CN106696927A - Vehicle and method and device for controlling automatic emergency braking of vehicle - Google Patents

Vehicle and method and device for controlling automatic emergency braking of vehicle Download PDF

Info

Publication number
CN106696927A
CN106696927A CN201611260142.7A CN201611260142A CN106696927A CN 106696927 A CN106696927 A CN 106696927A CN 201611260142 A CN201611260142 A CN 201611260142A CN 106696927 A CN106696927 A CN 106696927A
Authority
CN
China
Prior art keywords
vehicle
exterior object
braking
relative
braking deceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201611260142.7A
Other languages
Chinese (zh)
Other versions
CN106696927B (en
Inventor
李机智
刘瑞祥
刘海明
沈海寅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leauto Intelligent Technology Beijing Co Ltd
Original Assignee
Leauto Intelligent Technology Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leauto Intelligent Technology Beijing Co Ltd filed Critical Leauto Intelligent Technology Beijing Co Ltd
Priority to CN201611260142.7A priority Critical patent/CN106696927B/en
Publication of CN106696927A publication Critical patent/CN106696927A/en
Application granted granted Critical
Publication of CN106696927B publication Critical patent/CN106696927B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a vehicle and a method and a device for controlling automatic emergency braking of the vehicle. The method includes the steps: determining whether an external object is positioned in a driving lane of the vehicle or not according to the course angle speed of the vehicle, the relative distance between the vehicle and the external object and the deviation angle of the external object relative to the vehicle; acquiring braking deceleration needed by safety running of the vehicle according to the running speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed of the vehicle and the external object and the safety distance of the vehicle in braking if the external object is positioned in the driving lane of the vehicle; responding to the braking deceleration larger than 0, and controlling corresponding braking action of the vehicle according to the relation between the braking deceleration and a preset threshold value. Collision can be effectively and reliably avoided, or collision injury can be effectively and reliably relieved, the collision risk of two vehicles running at the same speed can be avoided, and unnecessary early braking affecting normal driving can also be effectively avoided.

Description

The control method and device of vehicle automatic emergency brake, vehicle
Technical field
The present invention relates to the control method and device, car of wagon control technology, especially a kind of vehicle automatic emergency brake .
Background technology
According to the test of the safe criticism association (euro-NCAP) of European Union's new car, automatic emergency brake (Advanced Emergency Braking, AEB) technology can avoid 27% traffic accident, and can largely reduce collision accident The degree of middle injury to personnel evil.At present, advanced emergency braking system (the Advanced Emergency based on AEB technologies Braking System, AEBS) attention and research of each vehicle manufacturer, components supplying business, research institution have been subject to, and have Portioned product has obtained application.In AEB technologies, how collision free or mitigate collision injury and do not influence just Often drive, be mostly important problem.
In a kind of vehicle active collision-preventing method that prior art is provided, according to the vehicle headway for measuring whether less than setting 4 rating calculation automatic emergency brake deceleration, trigger corresponding braking maneuver.
Realize it is of the invention during, inventor has found that above-mentioned vehicle active collision-preventing method is at least present by studying Problems with：
In above-mentioned vehicle active collision-preventing method, it is based only upon vehicle headway and calculates the calculating of automatic emergency brake deceleration and touch Hair braking maneuver, and do not consider the relative velocity between two cars, but it is less than preceding vehicle speed in smaller this vehicle speed of vehicle headway When, brake hard can be also carried out, the situation so that morning for influence normal driving occur stops is brought distrust and is closed to driver AEB, causes AEB to be used effectively.
The content of the invention
An embodiment of the present invention technical problem to be solved is：A kind of controlling party of vehicle automatic emergency brake is provided Method and device, vehicle, in the case where normal driving is not influenceed, to be prevented effectively from collision or mitigate collision injury.
One side according to embodiments of the present invention, there is provided a kind of vehicle automatic emergency brake control method, including：
The relative distance of course angular speed, this vehicle according to this vehicle and exterior object, the exterior object relative to Whether the deviation angle of this vehicle, determine the exterior object in the traveling lane of this vehicle；
If the exterior object is in the traveling lane of this vehicle, travel speed, this vehicle and outside according to this vehicle The safe distance when relative velocity and this vehicle brake of the relative distance, this vehicle and exterior object of object, obtains this car Safety traffic needed for braking deceleration；
Size in response to the braking deceleration is more than 0, according to the pass between the braking deceleration and predetermined threshold value System, controls this vehicle to carry out corresponding braking maneuver.
Alternatively, in the control method of the above embodiment of the present invention, described course angular speed, this vehicle according to this vehicle The deviation angle of relative distance, this vehicle relative to the exterior object with exterior object, determine the exterior object whether In the traveling lane of this vehicle, including：
Course angular speed according to this vehicle determines whether the traveling lane of this vehicle is straight way；
If the traveling lane of this vehicle is straight way, according to this vehicle and relative distance, the exterior object of exterior object Relative to the deviation angle of this vehicle, transversal displacement of the exterior object relative to this vehicle is calculated；
Otherwise, if the traveling lane of this vehicle is bend, the traveling speed of course angular speed, this vehicle according to this vehicle Relative distance, the exterior object of degree, this vehicle and exterior object calculate the outside thing relative to the deviation angle of this vehicle Transversal displacement of the body phase for this vehicle；
According to the relation between the transversal displacement and the lateral set scope of this vehicle, determine that the exterior object is It is no in the traveling lane of this vehicle.
