CN112298132A - Vehicle autonomous emergency braking control system and control method - Google Patents
Vehicle autonomous emergency braking control system and control method Download PDFInfo
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- CN112298132A CN112298132A CN202011086241.4A CN202011086241A CN112298132A CN 112298132 A CN112298132 A CN 112298132A CN 202011086241 A CN202011086241 A CN 202011086241A CN 112298132 A CN112298132 A CN 112298132A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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Abstract
The invention relates to a vehicle autonomous emergency braking control system and a control method. The vehicle autonomous emergency braking control system comprises vehicle-mounted sensing equipment, a front obstacle information processing unit, a road surface state information processing unit, a decision control unit and a braking execution unit. The method comprises the steps that vehicle-mounted sensing equipment collects first-class parameters and second-class parameters; the front obstacle information processing unit obtains obstacle information based on the first type of parameters; the road surface state information processing unit obtains the road surface state information based on the second type of parameters; the decision control unit makes a braking decision according to the obstacle information, the road surface state information and the brake pedal information of the vehicle; and the brake execution unit performs early warning or controls a brake system of the vehicle to execute brake action according to the brake decision. The vehicle autonomous emergency braking control method is executed by the vehicle autonomous emergency braking control system. The invention comprehensively considers the road surface state information and the obstacle information to realize the control of vehicle braking, and can effectively avoid the collision between the vehicle and the obstacle.
Description
Technical Field
The invention belongs to the technical field of vehicle-road coordination and safety control in an intelligent traffic system, and particularly relates to a vehicle autonomous emergency braking control system and a vehicle autonomous emergency braking control method which are arranged on a vehicle and control the vehicle to realize autonomous emergency braking based on vehicle-road coordination.
Background
In recent years, with the development of advanced technologies such as information technology, communication technology, cloud computing and big data, the level of vehicle intellectualization and networking is higher and higher, but the driving safety of the vehicle is the problem which is mainly solved in the automobile and traffic industry no matter the vehicle is manually driven or automatically driven. Therefore, an Autonomous Emergency Braking (AEB) system, which is one of effective means for collision avoidance, is rapidly developed. The AEB system is mounted in front of a vehicle, a front obstacle is sensed through sensors such as a radar and a camera, the vehicle takes an emergency braking measure when the front obstacle appears and the driver does not brake, so that the problems of inattention, too slow braking or insufficient braking force of the driver can be solved, the AEB system becomes active safety equipment for assisting driving to perform emergency braking at key moment, and great guarantee is brought to the driving safety of the vehicle. It has been reported that AEB-equipped vehicles can reduce rear-end accidents by 38% at vehicle speeds less than 50 km/h. The technology of foreign AEB system has been developed and matured, for example: the relevant legislation that has been enacted in the united states, since 9 months 2022, all new vehicles must force the installation of an emergency braking system. The research of China on the AEB system is started, although the AEB system is not popularized in a large range, the method follows the steps of abroad, the assembly rate of the AEB system is improved in a boosting manner in the aspect of law and industry development, for example, the specification of active safety tests such as AEB is added to 2018C-NCAP, and the AEB system is required to be arranged on an operating passenger car with the car length of more than 9 meters in technical and safety conditions (JT/T1094-2016) of an operating passenger car which is exported in China.
However, most of the existing AEB systems only consider real-time identification of road obstacles, but do not consider real-time identification of road conditions, and cannot realize dynamic self-adaptation to different road adhesion, so that vehicle rear-end collision accidents in rainy and snowy weather cannot be effectively avoided.
Disclosure of Invention
The object of the present invention is to provide a vehicle autonomous emergency brake control system capable of giving optimal brake control to a vehicle by comprehensively considering the conditions of obstacles and a road surface.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a vehicle is emergency braking control system independently, sets up on the vehicle and is used for controlling the vehicle realization of autonomic emergency braking, vehicle is emergency braking control system independently includes:
the vehicle-mounted sensing equipment is used for acquiring a first type of parameter capable of reflecting obstacle information in front of the vehicle and a second type of parameter capable of reflecting road surface state information of a road where the vehicle runs;
the front obstacle information processing unit is connected with the vehicle sensing equipment and used for obtaining the obstacle information based on the first type of parameters;
the road surface state information processing unit is connected with the vehicle sensing equipment and used for obtaining the road surface state information based on the second type of parameters;
the decision control unit is respectively connected with the front obstacle information processing unit, the road surface state information processing unit and a brake pedal of the vehicle and is used for making a braking decision according to the obstacle information, the road surface state information and the brake pedal information of the vehicle;
and the brake execution unit is respectively connected with the decision control unit and the brake system of the vehicle and is used for carrying out early warning or controlling the brake system of the vehicle to execute corresponding brake actions according to the brake decision.
