1. A method of braking a vehicle, the method comprising:

determining whether a driver takes over a target vehicle when the target vehicle is in an automatic driving mode and it is determined that a brake system of the target vehicle is failed;

if the driver is determined not to take over the target vehicle, determining whether the target vehicle needs emergency braking according to the traffic state of the target vehicle;

and if the target vehicle needs emergency braking, sending a first signal to an electronic parking controller, wherein the first signal is used for indicating the electronic parking controller to start electronic parking.

2. The method of claim 1, further comprising:

and if the target vehicle needs emergency braking, sending a second signal to a controller of the engine, wherein the second signal is used for instructing the controller to control the engine to reduce the rotation speed of the engine so as to enable the rotation speed of the engine to be smaller than the current vehicle speed of the target vehicle.

3. The method of claim 1, further comprising:

if the target vehicle needs emergency braking, detecting whether the condition that the target vehicle is switched from a current lane to an emergency lane is met;

and if the condition that the target vehicle is switched from the current lane to the emergency lane is met, controlling the target vehicle to be switched from the current lane to the emergency lane, controlling the target vehicle to be in contact with a railing beside the emergency lane, and reducing the current speed of the target vehicle through the friction force between the target vehicle and the railing.

4. The method of claim 1, wherein the determining that the target vehicle's braking system is malfunctioning comprises:

when the third signal sent by the brake system is not received within the preset time, determining that the brake system of the target vehicle is in failure, or,

and when a third signal sent by the brake system is received, comparing the third signal with a reference signal in a reference signal library, and if the reference signal identical to the third signal does not exist in the reference signal library, determining that the brake system of the target vehicle has a fault.

5. The method of claim 1, further comprising:

and sending a fourth signal to the man-machine interaction module, wherein the fourth signal is used for indicating the man-machine interaction module to control the seat to vibrate, the safety belt to shrink, the sound box to perform voice broadcast and the atmosphere lamp to flicker.

6. The method of claim 1, further comprising:

if the target vehicle does not need emergency braking, sending a fourth signal to a positioning module, wherein the fourth signal is used for indicating the positioning module to detect whether a safety island or a service area exists within a preset distance in front of the target vehicle;

receiving a fifth signal sent by the positioning module, wherein the fifth signal is used for indicating whether a safety island or a service area exists within a preset distance in front of the target vehicle;

if a safety island or a service area exists within a preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and driving to the safety island or the service area at a preset speed; and if the safety island or the service area does not exist within the preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and controlling the target vehicle to stop.

7. A vehicle braking apparatus, characterized in that the apparatus comprises:

a first determination module configured to determine whether a driver takes over a target vehicle when the target vehicle is in an autonomous driving mode and it is determined that a brake system of the target vehicle is malfunctioning;

a second determination module configured to determine whether the target vehicle needs emergency braking according to a traffic state of the target vehicle if it is determined that the driver does not take over the target vehicle;

the first sending module is configured to send a first signal to an electronic parking controller if the target vehicle needs emergency braking, and the first signal is used for indicating the electronic parking controller to start electronic parking.

8. The apparatus of claim 7, further comprising a second transmitting module configured to:

and if the target vehicle needs emergency braking, sending a second signal to a controller of the engine, wherein the second signal is used for instructing the controller to control the engine to reduce the rotation speed of the engine so as to enable the rotation speed of the engine to be smaller than the current vehicle speed of the target vehicle.

9. The apparatus of claim 7, further comprising a switching module configured to:

if the target vehicle needs emergency braking, detecting whether the condition that the target vehicle is switched from a current lane to an emergency lane is met;

and if the condition that the target vehicle is switched from the current lane to the emergency lane is met, controlling the target vehicle to be switched from the current lane to the emergency lane, controlling the target vehicle to be in contact with a railing beside the emergency lane, and reducing the current speed of the target vehicle through the friction force between the target vehicle and the railing.