Alternatively, in the control method of the above embodiment of the present invention, travel speed, this vehicle and outside according to this vehicle The safe distance when relative velocity and this vehicle brake of the relative distance, this vehicle and exterior object of object, obtains this car Safety traffic needed for braking deceleration, including：
According to the relation between the travel speed of this vehicle and this vehicle and the relative velocity of exterior object, it is determined that described Transport condition of the exterior object relative to this vehicle；
If the exterior object is static, the relative distance of travel speed, this vehicle according to this vehicle and exterior object, with And safe distance during this vehicle brake, the braking deceleration needed for calculating this vehicle safe driving；
If the exterior object is travelled in the same direction with this vehicle, recognize the travel speed of this vehicle whether more than the outside thing The running velocity of body；If the travel speed of this vehicle is more than the running velocity of the exterior object, according to this vehicle and outside thing The safe distance when relative distance and this vehicle brake of the relative velocity, this vehicle and exterior object of body, calculates this vehicle Braking deceleration needed for safety traffic；Otherwise, if the travel speed of this vehicle is not more than the running velocity of the exterior object, Determine that this vehicle is 0 relative to the braking deceleration of the exterior object；
If the exterior object is travelled in opposite directions with this vehicle, according to this vehicle and relative velocity, this vehicle of exterior object Safe distance during with the relative distance of exterior object and this vehicle brake, the braking needed for calculating this vehicle safe driving Deceleration.
Alternatively, in the control method of the above embodiment of the present invention, also include：
If the exterior object is not in the traveling lane of this vehicle, system of this vehicle relative to the exterior object is determined Dynamic deceleration is 0.
Alternatively, in the control method of the above embodiment of the present invention, according to the braking deceleration and predetermined threshold value it Between relation, control this vehicle to carry out corresponding braking maneuver, including：
If the size of braking deceleration is more than the first predetermined threshold value, according to the travel speed of this vehicle, this vehicle base is controlled Brake hard is carried out in the braking deceleration；
If the size of braking deceleration is more than the second predetermined threshold value and no more than the first predetermined threshold value, this vehicle is controlled to enter Row emergency alarm；
If the size of braking deceleration is more than the 3rd predetermined threshold value and no more than the second predetermined threshold value, this vehicle is controlled to enter The predictive alarm of row；
Wherein, the first predetermined threshold value, the second predetermined threshold value, the size of the 3rd predetermined threshold value are sequentially reduced.
Alternatively, in the control method of the above embodiment of the present invention, the travel speed according to this vehicle controls this car Brake hard is carried out based on the braking deceleration, including：
Recognize the travel speed of this vehicle whether more than pre-set velocity value；
If the travel speed of this vehicle is more than pre-set velocity value, this vehicle is controlled to be carried out tightly with predetermined fraction braking deceleration Anxious braking, the size of the predetermined fraction braking deceleration is less than the braking deceleration；.
Otherwise, if the travel speed of this vehicle is not more than pre-set velocity value, this vehicle is controlled to enter with the braking deceleration Row brake hard.
Alternatively, in the control method of the above embodiment of the present invention, the size in response to the braking deceleration is more than 0, Also include：
Detect whether to receive the braking maneuver sent by the brake pedal of this vehicle；
In response to the braking maneuver that the brake pedal not received by this vehicle sends, perform described according to the braking Relation between deceleration and predetermined threshold value, controls this vehicle to carry out the operation of corresponding braking maneuver.
Alternatively, the control method of the above embodiment of the present invention, also includes：
During described this vehicle of control carries out corresponding braking maneuver, in response to receiving by the system of this vehicle The braking maneuver that dynamic pedal sends, stops performing the operation for controlling this vehicle to carry out corresponding braking maneuver.
Alternatively, in the control method of the above embodiment of the present invention, the size in response to the braking deceleration is more than 0, Also include：
In response to the assisted instruction that the gas pedal received by this vehicle sends, this vehicle is controlled not carry out accordingly Accelerated motion；And/or
During described this vehicle of control carries out corresponding braking maneuver, in response to receiving by the oil of this vehicle The assisted instruction that door pedal sends, controls this vehicle not accelerated motion accordingly.
Other side according to embodiments of the present invention, there is provided a kind of vehicle automatic emergency brake control device, bag Include：
Collecting unit, for gathering the relative distance of the course angular speed of this vehicle, this vehicle and exterior object, described outer Portion's object is relative to the deviation angle of this vehicle, the travel speed of this vehicle and this vehicle and the relative velocity of exterior object；
Track determining unit, for relative distance, the institute of the course angular speed according to this vehicle, this vehicle and exterior object Deviation angle of the exterior object relative to this vehicle is stated, determines the exterior object whether in the traveling lane of this vehicle；
Acquiring unit, for the determination result according to the track determining unit, if the exterior object is in this vehicle In traveling lane, the relative distance of travel speed, this vehicle according to this vehicle and exterior object, this vehicle and exterior object Safe distance when relative velocity and this vehicle brake, the braking deceleration needed for obtaining this vehicle safe driving；
Control unit, for when the size of the braking deceleration is more than 0, according to the braking deceleration and default threshold Relation between value, controls this vehicle to carry out corresponding braking maneuver.