The vehicle-mounted sensing equipment comprises a first radar for collecting the first type of parameters and a second radar for collecting the second type of parameters.
The first radar is millimeter wave lightning, and the millimeter wave radar is used for acquiring the relative distance and the relative speed between the vehicle and an obstacle in front of the vehicle as the first parameter; the second radar is a laser radar which is used for collecting road surface reflection intensity and point cloud data in front of the vehicle as second parameters.
The invention also provides a vehicle autonomous emergency brake control method which comprehensively considers the conditions of obstacles and road surfaces and can give optimal brake control to the vehicle.
A vehicle autonomous emergency braking control method for controlling a vehicle to implement autonomous emergency braking, the vehicle autonomous emergency braking control method comprising the steps of:
step 1: acquiring a first type of parameter capable of reflecting obstacle information in front of the vehicle and a second type of parameter capable of reflecting road surface state information of a road where the vehicle runs;
step 2: processing the first type of parameters and the second type of parameters, obtaining the obstacle information based on the first type of parameters, and obtaining the road surface state information based on the second type of parameters;
and step 3: making a braking decision according to the obstacle information, the road surface state information and the brake pedal information of the vehicle;
and 4, step 4: and performing brake early warning or controlling a brake system of the vehicle to execute corresponding brake action according to the brake decision.
In the step 1, the relative distance and the relative speed between the vehicle and an obstacle in front of the vehicle are collected as the first type of parameters, and the road surface reflection intensity and point cloud data in front of the vehicle are collected as the second type of parameters.
In step 2, the relative distance and the relative speed between the vehicle and the obstacle ahead of the vehicle are used as the obstacle information, the road surface adhesion coefficient and the road gradient ahead of the vehicle are estimated based on the road surface reflection intensity and the point cloud data ahead of the vehicle, and the road surface adhesion coefficient and the road gradient ahead of the vehicle are used as the road surface state information.
The method for estimating the road adhesion coefficient and the road gradient in front of the vehicle based on the road reflection intensity and the point cloud data in front of the vehicle comprises the following steps: clustering and comparing and analyzing by using the road surface reflection intensity in front of the vehicle and the road surface adhesion coefficient empirical value to estimate the road surface adhesion coefficient in front of the current vehicle; and calculating the slope by utilizing the point cloud data to estimate the slope of the road in front of the current vehicle.
The step 3 comprises the following substeps:
substep 3-1: calculating the time TTC of collision between the vehicle and the obstacle if the current running state of the vehicle is the current running state of the vehicle according to the relative distance and the relative speed between the vehicle and the obstacle in front of the vehicle; calculating the minimum time to collision TTC between the vehicle and the obstacle if the vehicle is braked suddenly at maximum deceleration based on the road surface adhesion coefficient and road gradient in front of the vehicle and the relative speed between the vehicle and the obstacle in front of the vehicleb；
Substep 3-2: comparing the time to collision TTC of the vehicle with the obstacle with the time to minimum time to collision TTC of the vehicle with the obstacleb(ii) a If the time to collision TTC of the vehicle with the obstacle is greater than the minimum time to collision TTC of the vehicle with the obstaclebIf + early warning time threshold, making braking decision without braking; if the time to collision TTC of the vehicle with the obstacle is equal to the minimum time to collision TTC of the vehicle with the obstaclebIf the warning time threshold is positive, making a braking decision for braking warning; if the minimum time to collision TTC of the vehicle with the obstacleb< time to collision TTC of the vehicle with the obstacle < time to minimum collision TTC of the vehicle with the obstacleb+ warning time threshold, detecting whether the brake pedal information of the vehicle changes, and if the brake pedal information of the vehicle does not change, setting the time to collision TTC between the vehicle and the obstacle as the minimum time to collision TTC between the vehicle and the obstaclebAnd making a braking decision for starting braking.
