicle caused by the driving risk degree of each target module is smaller, and therefore the largest brake value among the brake values corresponding to the target modules can be used as the brake value of the vehicle brake; alternatively, the first and second electrodes may be,

when a plurality of target modules are provided, if the driving risk degree of the target modules is greater than or equal to the preset risk degree, it is indicated that the driving risk of the vehicle caused by the driving risk degree of the target modules is large, and at this time, the sum of the brake values corresponding to the plurality of target modules can be used as the brake value of the vehicle brake. It should be understood that the brake value of the vehicle brake is preset with a maximum brake value, and when the sum of the brake values corresponding to the target modules is greater than the maximum brake value, the preset maximum brake value may be used as the brake value of the vehicle brake.

Therefore, in the embodiment, after the braking value of the vehicle brake is determined by adopting the above method, the vehicle can be controlled to brake by adopting the determined braking.

In this embodiment, the vehicle may be controlled to perform different operations for target modules whose operation values are out of the preset operation value range. When the target module with the operation value exceeding the preset operation value range does not affect the driving safety of the vehicle, only alarm information can be output to remind a user. When the target module with the operation value exceeding the preset operation value range influences the driving safety of the vehicle, the corresponding brake value is adopted to control the vehicle to brake according to the driving danger degree of the vehicle caused by the operation value of the target module, and the user experience can be improved on the basis of ensuring the driving safety of the vehicle.

As shown in fig. 1, the vehicle in the present embodiment may include a main control system and a safety redundancy system, and the brake control method in the present embodiment is described below from the perspective of interaction between the main control system and the safety redundancy system, it should be understood that the operation performed by the main control system described below may be an operation performed by a processor or a chip in the main control system, and correspondingly, the operation performed by the safety redundancy system may be an operation performed by a processor or a chip in the safety redundancy system.

Fig. 4 is a schematic flowchart of a third embodiment of the brake control method provided in the present application. As shown in fig. 4, the brake control method in this embodiment may include:

s401, the main control system sets confidence for the operation values of all modules in the main control system and generates a confidence configuration file.

S402, the main control system sends a confidence coefficient configuration file to the safety redundancy system.

S403, the safety redundancy system detects the operation values of the respective modules integrated in the main control system while the vehicle is running.

S404, if the safety redundancy system determines that a target module exists in each module according to the operation value of each module, and the target module belongs to a preset module, controlling the vehicle to output alarm information.

S405, if the safety redundancy system determines that a target module exists in each module according to the operation value of each module, the target module does not belong to a preset module, and the driving danger degree of the vehicle caused by the operation value of the target module is determined according to the operation value of the target module.

And S406, determining a brake value of the vehicle brake by the safety redundancy system according to the driving danger degree.

S407, the safety redundancy system sends a braking message to a main control system in the vehicle, and the braking message instructs the main control system to control the vehicle to brake by adopting a braking value.

And S408, controlling the vehicle to brake by the main control system according to the brake value.

In the above S401 and S402, the master control system may be provided with a configuration rule, and the configuration rule sets a confidence level for the operation value of each module. For example, a higher confidence may be used for the operation value of the collision detection chip, and a lower confidence may be set for the frequency operation value or the temperature operation value of each module because the existence of the error of detection and the driving risk is lower even if such a problem occurs.

Correspondingly, after the main control system sets the confidence for the operation value of each module according to the configuration rule, a confidence configuration file can be generated, wherein the confidence configuration file comprises the setting confidence of the operation value of each module. The primary control system may then send the confidence profile to the safety redundancy system. It should be understood that the steps in S401 and S402 described above may be performed before the vehicle travels, and are not performed during the execution of the braking control method described below.

It should be understood that the implementation manners in S403 to S406 may specifically refer to the descriptions related to S301 to S304 in the foregoing embodiments, and are not described herein again.

In the above S407, since the main control system in the vehicle is used to control the vehicle to perform corresponding operations, after the safety redundancy system determines the braking value of the vehicle braking, a braking message may be sent to the main control system in the vehicle to instruct the main control system to control the vehicle to brake with the braking value. Optionally, the braking message includes a braking value.

Accordingly, in the above S408, the main control system controls the vehicle to brake using the brake value. In this embodiment, there is no limitation on how the main control system controls the vehicle to brake by using the brake value, and reference may be made to the operation of the main control system in the prior art.