Alternatively, in the control device of the above embodiment of the present invention, the track determining unit, specifically for：
Course angular speed according to this vehicle determines whether the traveling lane of this vehicle is straight way；
If the traveling lane of this vehicle is straight way, according to this vehicle and relative distance, the exterior object of exterior object Relative to the deviation angle of this vehicle, transversal displacement of the exterior object relative to this vehicle is calculated；
Otherwise, if the traveling lane of this vehicle is bend, the traveling speed of course angular speed, this vehicle according to this vehicle Relative distance, the exterior object of degree, this vehicle and exterior object calculate the outside thing relative to the deviation angle of this vehicle Transversal displacement of the body phase for this vehicle；
According to the relation between the transversal displacement and the lateral set scope of this vehicle, determine that the exterior object is It is no in the traveling lane of this vehicle.
Alternatively, in the control device of the above embodiment of the present invention, the acquiring unit, specifically for：
If the exterior object is in the traveling lane of this vehicle, travel speed and this vehicle according to this vehicle with it is outer Relation between the relative velocity of portion's object, determines transport condition of the exterior object relative to this vehicle；
If the exterior object is static, the relative distance of travel speed, this vehicle according to this vehicle and exterior object, with And safe distance during this vehicle brake, the braking deceleration needed for calculating this vehicle safe driving；
If the exterior object is travelled in the same direction with this vehicle, recognize the travel speed of this vehicle whether more than the outside thing The running velocity of body；If the travel speed of this vehicle is more than the running velocity of the exterior object, according to this vehicle and outside thing The safe distance when relative distance and this vehicle brake of the relative velocity, this vehicle and exterior object of body, calculates this vehicle Braking deceleration needed for safety traffic；Otherwise, if the travel speed of this vehicle is not more than the running velocity of the exterior object, Determine that this vehicle is 0 relative to the braking deceleration of the exterior object；
If the exterior object is travelled in opposite directions with this vehicle, according to this vehicle and relative velocity, this vehicle of exterior object Safe distance during with the relative distance of exterior object and this vehicle brake, the braking needed for calculating this vehicle safe driving Deceleration；
If the exterior object is not in the traveling lane of this vehicle, system of this vehicle relative to the exterior object is determined Dynamic deceleration is 0.
Alternatively, in the control device of the above embodiment of the present invention, described control unit, specifically for：
When the size of the braking deceleration is more than 0, if the size of braking deceleration is more than the first predetermined threshold value, according to The travel speed of this vehicle, controls this vehicle to carry out brake hard based on the braking deceleration；
If the size of braking deceleration is more than the second predetermined threshold value and no more than the first predetermined threshold value, this vehicle is controlled to enter Row emergency alarm；
If the size of braking deceleration is more than the 3rd predetermined threshold value and no more than the second predetermined threshold value, this vehicle is controlled to enter The predictive alarm of row；
Wherein, the first predetermined threshold value, the second predetermined threshold value, the size of the 3rd predetermined threshold value are sequentially reduced.
Alternatively, in the control device of the above embodiment of the present invention, described control unit according to the travel speed of this vehicle, When controlling this vehicle and carrying out brake hard based on the braking deceleration, specifically for：
Recognize the travel speed of this vehicle whether more than pre-set velocity value；
If the travel speed of this vehicle is more than pre-set velocity value, this vehicle is controlled to be carried out tightly with predetermined fraction braking deceleration Anxious braking, the size of the predetermined fraction braking deceleration is less than the braking deceleration；
Otherwise, if the travel speed of this vehicle is not more than pre-set velocity value, this vehicle is controlled to enter with the braking deceleration Row brake hard.
Alternatively, in the control device of the above embodiment of the present invention, described control unit is additionally operable to：
When the size of the braking deceleration is more than 0, detect whether to receive by the brake pedal transmission of this vehicle Braking maneuver；And the braking maneuver that the brake pedal in response to not receiving by this vehicle sends, perform the basis Relation between the braking deceleration and predetermined threshold value, controls this vehicle to carry out the operation of corresponding braking maneuver；
Or
During described this vehicle of control carries out corresponding braking maneuver, in response to receiving by the system of this vehicle The braking maneuver that dynamic pedal sends, stops performing the operation for controlling this vehicle to carry out corresponding braking maneuver.
Alternatively, in the control device of the above embodiment of the present invention, described control unit is additionally operable to：
When the size of the braking deceleration is more than 0, what the gas pedal in response to receiving by this vehicle sent Assisted instruction, controls this vehicle not accelerated motion accordingly；And/or
During described this vehicle of control carries out corresponding braking maneuver, in response to receiving by the oil of this vehicle The assisted instruction that door pedal sends, controls this vehicle not accelerated motion accordingly.