And the early warning time threshold is 1.4 s.
The vehicle autonomous emergency braking control method is applied to the vehicle autonomous emergency braking control system.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: the invention comprehensively considers the road surface state information and the obstacle information in front of the vehicle, realizes the control of the autonomous emergency braking of the vehicle, enhances the precaution in the aspect of the active safety of the vehicle, can more effectively avoid the collision between the vehicle and the obstacle in front, and is particularly suitable for the ice and snow road surface.
Drawings
Fig. 1 is a block diagram illustrating an operation of the autonomous emergency braking control system of the vehicle according to the present invention.
Fig. 2 is a diagram of a vehicle traveling a downhill section.
FIG. 3 is a flow chart of a vehicle autonomous emergency braking control method of the present invention.
In the above drawings: 1. a vehicle-mounted sensing device; 2. a front obstacle information processing unit; 3. a road surface state information processing unit; 4. a decision control unit; 5. and a brake execution unit.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings to which the invention is attached.
The first embodiment is as follows: as shown in fig. 1, a vehicle autonomous emergency braking control system, which is disposed on a vehicle and is used for controlling the vehicle to realize autonomous emergency braking, includes a vehicle-mounted sensing device 1, a front obstacle information processing unit 2, a road surface state information processing unit 2, a decision control unit 4, and a brake execution unit 5.
The vehicle-mounted sensing device 1 is mounted in front of a vehicle and is used for collecting a first type of parameter capable of reflecting obstacle information in front of the vehicle and a second type of parameter capable of reflecting road surface state information of a road where the vehicle runs. In this embodiment, the vehicle-mounted sensing device 1 includes a first radar for acquiring a first type of parameter and a second radar for acquiring a second type of parameter. The first radar is millimeter wave lightning and is used for acquiring the relative distance and the relative speed between the vehicle and an obstacle in front of the vehicle as first parameters; the second radar is a laser radar for acquiring road surface reflection intensity and point cloud data in front of the vehicle as second parameters.
The front obstacle information processing unit 2 is connected to the vehicle sensing device 1, and is configured to obtain obstacle information based on the first type of parameter. Since the millimeter wave lightning can collect the relative distance and the relative speed between the vehicle and the obstacle in front of the vehicle, the front obstacle information processing unit 2 directly processes the relative distance and the relative speed between the vehicle and the obstacle in front of the vehicle as the obstacle information.
The road surface condition information processing unit 2 is connected to the vehicle sensing device 1 for obtaining road surface condition information based on the second type of parameters. Based on the road surface reflection intensity and the point cloud data in front of the vehicle collected by the laser radar, the road surface state information processing unit 2 processes the road surface adhesion coefficient and the road gradient in front of the vehicle to obtain the road surface state information.
The decision control unit 4 is connected to the front obstacle information processing unit 2, the road surface state information processing unit 2, and the brake pedal of the vehicle, so as to obtain obstacle information, road surface state information, and brake pedal information of the vehicle, and is used to make a braking decision according to the obstacle information, the road surface state information, and the brake pedal information of the vehicle, that is, whether to control braking of the vehicle or whether to perform early braking, when to start braking, and the like.
The brake execution unit 5 is respectively connected with the decision control unit 4 and the brake system of the vehicle, and is used for performing early warning or controlling the brake system of the vehicle to execute corresponding brake actions according to brake decisions.
In the above-described scheme, the front obstacle information processing unit 2 and the road surface state information processing unit 2 may be integrated in the decision control unit 4.
Based on the vehicle autonomous emergency braking control system, the adopted vehicle autonomous emergency braking control method comprises the following steps:
step 1: the method comprises the steps of collecting a first type of parameter capable of reflecting information of an obstacle in front of a vehicle and a second type of parameter capable of reflecting information of a road surface state where the vehicle runs. This step is implemented by the on-board sensing device 1.