It should be noted that, the safety redundancy system in this embodiment may further integrate with a backup brake device, and after the safety redundancy system sends a brake message to the main control system, it may be detected whether the main control system controls the vehicle brake, wherein, if it is determined that the main control system does not control the vehicle brake, the backup brake device may be started, and control the backup brake device to control the vehicle to adopt the brake value to brake, thereby avoiding that the control vehicle in the main brake system can effectively control the vehicle to brake when the module that brakes is carried out by the vehicle is damaged.

The braking control method in this embodiment has the same principle and technical effects as those in the above embodiments, and the aggregate can be referred to the relevant description in the above embodiments.

Fig. 5 is a schematic structural diagram of the brake control device provided in the present application. As shown in fig. 5, the brake control apparatus 500 includes: a processing module 501 and a transceiver module 502. It should be noted that, the modules in the brake control device are different from the modules integrated in the vehicle in the above-mentioned embodiment, and the modules in the brake control device refer to modules capable of implementing corresponding operations described below, and may be implemented by software and/or hardware.

The processing module 501 is configured to detect operation values of modules integrated in the vehicle while the vehicle is running.

The processing module 501 is further configured to determine whether to control the vehicle to perform a braking operation according to the target module if the target module exists in each module according to the operation value of each module, where the operation value of the target module exceeds a preset operation value range of the target module.

In one possible design, the processing module 501 is specifically configured to determine not to control the vehicle to perform the braking operation if the target module belongs to the preset module.

In a possible design, the processing module 501 is specifically configured to determine a driving risk degree of the vehicle caused by the operation value of the target module according to the operation value of the target module, determine a braking value of a vehicle brake according to the driving risk degree, and control the vehicle to brake by using the braking value if the target module does not belong to the preset module.

In one possible design, the processing module 501 is specifically configured to obtain a confidence level of an operation value of the target module; and determining the braking value of the vehicle brake according to the confidence coefficient and the driving danger degree.

In one possible design, the processing module 501 is specifically configured to determine the driving risk level according to a degree of deviation of the operation value of the target module from a center value of a preset operation value range.

In one possible design, the target module is multiple.

Correspondingly, the processing module 501 is specifically configured to determine a brake value corresponding to each target module according to the confidence of each target module and the driving risk degree of each target module; if the driving risk degrees of the target module are all smaller than the preset risk degree, taking the maximum brake value in the brake values as the brake value of the vehicle brake; or if the driving risk degree of the target module is larger than or equal to the preset risk degree, the sum of the brake values corresponding to the target modules is used as the brake value of the vehicle brake.

In a possible design, the processing module 501 is specifically configured to obtain a confidence score according to the confidence and the weight of the confidence; determining the score of the driving danger degree according to the driving danger degree and the weight of the driving danger degree; and determining the braking value of the vehicle brake according to the sum of the confidence score and the driving risk degree score.

In one possible design, the transceiver module 502 is configured to send a braking message to a main control system in the vehicle, where the braking message instructs the main control system to control the vehicle to brake with a braking value.

In one possible design, the processing module 501 is further configured to start the backup braking device if it is determined that the main control system does not control the vehicle to brake, and control the backup braking device to control the vehicle to brake by using the braking value.

In one possible design, the preset module is at least one of: the device comprises a module for detecting the electric quantity or the oil quantity of the vehicle, a module for detecting the state of a safety belt of the vehicle and a module for detecting the height of a seat of the vehicle.

The principle and technical effect of the brake control device provided by this embodiment are similar to those of the brake control method, and are not described herein again.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided. Fig. 6 is a schematic structural diagram of an electronic device provided in the present application. As shown in fig. 6, the electronic device is intended to represent various forms of digital computers, processors, chips, and the like. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 6, the electronic apparatus includes: one or more processors 601, memory 602, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including being stored in or on the memory for external input/output means. In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 6, one processor 601 is taken as an example.

The memory 602 is a non-transitory computer readable storage medium as provided herein. The memory stores instructions executable by the at least one processor, so that the at least one processor executes the brake control method provided by the application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the brake control method provided by the present application.

The memory 602, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the brake control method in the embodiments of the present application. The processor 601 executes various functional applications and data processing of the server by running non-transitory software programs, instructions and modules stored in the memory 602, so as to implement the brake control method in the above method embodiment.

The memory 602 may include a program storage area and a data storage area, and the memory 602 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 602 optionally includes memory located remotely from the processor 601, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the brake control method may further include: a communication device 603. The processor 601, the memory 602, and the communication device 603 may be connected by a bus or other means, and fig. 6 illustrates an example of a connection by a bus. The communication device 603 is used for realizing communication with other sensors, processors or chips integrated in the vehicle, and is used for performing transceiving operation of the brake control device in the above embodiments.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.