Another aspect according to embodiments of the present invention, there is provided a kind of vehicle, including any of the above-described embodiment of the invention The control device of described vehicle automatic emergency brake.
The control method and device, vehicle of the vehicle automatic emergency brake provided based on the above embodiment of the present invention, according to Relative distance, the exterior object of the course angular speed, this vehicle and exterior object of this vehicle are sentenced relative to the deviation angle of this vehicle Whether disconnected exterior object is in the traveling lane of this vehicle；If exterior object is in the traveling lane of this vehicle, according to this vehicle Travel speed, the relative distance of this vehicle and exterior object, this vehicle stop with the relative velocity of exterior object and this vehicle Safe distance during car, the braking deceleration needed for obtaining this vehicle safe driving；It is more than 0 in the size of the braking deceleration When, according to the relation between braking deceleration and predetermined threshold value, control this vehicle to carry out corresponding braking maneuver.The present invention is implemented Example when exterior object and this vehicle are in same traveling lane, consider the travel speed of this vehicle, this vehicle with it is outer The safe distance when relative velocity and this vehicle brake of the relative distance, this vehicle and exterior object of portion's object, comes real-time Braking deceleration needed for calculating this vehicle safe driving, then judges whether that needs take deceleration dynamic according to the braking deceleration Make, compared with prior art, the embodiment of the present invention can be injured effectively and reliably in collision free or mitigation collision, it is possible to be solved Collision avoidance risk when two cars are travelled at the same speed, it is also possible to effectively avoid the morning of unnecessary influence normal driving from stopping situation.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description of the drawings
The Description of Drawings embodiments of the invention of a part for specification are constituted, and together with description for explaining Principle of the invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood from, wherein：
Fig. 1 is the flow chart of control method one embodiment of vehicle automatic emergency brake of the present invention.
Fig. 2 be the embodiment of the present invention in determine exterior object whether in the traveling lane of this vehicle one embodiment stream Cheng Tu.
Fig. 3 is a position relationship schematic diagram of this vehicle and exterior object in the embodiment of the present invention.
Fig. 4 is another position relationship schematic diagram of this vehicle and exterior object in the embodiment of the present invention.
The flow of the braking deceleration one embodiment of Fig. 5 for needed for obtaining this vehicle safe driving in the embodiment of the present invention Figure.
Fig. 6 carries out the flow chart of corresponding braking maneuver one embodiment to control this vehicle in the embodiment of the present invention.
Fig. 7 is the structural representation of control device one embodiment of vehicle automatic emergency brake of the present invention.
Fig. 8 is the structured flowchart of the vehicle in a concrete application embodiment of the invention.
Specific embodiment
Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value for otherwise illustrating in these embodiments do not limit this The scope of invention.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality Proportionate relationship draw.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention And its any limitation applied or use.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable In the case of, the technology, method and apparatus should be considered as a part for specification.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
The embodiment of the present invention can apply to computer system/server, and it can be with numerous other universal or special calculating System environments or configuration are operated together.It is suitable to the well-known computing system, the ring that are used together with computer system/server The example of border and/or configuration is included but is not limited to：Personal computer system, server computer system, thin client, thick client Machine, hand-held or laptop devices, the system based on microprocessor, Set Top Box, programmable consumer electronics, NetPC Network PC, Minicomputer system, large computer system and the distributed cloud computing technology environment including any of the above described system, etc..
Computer system/server can be in computer system executable instruction (the such as journey performed by computer system Sequence module) general linguistic context under describe.Generally, program module can include routine, program, target program, component, logic, number According to structure etc., they perform specific task or realize specific abstract data type.Computer system/server can be with Implement in distributed cloud computing environment, in distributed cloud computing environment, task is by by the long-range of communication network links What reason equipment was performed.In distributed cloud computing environment, program module may be located at the Local or Remote meter including storage device On calculation system storage medium.
Fig. 1 is the flow chart of control method one embodiment of vehicle automatic emergency brake of the present invention.As shown in figure 1, should The control method of embodiment vehicle automatic emergency brake includes：
102, the relative distance of course angular speed, this vehicle according to this vehicle and exterior object, exterior object relative to Whether the deviation angle of this vehicle, determine exterior object in the traveling lane of this vehicle.
If exterior object is in the traveling lane of this vehicle, operation 104 is performed；Otherwise, the follow-up of the present embodiment is not performed Flow.
Exterior object in various embodiments of the present invention can be all objects of this outside vehicle, for example other vehicles or The barriers such as building.
104, the relative distance of travel speed, this vehicle according to this vehicle and exterior object, this vehicle and exterior object Relative velocity and this vehicle brake when safe distance, the braking deceleration needed for obtaining this vehicle safe driving.
Braking deceleration in the embodiment of the present invention is the minimum minimum braking deceleration of value size, i.e.,：If thinking effectively Collision free mitigates collision, and bottom line should control this vehicle slowed down with the braking deceleration.Ensureing On the premise of safety, it is also possible to control this vehicle to be subtracted more than the braking deceleration angle value of the minimum braking deceleration with size Speed.
106, the size in response to braking deceleration is more than 0, according to the relation between braking deceleration and predetermined threshold value, control Making this vehicle carries out corresponding braking maneuver.