10. The apparatus of claim 7, wherein the first determining module is configured to:

when the third signal sent by the brake system is not received within the preset time, determining that the brake system of the target vehicle is in failure, or,

and when a third signal sent by the brake system is received, comparing the third signal with a reference signal in a reference signal library, and if the reference signal identical to the third signal does not exist in the reference signal library, determining that the brake system of the target vehicle has a fault.

Background

With the continuous development of automotive electronic technology, automobiles gradually become main transportation tools for people to go out, and automatic driving gradually becomes the future trend of the automobile market.

However, in the automatic driving process, when the brake system fails, the vehicle cannot be actively braked, and if the driver does not step on the brake in time, the vehicle cannot be normally decelerated and stopped, which may cause traffic accidents and even personal injuries.

Disclosure of Invention

The embodiment of the application provides a vehicle braking method and device, when a braking system breaks down and needs emergency braking but a driver does not take over the vehicle, electronic parking is started, and then the vehicle is controlled to stop, so that traffic accidents are avoided to a certain extent. The technical scheme is as follows:

in one aspect, a vehicle braking method is provided, the method comprising:

determining whether a driver takes over a target vehicle when the target vehicle is in an automatic driving mode and it is determined that a brake system of the target vehicle is failed;

if the driver is determined not to take over the target vehicle, determining whether the target vehicle needs emergency braking according to the traffic state of the target vehicle;

and if the target vehicle needs emergency braking, sending a first signal to an electronic parking controller, wherein the first signal is used for indicating the electronic parking controller to start electronic parking.

Optionally, the method further includes:

and if the target vehicle needs emergency braking, sending a second signal to a controller of the engine, wherein the second signal is used for instructing the controller to control the engine to reduce the rotation speed of the engine so as to enable the rotation speed of the engine to be smaller than the current vehicle speed of the target vehicle.

Optionally, the method further includes:

if the target vehicle needs emergency braking, detecting whether the condition that the target vehicle is switched from a current lane to an emergency lane is met;

and if the condition that the target vehicle is switched from the current lane to the emergency lane is met, controlling the target vehicle to be switched from the current lane to the emergency lane, controlling the target vehicle to be in contact with a railing beside the emergency lane, and reducing the current speed of the target vehicle through the friction force between the target vehicle and the railing.

Optionally, the determining that the brake system of the target vehicle is in failure includes:

when the third signal sent by the brake system is not received within the preset time, determining that the brake system of the target vehicle is in failure, or,

and when a third signal sent by the brake system is received, comparing the third signal with a reference signal in a reference signal library, and if the reference signal identical to the third signal does not exist in the reference signal library, determining that the brake system of the target vehicle has a fault.

Optionally, the method further includes:

and sending a fourth signal to the man-machine interaction module, wherein the fourth signal is used for indicating the man-machine interaction module to control the seat to vibrate, the safety belt to shrink, the sound box to perform voice broadcast and the atmosphere lamp to flicker.

Optionally, the method further includes:

if the target vehicle does not need emergency braking, sending a fourth signal to a positioning module, wherein the fourth signal is used for indicating the positioning module to detect whether a safety island or a service area exists within a preset distance in front of the target vehicle;

receiving a fifth signal sent by the positioning module, wherein the fifth signal is used for indicating whether a safety island or a service area exists within a preset distance in front of the target vehicle;

if a safety island or a service area exists within a preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and driving to the safety island or the service area at a preset speed; and if the safety island or the service area does not exist within the preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and controlling the target vehicle to stop.

In one aspect, there is provided a vehicle brake apparatus, the apparatus including:

a first determination module configured to determine whether a driver takes over a target vehicle when the target vehicle is in an autonomous driving mode and it is determined that a brake system of the target vehicle is malfunctioning;

a second determination module configured to determine whether the target vehicle needs emergency braking according to a traffic state of the target vehicle if it is determined that the driver does not take over the target vehicle;

the first sending module is configured to send a first signal to an electronic parking controller if the target vehicle needs emergency braking, and the first signal is used for indicating the electronic parking controller to start electronic parking.

