The invention provides a vehicle braking method, device and equipment and a readable storage medium. The vehicle braking method comprises the steps that information data of an obstacle is obtained through an ultrasonic radar sensor and a millimeter wave radar sensor; obtaining the track of the obstacle according to the position information, the speed information and the moving direction information of the obstacle included in the obtained information data of the obstacle; adding the track of the obstacle into the established coordinate system; obtaining the track of the vehicle; adding the track of the vehicle into the established coordinate system; detecting whether the track of the obstacle coincides with the track of the vehicle or not; and when the track of the obstacle coincides with the track of the vehicle, the collision time is calculated, and when the collision time is smaller than a set threshold value, a braking strategy is executed. According to the invention, the ultrasonic radar sensor and the millimeter wave radar sensor are fused for obstacle detection, so that collision can be effectively avoided, and the safety during reversing is improved.

    本发明提供一种车辆制动方法、装置、设备及可读存储介质,车辆制动方法包括:通过超声波雷达传感器和毫米波雷达传感器获取障碍物的信息数据;根据获取的障碍物的信息数据中所包含的障碍物的位置信息、速度信息和移动方向信息得到障碍物的轨迹;将障碍物的轨迹加入到建立的坐标系中;获取自车的轨迹;将自车的轨迹加入到所述建立的坐标系中;检测障碍物的轨迹和自车的轨迹是否存在重合;当障碍物的轨迹和自车的轨迹存在重合时,计算碰撞时间,当碰撞时间小于设定的阈值时,执行制动策略。通过本发明,将超声波雷达传感器和毫米波雷达传感器进行融合用于障碍物的探测,可以有效避免碰撞的发生,提升倒车时的安全性。


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    Title :

    Vehicle braking method, device and equipment and readable storage medium


    Additional title:

    车辆制动方法、装置、设备及可读存储介质


    Contributors:
    ZHU XUHAN (author) / TU NINGNING (author) / FU BIN (author) / CHENG HAIDONG (author) / YI YUNYUAN (author)

    Publication date :

    2022-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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