The control method of the vehicle automatic emergency brake provided based on the above embodiment of the present invention, according to the course of this vehicle Relative distance, the exterior object of angular speed, this vehicle and exterior object judge that exterior object is relative to the deviation angle of this vehicle It is no in the traveling lane of this vehicle；If exterior object is in the traveling lane of this vehicle, travel speed, sheet according to this vehicle The safety when relative velocity and this vehicle brake of the relative distance of vehicle and exterior object, this vehicle and exterior object away from From the braking deceleration needed for obtaining this vehicle safe driving；When the size of the braking deceleration is more than 0, subtracted according to braking Relation between speed and predetermined threshold value, controls this vehicle to carry out corresponding braking maneuver.The embodiment of the present invention is in exterior object During with this vehicle in same traveling lane, travel speed, this vehicle for considering this vehicle are relative with exterior object The safe distance when relative velocity and this vehicle brake of distance, this vehicle and exterior object, to calculate this vehicle peace in real time Braking deceleration needed for full traveling, then judges whether to need to take speed-down action according to the braking deceleration, effectively reliable Avoid collision or mitigate collision injury, it is possible to solve collision avoidance risk when two cars are travelled at the same speed, it is also possible to effectively avoid not The morning of necessary influence normal driving stops situation.
Fig. 2 be the embodiment of the present invention in determine exterior object whether in the traveling lane of this vehicle one embodiment stream Cheng Tu.As shown in Fig. 2 in the operation 102 of the various embodiments described above, course angular speed, this vehicle and outside thing according to this vehicle The relative distance of body, exterior object relative to the deviation angle of this vehicle, determine exterior object whether this vehicle traveling lane It is interior, can specifically realize in the following way：
202, the course angular velocity omega according to this vehicle determines whether the traveling lane of this vehicle is straight way.
Exemplarily, if the course angular velocity omega for defining this vehicle is counterclockwise negative, this course angular velocity omega exists Within ± 1, the traveling lane for judging this vehicle is straight way, is bend otherwise.Specifically, course angular velocity omega is less than -1 The traveling lane for judging this vehicle is left turn lane, and course angular velocity omega is the right side more than 1 traveling lane for judging this vehicle Turning roadway.
If the traveling lane of this vehicle is straight way, operation 204 is performed；Otherwise, if the traveling lane of this vehicle is bend, hold Row operation 206.
204, the deviation angle θ of relative distance S, exterior object relative to this vehicle according to this vehicle and exterior object, meter Calculate transversal displacement d of the exterior object relative to this vehicle.
For example, transversal displacement d of the exterior object relative to this vehicle can be calculated by formula d=S*sin (θ).
Afterwards, operation 208 is performed.
206, the course angular speed θ according to this vehicle, the travel speed v of this vehicle, this vehicle are relative with exterior object Apart from S, exterior object relative to the deviation angle θ of this vehicle, transversal displacement d of the exterior object relative to this vehicle is calculated.
Specifically, if the course angle angular speed θ for defining this vehicle is negative when counterclockwise, and exterior object is in this car The traveling lane radius of exterior object is negative, then transversal displacement d of the exterior object for turning left relative to this vehicle during left side Can be calculated according to equation below 1, the exterior object of right-hand bend can be according to formula 2 relative to the transversal displacement d of this vehicle Calculate：
Formula 1：
Formula 2：
Wherein, r1=v/ ω are the traveling lane radius of this vehicle,It is outside The traveling lane radius of object.If defining the course angle angular speed θ of this vehicle when counterclockwise for just, the sign of r1 with It is opposite in above-mentioned formula 1 and formula 2；If the traveling lane radius of exterior object is for just when exterior object is on the left of this car, Then the sign of r2 is opposite with above-mentioned formula 1 and formula 2.
From the foregoing, exterior object can be by the traveling lane of this vehicle half relative to the transversal displacement d of this vehicle Difference between footpath r1 and the traveling lane radius r2 of exterior object is obtained, accordingly it is also possible to first passing through r1=v/ ω calculates this The traveling lane radius r1 of vehicle, passes throughIt is the traveling lane radius of exterior object R2, then transversal displacement d of the exterior object relative to this vehicle is obtained by difference therebetween.
Fig. 3 is a position relationship schematic diagram of this vehicle and exterior object in the embodiment of the present invention.Fig. 4 is real for the present invention Apply another position relationship schematic diagram of this vehicle and exterior object in example.Wherein, in Fig. 3, this vehicle is in left-hand bend Travel vehicle In road；Wherein, in Fig. 4, this vehicle is in right-hand bend traveling lane.
208, according to the relation between transversal displacement d and the lateral set scope D of this vehicle, whether determine exterior object In the traveling lane of this vehicle.
If exterior object is not more than lateral set scope D relative to the transversal displacement d of this vehicle, it is believed that the two In same traveling lane；If exterior object is more than lateral set scope D relative to the transversal displacement d of this vehicle, recognize It is the two not in same traveling lane.In concrete application, lateral set scope D can be the one of the width of this vehicle Half, or can also be the half of the width of traveling lane where this vehicle.In a specific example, it is believed that vehicle row Track is sailed for normal width 3.5m, therefore above-mentioned lateral set scope is ± 1.75m.