Optionally, the apparatus further includes a second sending module, where the second sending module is configured to:

and if the target vehicle needs emergency braking, sending a second signal to a controller of the engine, wherein the second signal is used for instructing the controller to control the engine to reduce the rotation speed of the engine so as to enable the rotation speed of the engine to be smaller than the current vehicle speed of the target vehicle.

Optionally, the apparatus further includes a switching module, configured to:

if the target vehicle needs emergency braking, detecting whether the condition that the target vehicle is switched from a current lane to an emergency lane is met;

and if the condition that the target vehicle is switched from the current lane to the emergency lane is met, controlling the target vehicle to be switched from the current lane to the emergency lane, controlling the target vehicle to be in contact with a railing beside the emergency lane, and reducing the current speed of the target vehicle through the friction force between the target vehicle and the railing.

Optionally, the first determining module is configured to:

when the third signal sent by the brake system is not received within the preset time, determining that the brake system of the target vehicle is in failure, or,

and when a third signal sent by the brake system is received, comparing the third signal with a reference signal in a reference signal library, and if the reference signal identical to the third signal does not exist in the reference signal library, determining that the brake system of the target vehicle has a fault.

Optionally, the apparatus further includes a user prompting module, where the user prompting module is configured to:

and sending a fourth signal to the man-machine interaction module, wherein the fourth signal is used for indicating the man-machine interaction module to control the seat to vibrate, the safety belt to shrink, the sound box to perform voice broadcast and the atmosphere lamp to flicker.

Optionally, the apparatus further comprises a control module configured to:

if the target vehicle does not need emergency braking, sending a fourth signal to a positioning module, wherein the fourth signal is used for indicating the positioning module to detect whether a safety island or a service area exists within a preset distance in front of the target vehicle;

receiving a fifth signal sent by the positioning module, wherein the fifth signal is used for indicating whether a safety island or a service area exists within a preset distance in front of the target vehicle;

if a safety island or a service area exists within a preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and driving to the safety island or the service area at a preset speed; and if the safety island or the service area does not exist within the preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and controlling the target vehicle to stop.

The technical effects brought by the embodiment of the application at least comprise:

when the automatic driving controller detects that the braking system breaks down and the driver needs emergency braking but does not take over the vehicle, the braking device cannot brake due to the fact that the braking system cannot send out emergency braking signals, at the moment, the automatic driving controller can send first signals to the electronic parking controller, and then the electronic parking controller starts electronic parking, so that emergency braking of the vehicle is achieved, and personal injuries and deaths are reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart of a vehicle braking method provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a vehicle braking method provided by an embodiment of the present application;

fig. 3 is a schematic structural diagram of a vehicle braking method device provided in an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a vehicle braking method according to an embodiment of the present application. Referring to fig. 1, the embodiment includes:

step 101, when the target vehicle is in an automatic driving mode and the brake system of the target vehicle is determined to be in failure, determining whether the driver takes over the target vehicle.

The target vehicle is generally a vehicle that is automatically driven on a highway.

In an implementation, when a target vehicle is automatically driven on a highway, an autonomous driving controller determines whether a brake system of the target vehicle is malfunctioning. When the autonomous driving controller determines that the brake system of the target vehicle is malfunctioning, the autonomous driving controller determines whether the driver takes over the target vehicle.

Optionally, the manner of determining whether the brake system of the target vehicle is faulty is: and when the third signal sent by the brake system is not received within the preset time, determining that the brake system of the target vehicle is in failure. Or when a third signal sent by the brake system is received, comparing the third signal with a reference signal in a reference signal library, and if the reference signal library does not have the reference signal which is the same as the third signal, determining that the brake system of the target vehicle has a fault. And if the reference signal identical to the third signal exists in the reference signal library, determining that the brake system of the target vehicle is not in fault.