Step 2: and processing the first type of parameters and the second type of parameters, acquiring obstacle information based on the first type of parameters, and acquiring road surface state information based on the second type of parameters. This step is performed by the front obstacle information processing means 2 and the road surface state information processing means 2.
And step 3: and making a braking decision according to the obstacle information, the road surface state information and the brake pedal information of the vehicle. This step is performed by the decision control unit 4.
And 4, step 4: and performing brake early warning or controlling a brake system of the vehicle to execute corresponding brake action according to the brake decision. This step is performed by the brake actuation unit 5.
As shown in fig. 3, the detailed implementation process of the vehicle autonomous emergency braking control method is as follows:
step 1: and respectively acquiring the first type of parameters and the second type of parameters by using a millimeter wave radar and a laser radar in the vehicle-mounted sensing equipment 1. The method specifically comprises the following steps: the method comprises the steps of collecting a relative distance and a relative speed between a vehicle and an obstacle in front of the vehicle as a first type of parameters by using a millimeter wave radar, and collecting road surface reflection Intensity (Intensity) and point cloud data (x, y, z) in front of the vehicle as a second type of parameters by using a laser radar.
Step 2: the front obstacle information processing unit 2 takes the relative distance and the relative speed between the vehicle and the obstacle in front thereof as obstacle information; the road surface state information processing unit 2 estimates the road surface adhesion coefficient and the road gradient in front of the vehicle based on the road surface reflection intensity and the point cloud data in front of the vehicle, and takes the road surface adhesion coefficient and the road gradient in front of the vehicle as the road surface state information.
The method for estimating the road adhesion coefficient and the road gradient in front of the vehicle based on the road reflection intensity and the point cloud data in front of the vehicle comprises the following steps: clustering and comparing and analyzing by using the road reflection intensity in front of the vehicle and the empirical value of the road adhesion coefficient to estimate the road adhesion coefficient in front of the current vehicle; and calculating the gradient by using the point cloud data to estimate the gradient of the road in front of the current vehicle.
The stress condition of the vehicle running on the downhill section is as shown in the attached figure 2, and the method for calculating the road gradient in front of the vehicle through the point cloud data (x, y, z) acquired by the laser radar comprises the following steps:
in the formula (1), the reaction mixture is,
is the gradient, x, of the road ahead of the vehicleLiDar、yLiDar、zLiDarRespectively point cloud data acquired by the laser radar.
Calculating the slope of the road ahead of the vehicle
Then, the maximum deceleration a that can be obtained when the vehicle is braked suddenly on the road section can be further calculated by combining the determined road adhesion coefficient muμmax：
In the formula (2), g is 9.8m/s2Is the acceleration of gravity.
Step 3 comprises the following substeps:
substep 3-1: based on the relative distance and relative speed between the vehicle and the obstacle in front of the vehicle, the time to collision TTC (time to collision) of the vehicle and the obstacle in the current driving state of the vehicle is calculated, i.e., the time to collision TTC of the vehicle and the obstacle is the quotient of the relative distance and the relative speed between the vehicle and the obstacle in front of the vehicle.
Calculating the minimum time to collision TTC between a vehicle and an obstacle if the vehicle is braked suddenly at maximum deceleration, based on the road adhesion coefficient and the road gradient in front of the vehicle and the relative speed between the vehicle and the obstacle in front of the vehiclebThe calculation process is as follows:
in formulae (3) to (5), TμbThe time required for braking at maximum deceleration to stop the motion of the vehicle assuming that the vehicle is moving at uniform deceleration, vbIs the speed of the vehicle, SμmaxThe vehicle is assumed to be in level-deceleration motion and braked at the maximum deceleration to the maximum distance traveled when the vehicle motion stopped.
Substep 3-2: comparing the time to collision TTC of the vehicle with the obstacle with the minimum time to collision TTC of the vehicle with the obstaclebAnd judging the magnitude relation of the two, thereby obtaining the corresponding danger level and making a corresponding braking decision.
If TTC > TTCbAnd the + early warning time threshold value indicates that the vehicle is within a safe distance from the obstacle in front of the vehicle, and a braking decision of not braking is made.