If exterior object is in the traveling lane of this vehicle, operation 104 is performed；Otherwise, the follow-up of the present embodiment is not performed Flow, i.e.,：Any braking or alarm operation are not performed.
The flow of the braking deceleration one embodiment of Fig. 5 for needed for obtaining this vehicle safe driving in the embodiment of the present invention Figure.As shown in figure 5, in the operation 104 of the various embodiments described above, travel speed, this vehicle and exterior object according to this vehicle The safe distance when relative velocity and this vehicle brake of relative distance, this vehicle and exterior object, obtains this vehicle safety Braking deceleration needed for traveling, can specifically realize in the following way：
302, according to the relation between the travel speed of this vehicle and this vehicle and the relative velocity of exterior object, it is determined that Transport condition of the exterior object relative to this vehicle.
If exterior object is static, operation 304 is performed；If exterior object is travelled in the same direction with this vehicle, operation 306 is performed；If Exterior object is travelled in opposite directions with this vehicle, performs operation 308.
304, when the relative distance and this vehicle brake of travel speed, this vehicle and exterior object according to this vehicle Safe distance, the braking deceleration needed for calculating this vehicle safe driving.
Afterwards, the follow-up process of the present embodiment is not performed.
306, recognize whether the travel speed of this vehicle is more than the running velocity of exterior object.
If the travel speed of this vehicle is more than the running velocity of exterior object, operation 308 is performed；Otherwise, if this vehicle Travel speed is not more than the running velocity of exterior object, performs operation 310.
308, relative distance, the Yi Jiben of relative velocity, this vehicle and exterior object according to this vehicle and exterior object Safe distance during vehicle brake, the braking deceleration needed for calculating this vehicle safe driving.
Afterwards, operation 106 is performed.
310, determine that this vehicle is 0 relative to the braking deceleration of exterior object.
Afterwards, the follow-up process of the present embodiment is not performed, i.e.,：Any braking or alarm operation are not performed.
In a specific example of various embodiments of the present invention, specifically safety traffic can be calculated by equation below required Braking deceleration：
Wherein, v is the travel speed of this vehicle, and S is the relative distance of this vehicle and exterior object, S0For this vehicle brake When safe distance, for example can be with value as 2m in a concrete application；vRelativelyIt is this vehicle speed relative with exterior object Degree；Min () represents the minimum value taken in two values.
Fig. 6 is the flow chart of another embodiment of the control method of vehicle automatic emergency brake of the present invention.As shown in fig. 6, Compared with the various embodiments described above, in the control method of the embodiment vehicle automatic emergency brake, if exterior object is not in this vehicle Traveling lane in when, also include：
402, determine that this vehicle is 0 relative to the braking deceleration of exterior object.
Afterwards, the follow-up process of the present embodiment is not performed, i.e.,：Any braking or alarm operation are not performed.
In a specific example of above-mentioned each method embodiment of the invention, the predetermined threshold value in operation 106 can be divided into 3 It is individual：First predetermined threshold value, the second predetermined threshold value, the 3rd predetermined threshold value, wherein, the first predetermined threshold value, the second predetermined threshold value, the 3rd The size of predetermined threshold value is sequentially reduced.Then in the example, according to the relation between braking deceleration and predetermined threshold value, this car is controlled Corresponding braking maneuver is carried out, can specifically realized in the following way：
Compare the relation between braking deceleration and the first predetermined threshold value, the second predetermined threshold value, the 3rd predetermined threshold value；
If the size of braking deceleration is more than the first predetermined threshold value abrake, according to the travel speed of this vehicle, control this car Brake hard is carried out based on braking deceleration；
If the size of braking deceleration is more than the second predetermined threshold value asAnd no more than the first predetermined threshold value abrake, control is originally Vehicle carries out emergency alarm, for example, with any two in the modes such as audible alarm, icon prompting, seat vibration, steering wheel vibration Plant or various ways alarm；
If the size of braking deceleration is more than the 3rd predetermined threshold value avAnd no more than the second predetermined threshold value as, control this vehicle Being predicted property is alarmed, for example, being alarmed with any one in the modes such as audible alarm, icon prompting or two ways.
In a specific example, emergency alarm is carried out by way of sound+instrument alert icon shows, by instrument Being predicted property of alert icon mode is alarmed.
Specifically, in above-mentioned example, according to the travel speed of this vehicle, this vehicle is controlled to be carried out tightly based on braking deceleration Anxious braking, can specifically realize in the following way：
Whether the travel speed of this vehicle is recognized more than pre-set velocity value, for example, 80km/h；
If the travel speed of this vehicle is more than pre-set velocity value, this vehicle is controlled with predetermined fraction braking deceleration apartEnter Row brake hard, to avoid causing the danger such as overturning during high speed emergency brake, while mitigating collision injury.Wherein, the predetermined fraction system The size of dynamic deceleration is less than braking deceleration；
Otherwise, if the travel speed of this vehicle is not more than pre-set velocity value, this vehicle is controlled to be carried out tightly with braking deceleration Anxious braking, with complete collision free.