In implementation, the braking system sends a third signal to the brake module every preset time interval, and the third signal may be used to instruct the brake module to brake or instruct the brake module not to brake. In order to detect whether the brake system is malfunctioning, the brake system may also send a third signal to the autopilot controller at preset intervals when the brake system sends the third signal to the brake module. And when the automatic driving controller does not receive the third signal sent by the brake system within the preset time, the automatic driving controller determines that the brake system of the target vehicle is in failure. Or when the automatic driving controller receives a third signal sent by the brake system, comparing the third signal with each reference signal in a pre-stored reference signal library. If the reference signal identical to the third signal does not exist in the reference signal library, the autonomous driving controller determines that the brake system of the target vehicle is malfunctioning. If the reference signal identical to the third signal is present in the reference signal library, the autonomous driving controller determines that the brake system of the target vehicle is not malfunctioning.

It should be noted that, under the normal condition of the braking system, the signal sent by the braking system indicates that the braking module brakes or indicates that the braking module does not brake. Therefore, it is possible to store the two signals in the reference signal library in advance, and determine whether the third signal is a fault signal by determining whether the received third signal is a signal in the reference signal library.

The manner of determining whether the driver takes over the target vehicle is: the sensor capable of detecting touch operation is installed on the steering wheel, when the sensor on the steering wheel detects the touch operation of a user, it is determined that the driver takes over the target vehicle, and the target vehicle is sent to the CAN bus as a signal. And if the automatic driving controller acquires the identification code or the signal corresponding to the protocol on the CAN bus according to the identification code or the protocol corresponding to the sensor, the automatic driving controller determines that the driver takes over the target vehicle. If the automatic driving controller does not acquire the identification code or the signal corresponding to the protocol on the CAN bus according to the identification code or the protocol corresponding to the sensor, the automatic driving controller determines that the driver does not take over the target vehicle.

Or, an image detection module is arranged on the target vehicle and is respectively connected with the first camera and the CAN bus. The image detection module receives an image shot by the first camera and detects the image. When the image detection module detects that the hands of the driver contact the steering wheel, the image detection module determines that the driver takes over the target vehicle. When the image detection module detects that the hands of the driver do not contact the steering wheel, the image detection module determines that the driver does not take over the target vehicle. When the image detection module determines that the driver takes over the target vehicle, the image detection module generates a signal corresponding to the detection result and sends the signal to the CAN bus. And if the automatic driving controller acquires the identification code or the signal corresponding to the protocol on the CAN bus according to the identification code or the protocol corresponding to the image detection module, the automatic driving controller determines that the driver takes over the target vehicle. If the automatic driving controller does not acquire the identification code or the signal corresponding to the protocol on the CAN bus according to the identification code or the protocol corresponding to the image detection module, the automatic driving controller determines that the driver does not take over the target vehicle.

It should be noted that the first camera may be installed directly above a steering wheel of the target vehicle, may also be installed on the steering wheel, and may further be installed on the a-pillar, which is not limited herein.

Optionally, in this embodiment of the application, when the target vehicle is in the automatic driving mode and it is determined that the braking system of the target vehicle has a fault, the automatic driving controller sends a fourth signal to the human-computer interaction module, where the fourth signal is used to instruct the human-computer interaction module to control seat vibration, seat belt contraction, sound for voice broadcast, and ambience light flashing.

Wherein, the automatic driving controller can also send the fourth signal to automobile body control module, and this fourth signal is used for instructing automobile body control module control seat vibrations, safety belt shrink, stereo set to carry out voice broadcast and atmosphere lamp scintillation. Of course, the automatic driving controller can also send the fourth signal to other modules, and then control seat vibrations, safety belt shrink, stereo set through other modules and carry out voice broadcast and atmosphere lamp scintillation.

In practice, when the automatic driving controller determines that the brake system has a fault, the brake system cannot control the vehicle to perform active braking, and the result is not reasonable. In order to avoid the situation, the automatic driving controller sends a fourth signal to the man-machine interaction module, and the fourth signal is used for indicating the vehicle body control module to control seat vibration, seat belt contraction, sound equipment to perform voice broadcast and atmosphere lamp flashing.