② if the time to collision TTC between the vehicle and the obstacle is equal to the minimum time to collision TTC between the vehicle and the obstaclebAnd if the warning time threshold is positive, making a braking decision for braking warning.
If TTC of minimum collision time between vehicle and obstacleb< time to collision TTC of vehicle with obstacle < minimum time to collision TTC of vehicle with obstacleb+ the warning time threshold, detecting whether the brake pedal information of the vehicle changes, and if the brake pedal information of the vehicle does not change, setting the time to collision TTC between the vehicle and the obstacle as the minimum time to collision TTC between the vehicle and the obstaclebAnd making a braking decision for starting braking.
The warning time threshold may be set to 1.4 s.
And 4, step 4: if a braking decision of not braking is received, the braking execution unit 5 does not take any action. If a braking decision for braking early warning is received, the braking execution unit 5 sends an early warning prompt to remind a driver of braking. If a braking decision for starting braking is received, the braking execution unit 5 controls a braking system of the vehicle to execute corresponding braking action, so that the vehicle is braked at the maximum deceleration, and the vehicle is prevented from colliding with a front obstacle.
The steps are circularly carried out in real time in the running process of the vehicle, so that the optimal braking time and the optimal braking strength of the vehicle are given timely. As the distance between the vehicle and the obstacle is shortened, the danger level gradually increases.
The above-mentioned braking solution has at least the following advantages:
(1) the vehicle autonomous emergency braking control system considering the real-time perception of the road surface state can acquire road surface state information of front 50m-150m and front obstacle running state information in real time, and calculate the collision time TTC and the shortest time TTC required for the vehicle to adopt emergency braking until the vehicle stops under different road surface states in real time according to the road surface state information and the front obstacle running state informationbThe system provides a preventative enhancement in vehicle active safety compared to previous separate vehicle warning systems.
(2) The vehicle autonomous emergency braking control system considering the real-time perception of the road surface state can acquire the road state information in real time, has high measurement precision, more data, high speed and strong robustness, can effectively avoid the collision between the vehicle and the front obstacle, and can give the vehicle the best braking time and the best braking strength particularly on the ice and snow road surface.
(3) The vehicle autonomous emergency braking control system considering the real-time perception of the road surface state and the control method thereof can provide the driver with the safe speed and the speed track required by the vehicle passing through the uncontrolled intersection, thereby greatly eliminating the tension psychology of the vehicle driver when entering the intersection; and under the condition that the driver is not concentrated, the vehicle can be forcibly controlled, unnecessary collision accidents are avoided, and the driving safety of the vehicle on different attachment roads is greatly improved.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a vehicle is emergency braking control system independently, sets up on the vehicle and is used for controlling the vehicle realization of place and independently emergency braking which characterized in that: the vehicle autonomous emergency brake control system includes:
the vehicle-mounted sensing equipment is used for acquiring a first type of parameter capable of reflecting obstacle information in front of the vehicle and a second type of parameter capable of reflecting road surface state information of a road where the vehicle runs;
the front obstacle information processing unit is connected with the vehicle sensing equipment and used for obtaining the obstacle information based on the first type of parameters;
the road surface state information processing unit is connected with the vehicle sensing equipment and used for obtaining the road surface state information based on the second type of parameters;
the decision control unit is respectively connected with the front obstacle information processing unit, the road surface state information processing unit and a brake pedal of the vehicle and is used for making a braking decision according to the obstacle information, the road surface state information and the brake pedal information of the vehicle;
and the brake execution unit is respectively connected with the decision control unit and the brake system of the vehicle and is used for carrying out early warning or controlling the brake system of the vehicle to execute corresponding brake actions according to the brake decision.
2. A vehicle autonomous emergency brake control system according to claim 1, characterized in that: the vehicle-mounted sensing equipment comprises a first radar for collecting the first type of parameters and a second radar for collecting the second type of parameters.
3. A vehicle autonomous emergency brake control system according to claim 2, characterized in that: the first radar is millimeter wave lightning, and the millimeter wave radar is used for acquiring the relative distance and the relative speed between the vehicle and an obstacle in front of the vehicle as the first parameter; the second radar is a laser radar which is used for collecting road surface reflection intensity and point cloud data in front of the vehicle as second parameters.