Second predetermined threshold value asWith the 3rd predetermined threshold value avSize, can by user according to the actual requirements, by realize this Human-computer interaction interface in the device of inventive method carries out the selection of high, medium and low three kinds of sizes, and then controls the sensitive of alarm Degree.
In a specific example, the first given threshold a can be setbrakeFor -5m/s2；If the traveling speed of this vehicle Degree is less than or equal to 80km/h, and the braking deceleration a for controlling this vehicle to be calculated is acted, with complete collision free；If The travel speed of this vehicle is more than 80km/h, partial brake deceleration a of the control vehicle to setpart=-4m/s2Action, to subtract Evil of wounding is flipped, while avoiding high speed overturning risk.Wherein, the first given threshold abrakeWith partial brake deceleration apartIt is big It is small, can based on experience value be determined by the raw manufacturer of control device or server, and be set in advance in control device.
In a specific example, the second given threshold can be set for asFor -2.7m/s2, -3m/s2, -3.3m/s2Three Individual optional grade, corresponds respectively to high, medium and low susceptibility, is defaulted as middle susceptibility i.e. as=-3m/s2, control this vehicle to carry out Emergency alarm is acted；
In a specific example, the 3rd threshold value can be set for -2.0m/s2, -2.2m/s2, -2.4m/s2Three optional Grade, corresponds respectively to high, medium and low susceptibility, is defaulted as middle susceptibility i.e. av=-2.2m/s2, control this vehicle to be predicted Property actuation of an alarm.
In addition, in another embodiment of the control method based on the above-mentioned each vehicle automatic emergency brake of the present invention, ringing 0 should be more than in the size of braking deceleration, can also be included：
Detect whether to receive the braking maneuver sent by the brake pedal of this vehicle；
If receiving the braking maneuver sent by the brake pedal of this vehicle, stop performing according to braking deceleration with it is pre- If the relation between threshold value, this vehicle is controlled to carry out the operation of corresponding braking maneuver, such as this vehicle is carried out in execution control During corresponding braking maneuver, then stop performing the braking maneuver immediately；
Otherwise, if not receiving the braking maneuver sent by the brake pedal of this vehicle, perform according to braking deceleration Relation between predetermined threshold value, controls this vehicle to carry out the operation of corresponding braking maneuver.
Further, in the further embodiment of the control method based on the above-mentioned each vehicle automatic emergency brake of the present invention In, the size in response to braking deceleration is more than 0, can also include：
On relation between braking deceleration and the first predetermined threshold value, the second predetermined threshold value, the 3rd predetermined threshold value meets When stating the condition of braking, the assisted instruction that the gas pedal in response to receiving by this vehicle sends controls this vehicle not enter The corresponding accelerated motion of row；And/or
During controlling this vehicle to carry out corresponding braking maneuver, the throttle in response to receiving by this vehicle is stepped on The assisted instruction that plate sends, controls this vehicle not accelerated motion accordingly.
I.e.：Based on above-mentioned two embodiment, when driver's brake pedal, if the control device is acted, No matter the action in which stage in brake hard, emergency alarm or predictive alarm, then release the action, with driver at once Artificial braking it is preferential；If control device is prepared to enter into not yet entering above-mentioned brake hard, emergency alarm or predictive alarm Stage, then regardless of whether meeting the condition for entering above-mentioned each stage, any of the above described stage is not entered.When this vehicle meets above-mentioned When brake hard, emergency alarm or predictive alert if, no matter whether driver steps on the throttle pedal, will all perform corresponding Action, to avoid vehicle collision.
In the above-mentioned corresponding embodiment of the present invention, it is capable of achieving speed and avoids touching completely under pre-set velocity value and situations below Hit, collision injury is effectively reduced under pre-set velocity value case above；There is provided the two-stage tuned sensitivities formula before brake hard Type of alarm, the possibility of enhancing driver's intervention and improves interactive hommization degree；In addition, each rank under braking condition The entrance of section is based entirely on the braking deceleration a controls of real-time calculating, it is ensured that including many situations such as the synchronized travelings of two cars Effective action, eliminates each system malfunction in particular cases, substantially increases system reliability；Additionally, the present invention is implemented Example additionally provide bend judge exterior object whether this car vehicle traveling lane method, expand device in non-straight road Application scenarios under condition, for driver's driving safety provides guarantee higher.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：ROM, RAM, magnetic disc or light Disk etc. is various can be with the medium of store program codes.
Fig. 7 is the structural representation of control device one embodiment of vehicle automatic emergency brake of the present invention.The embodiment Control device can be used to realize the above-mentioned each control method embodiment of the present invention.As shown in fig. 7, the control device bag of the embodiment Include：Collecting unit, track determining unit, acquiring unit and control unit.Wherein：
Collecting unit, the relative distance of course angular speed, this vehicle with exterior object, outside thing for gathering this vehicle Body phase is for the deviation angle of this vehicle, the travel speed of this vehicle and this vehicle and the relative velocity of exterior object.