The voice played in the above process may be "brake system failure, please take over vehicle".

And 102, if the driver is determined not to take over the target vehicle, determining whether the target vehicle needs to be braked emergently according to the traffic state of the target vehicle.

In implementation, if it is determined that the driver does not take over the target vehicle, whether an obstacle exists within a preset distance in front of the target vehicle is analyzed through radar data received by the target vehicle. If an obstacle exists in front of the target vehicle at a preset distance, determining the speed of the obstacle, determining whether the target vehicle collides with the obstacle or not based on the speed of the obstacle and the speed of the target vehicle, and taking the result as the traffic state of the target vehicle. If the target vehicle is in a traffic state in which the target vehicle may collide with the obstacle, the autonomous driving controller determines that the target vehicle needs emergency braking. If the target vehicle is in a traffic state in which the target vehicle does not collide with the obstacle, the automatic driving controller determines that the target vehicle does not need to be subjected to emergency braking.

And 103, if the target vehicle needs emergency braking, sending a first signal to the electronic parking controller.

The first signal is used for indicating the electronic parking controller to start electronic parking. Electronic Parking epb (electrical Parking brake) refers to a technology for realizing Parking brake by an electronic control mode.

In an implementation, the autonomous driving controller sends a first signal to the electronic parking controller if the target vehicle requires emergency braking. And the electronic parking controller receives the first signal and starts the electronic parking.

Optionally, if the target vehicle needs emergency braking, a second signal is sent to the controller of the engine, and the second signal is used for instructing the controller to control the engine to reduce the rotation speed of the engine, so that the rotation speed of the engine is less than the current vehicle speed of the target vehicle.

In an implementation, if the subject vehicle requires emergency braking, a second signal is sent to the controller of the engine. After the controller of the engine receives the second signal, the controller of the engine controls the rotation speed of the engine to be reduced to 0, or controls the rotation speed of the engine to be reduced to a value close to 0.

In the embodiment of the application, when the target vehicle needs emergency braking, the vehicle speed can be reduced by using the dragging force generated by the engine, so that the vehicle can be stopped as soon as possible.

Optionally, if the target vehicle needs emergency braking, detecting whether a condition that the target vehicle is switched from the current lane to the emergency lane is met; and if the condition that the target vehicle is switched from the current lane to the emergency lane is met, controlling the target vehicle to be switched from the current lane to the emergency lane, controlling the target vehicle to be in contact with the railing beside the emergency lane, and reducing the current speed of the target vehicle through the friction force between the target vehicle and the railing.

As shown in fig. 3, a general highway includes a passing lane, a traffic lane and an emergency lane, the passing lane is a lane for passing vehicles, the traffic lane is a lane for normal driving of vehicles, and the emergency lane is a lane for emergency stop. The condition for the target vehicle to switch from the current lane to the emergency lane includes: determining that a steering system of the vehicle is normal, when the current lane of the target vehicle is a passing lane, both a driving lane and an emergency lane are unoccupied, and when the current lane of the target vehicle is the passing lane, the emergency lane is unoccupied. The occupied traffic lane includes the presence of vehicles on the traffic lane, and the occupied emergency lane includes the presence of vehicles on the emergency lane and the emergency lane is maintained.

The method for detecting whether the steering system of the vehicle is normal comprises the following steps: the steering system periodically performs self-checking, and sends a self-checking result as a signal to the CAN bus. When the automatic driving controller needs to determine the self-checking result of the steering system, a prestored identification code or protocol of the steering system is obtained, and according to the identification code or protocol, a signal corresponding to the identification code or the protocol is found out on the CAN bus, so that the self-checking result of the steering system is obtained.