4. A vehicle autonomous emergency braking control method is used for controlling a vehicle to realize autonomous emergency braking, and is characterized in that: the vehicle autonomous emergency braking control method comprises the following steps:
step 1: acquiring a first type of parameter capable of reflecting obstacle information in front of the vehicle and a second type of parameter capable of reflecting road surface state information of a road where the vehicle runs;
step 2: processing the first type of parameters and the second type of parameters, obtaining the obstacle information based on the first type of parameters, and obtaining the road surface state information based on the second type of parameters;
and step 3: making a braking decision according to the obstacle information, the road surface state information and the brake pedal information of the vehicle;
and 4, step 4: and performing brake early warning or controlling a brake system of the vehicle to execute corresponding brake action according to the brake decision.
5. The vehicle autonomous emergency brake control method according to claim 4, characterized in that: in the step 1, the relative distance and the relative speed between the vehicle and an obstacle in front of the vehicle are collected as the first type of parameters, and the road surface reflection intensity and point cloud data in front of the vehicle are collected as the second type of parameters.
6. The vehicle autonomous emergency brake control method according to claim 5, characterized in that: in step 2, the relative distance and the relative speed between the vehicle and the obstacle ahead of the vehicle are used as the obstacle information, the road surface adhesion coefficient and the road gradient ahead of the vehicle are estimated based on the road surface reflection intensity and the point cloud data ahead of the vehicle, and the road surface adhesion coefficient and the road gradient ahead of the vehicle are used as the road surface state information.
7. The vehicle autonomous emergency brake control method according to claim 6, characterized in that: the method for estimating the road adhesion coefficient and the road gradient in front of the vehicle based on the road reflection intensity and the point cloud data in front of the vehicle comprises the following steps: clustering and comparing and analyzing by using the road surface reflection intensity in front of the vehicle and the road surface adhesion coefficient empirical value to estimate the road surface adhesion coefficient in front of the current vehicle; and calculating the slope by utilizing the point cloud data to estimate the slope of the road in front of the current vehicle.
8. The vehicle autonomous emergency brake control method according to claim 6, characterized in that: the step 3 comprises the following substeps:
substep 3-1: calculating the time TTC of collision between the vehicle and the obstacle if the current running state of the vehicle is the current running state of the vehicle according to the relative distance and the relative speed between the vehicle and the obstacle in front of the vehicle; calculating the minimum time to collision TTC between the vehicle and the obstacle if the vehicle is braked suddenly at maximum deceleration based on the road surface adhesion coefficient and road gradient in front of the vehicle and the relative speed between the vehicle and the obstacle in front of the vehicleb；
Substep 3-2: comparing the time to collision TTC of the vehicle with the obstacle with the time to minimum time to collision TTC of the vehicle with the obstacleb(ii) a If the time to collision TTC of the vehicle with the obstacle is greater than the minimum time to collision TTC of the vehicle with the obstaclebIf + early warning time threshold, making braking decision without braking; if the time to collision TTC of the vehicle with the obstacle is equal to the minimum time to collision TTC of the vehicle with the obstaclebIf the warning time threshold is positive, making a braking decision for braking warning; if the minimum time to collision TTC of the vehicle with the obstacleb< time to collision TTC of the vehicle with the obstacle < time to minimum collision TTC of the vehicle with the obstacleb+ warning time threshold, detecting whether the brake pedal information of the vehicle changes, and if the brake pedal information of the vehicle does not change, setting the time to collision TTC between the vehicle and the obstacle as the minimum time to collision TTC between the vehicle and the obstaclebAnd making a braking decision for starting braking.
9. The vehicle autonomous emergency brake control method according to claim 8, characterized in that: and the early warning time threshold is 1.4 s.
10. The vehicle autonomous emergency brake control method according to any one of claims 4 to 9, characterized in that: the vehicle autonomous emergency brake control method is applied to the vehicle autonomous emergency brake control system according to any one of claims 1 to 3.
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| CN117382593A (en) * | 2023-12-08 | 2024-01-12 | 之江实验室 | Vehicle emergency braking method and system based on laser point cloud filtering |
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Application publication date: 20210202 |