The way of determining the current lane of the target vehicle is as follows: the autonomous driving controller sends a fourth signal to the positioning module, the fourth signal being used to instruct the positioning module to determine the current lane of the target vehicle. The positioning module receives a fourth signal sent by the automatic driving controller, acquires an image shot by the second camera, extracts characteristic information of the image, carries out similarity calculation on the characteristic information and reference characteristic information stored in a high-precision map, determines target reference characteristic information with the maximum similarity, takes position information corresponding to the target reference characteristic information as position information of the target vehicle, acquires a current lane of the target vehicle from the position information, and then sends the current lane of the target vehicle to the automatic driving controller, so that the automatic driving controller determines the current lane of the target vehicle. The high-precision map stores the corresponding relation between the characteristic information and the position information.

The number of the second cameras can be 4, and the second cameras are respectively arranged at the front, the back, the left and the right of the vehicle.

The mode for determining whether the driving lane is occupied is as follows: when the current lane of the target vehicle is the passing lane, the driving lane is always positioned on the right side of the target vehicle, so that only the radar and the second camera which are arranged on the right side of the target vehicle are started. And the automatic driving controller analyzes the image shot by the second camera to determine the area to be detected. And the automatic driving controller analyzes the radar data received by the target vehicle and determines whether the obstacle exists in the area to be detected. And if the area to be detected is determined to have no obstacle, determining that the driving lane is not occupied. And if the obstacle exists in the area to be detected, determining that the driving lane is occupied.

Wherein the region to be detected is determined by: as shown in fig. 2, the second camera located at the right side of the subject vehicle captures the current road condition and transmits the captured image to the automatic driving controller. The automatic driving controller analyzes the image and determines a first lane line closest to the target vehicle and a second lane line next closest to the target vehicle. And determining a first position and a second position on the driving lane according to the position of the target vehicle. The first position is separated from the head of the target vehicle by a first preset distance, and the second position is separated from the head of the target vehicle by a second preset position. And determining the area to be detected according to the first lane line, the second lane line, the third position and the fourth position.

The manner of determining whether the emergency lane is occupied is similar to the manner of determining whether the driving lane is occupied, and is not described herein again.

Optionally, if the target vehicle does not need to be braked emergently, the automatic driving controller sends a fourth signal to the positioning module, where the fourth signal is used to instruct the positioning module to detect whether a safety island or a server exists within a preset distance in front of the target vehicle; the automatic driving controller receives a fifth signal sent by the positioning module, wherein the fifth signal is used for indicating whether a safety island or a server exists within a preset distance in front of the target vehicle; if a safety island or a service area exists within a preset distance in front of the target vehicle, the automatic driving controller controls the target vehicle to switch to an emergency lane, and the target vehicle runs to the safety island or the service area at a preset speed, and after the target vehicle reaches the safety island or the service area, the target vehicle is controlled to stop; and if the safety island or the service area does not exist within the preset distance in front of the target vehicle, the automatic driving controller controls the target vehicle to switch to the emergency lane and controls the target vehicle to stop.

The safety island is an area for emergency parking, and when a vehicle is dangerous, a driver can turn on an emergency danger warning lamp in the area and dial a high-speed rescue call. The service area provides a place for passengers and drivers to rest, and is generally provided with a vehicle repair station.

In implementation, if the target vehicle does not need to be braked urgently, the automatic driving controller sends a fourth signal to the positioning module, wherein the fourth signal is used for indicating the positioning module to detect whether a safety island or a service area exists within a preset distance in front of the target vehicle. After the positioning module receives the fourth signal, the positioning module determines whether a safety island or a service area exists within a preset distance in front of the target vehicle based on an internally stored high-precision map, generates a fifth signal based on the result, and then sends the fifth signal to the automatic driving controller. And the automatic driving controller receives a fifth signal sent by the positioning module and determines whether a safety island or a server exists within a preset distance in front of the target vehicle or not based on the fifth signal. If the automatic driving controller determines that the safety island or the service area exists within the preset distance in front of the target vehicle, the automatic driving controller determines the current lane and the road condition of the target vehicle according to the image shot by the second camera, plans a steering route based on the current lane and the road condition of the target vehicle, and sends the steering route to a steering system, so that the target vehicle is controlled to be switched to an emergency lane, and the target vehicle is driven to the safety island or the service area at a preset speed. And if the automatic driving controller determines that the safety island or the service area does not exist within the preset distance in front of the target vehicle, controlling the target vehicle to switch to the emergency lane and controlling the target vehicle to stop.

When the automatic driving controller detects that the braking system breaks down and the driver needs emergency braking but does not take over the vehicle, the braking device cannot brake due to the fact that the braking system cannot send out emergency braking signals, at the moment, the automatic driving controller can send first signals to the electronic parking controller, the electronic parking controller starts electronic parking, the emergency braking of the vehicle is achieved, and damage to other people is reduced.

Fig. 3 is a schematic structural diagram of a vehicle braking device provided in an embodiment of the present application, and referring to fig. 3, the device includes:

a first determination module 310 configured to determine whether a driver takes over a target vehicle when the target vehicle is in an autonomous driving mode and it is determined that a brake system of the target vehicle is malfunctioning;

a second determination module 320 configured to determine whether the target vehicle needs emergency braking according to a traffic state of the target vehicle if it is determined that the driver does not manage the target vehicle;

a first sending module 330 configured to send a first signal to an electronic parking controller if the target vehicle needs emergency braking, where the first signal is used to instruct the electronic parking controller to start electronic parking.

Optionally, the apparatus further includes a second sending module, where the second sending module is configured to:

and if the target vehicle needs emergency braking, sending a second signal to a controller of the engine, wherein the second signal is used for instructing the controller to control the engine to reduce the rotation speed of the engine so as to enable the rotation speed of the engine to be smaller than the current vehicle speed of the target vehicle.

Optionally, the apparatus further includes a switching module, configured to:

if the target vehicle needs emergency braking, detecting whether the condition that the target vehicle is switched from a current lane to an emergency lane is met;

and if the condition that the target vehicle is switched from the current lane to the emergency lane is met, controlling the target vehicle to be switched from the current lane to the emergency lane, controlling the target vehicle to be in contact with a railing beside the emergency lane, and reducing the current speed of the target vehicle through the friction force between the target vehicle and the railing.

Optionally, the first determining module 310 is configured to:

when the third signal sent by the brake system is not received within the preset time, determining that the brake system of the target vehicle is in failure, or,

and when a third signal sent by the brake system is received, comparing the third signal with a reference signal in a reference signal library, and if the reference signal identical to the third signal does not exist in the reference signal library, determining that the brake system of the target vehicle has a fault.

Optionally, the apparatus further includes a user prompting module, where the user prompting module is configured to:

and sending a fourth signal to the man-machine interaction module, wherein the fourth signal is used for indicating the man-machine interaction module to control the seat to vibrate, the safety belt to shrink, the sound box to perform voice broadcast and the atmosphere lamp to flicker.

Optionally, the apparatus further comprises a control module configured to:

if the target vehicle does not need emergency braking, sending a fourth signal to a positioning module, wherein the fourth signal is used for indicating the positioning module to detect whether a safety island or a service area exists within a preset distance in front of the target vehicle;

receiving a fifth signal sent by the positioning module, wherein the fifth signal is used for indicating whether a safety island or a service area exists within a preset distance in front of the target vehicle;

if a safety island or a service area exists within a preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and driving to the safety island or the service area at a preset speed; and if the safety island or the service area does not exist within the preset distance in front of the target vehicle, controlling the target vehicle to switch to an emergency lane and controlling the target vehicle to stop.

It should be noted that: the above embodiments provide that the vehicle braking device only exemplifies the division of the above functional modules when braking the vehicle, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the vehicle braking device provided by the above embodiment and the vehicle braking mode embodiment belong to the same concept, and the specific implementation process is described in the mode embodiment in detail, and is not described again.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.