Exemplarily, above-mentioned collecting unit can specifically include but is not limited to it is following any one or more：Millimeter wave thunder Reach, laser radar, image first-class relative distance, relative velocity, deviation angle that can be between direct access exterior object and this vehicle The equipment of information；Or such as global positioning system (Global Positioning System, GPS), vehicle-to-vehicle (vehicle- To-vehicle, V2V) relative distance, relative velocity, the deviation angle between indirect gain exterior object thing and this vehicle such as equipment The equipment of information.
Track determining unit, for the course angular speed according to this vehicle, relative distance of this vehicle and exterior object, outer Whether portion's object determines exterior object in the traveling lane of this vehicle relative to the deviation angle of this vehicle.
Wherein in a specific example, track determining unit specifically for：Course angular speed according to this vehicle determines Whether the traveling lane of this vehicle is straight way；If the traveling lane of this vehicle is straight way, according to the phase of this vehicle and exterior object Adjust the distance, exterior object relative to this vehicle deviation angle, calculate exterior object relative to this vehicle transversal displacement；It is no Then, if the traveling lane of this vehicle is bend, course angular speed, the travel speed of this vehicle, this vehicle according to this vehicle with Relative distance, the exterior object of exterior object calculate horizontal stroke of the exterior object relative to this vehicle relative to the deviation angle of this vehicle To side-play amount；And according to the relation between transversal displacement and the lateral set scope of this vehicle, whether determine exterior object In the traveling lane of this vehicle.
Acquiring unit, for the determination result according to track determining unit, if exterior object is in the traveling lane of this vehicle Interior, the travel speed, this vehicle according to this vehicle are relative fast with exterior object with relative distance, this vehicle of exterior object Safe distance when degree and this vehicle brake, the braking deceleration needed for obtaining this vehicle safe driving.
Wherein in a specific example, acquiring unit, specifically for：If exterior object is in the traveling lane of this vehicle It is interior, according to the relation between the travel speed of this vehicle and this vehicle and the relative velocity of exterior object, determine exterior object phase For the transport condition of this vehicle；If exterior object is static, the phase of travel speed, this vehicle according to this vehicle and exterior object Adjust the distance and safe distance during this vehicle brake, the braking deceleration needed for calculating this vehicle safe driving；If outside thing Body is travelled in the same direction with this vehicle, recognizes whether the travel speed of this vehicle is more than the running velocity of exterior object；If this vehicle Travel speed is more than the running velocity of exterior object, relative velocity, this vehicle and outside thing according to this vehicle and exterior object The safe distance when relative distance of body and this vehicle brake, the braking deceleration needed for calculating this vehicle safe driving；It is no Then, if the travel speed of this vehicle is not more than the running velocity of exterior object, braking of this vehicle relative to exterior object is determined Deceleration is 0；If exterior object is travelled in opposite directions with this vehicle, relative velocity, this vehicle according to this vehicle and exterior object with The safe distance when relative distance of exterior object and this vehicle brake, the braking needed for calculating this vehicle safe driving subtracts Speed；If exterior object is not in the traveling lane of this vehicle, determine that this vehicle is relative to the braking deceleration of exterior object 0。
Control unit, for when the size of braking deceleration is more than 0, according between braking deceleration and predetermined threshold value Relation, controls this vehicle to carry out corresponding braking maneuver.
Wherein in a specific example, control unit specifically for：When the size of braking deceleration is more than 0, if system The size of dynamic deceleration is more than the first predetermined threshold value, according to the travel speed of this vehicle, controls this vehicle to be based on braking deceleration Carry out brake hard；If the size of braking deceleration is more than the second predetermined threshold value and no more than the first predetermined threshold value, this car is controlled Carry out emergency alarm；If the size of braking deceleration is more than the 3rd predetermined threshold value and no more than the second predetermined threshold value, control is originally Being predicted property of vehicle is alarmed；Wherein, the first predetermined threshold value, the second predetermined threshold value, the size of the 3rd predetermined threshold value are sequentially reduced.
Further exemplarily, control unit controls this vehicle to be based on braking deceleration according to the travel speed of this vehicle When carrying out brake hard, specifically for：Recognize the travel speed of this vehicle whether more than pre-set velocity value；And if this vehicle Travel speed is more than pre-set velocity value, controls this vehicle to carry out brake hard, predetermined fraction system with predetermined fraction braking deceleration The size of dynamic deceleration is less than braking deceleration；Otherwise, if the travel speed of this vehicle is not more than pre-set velocity value, this car is controlled Brake hard is carried out with braking deceleration.
The control device of the vehicle automatic emergency brake provided based on the above embodiment of the present invention, according to the course of this vehicle Relative distance, the exterior object of angular speed, this vehicle and exterior object judge that exterior object is relative to the deviation angle of this vehicle It is no in the traveling lane of this vehicle；If exterior object is in the traveling lane of this vehicle, travel speed, sheet according to this vehicle The safety when relative velocity and this vehicle brake of the relative distance of vehicle and exterior object, this vehicle and exterior object away from From the braking deceleration needed for obtaining this vehicle safe driving；When the size of the braking deceleration is more than 0, subtracted according to braking Relation between speed and predetermined threshold value, controls this vehicle to carry out corresponding braking maneuver.The embodiment of the present invention is in exterior object During with this vehicle in same traveling lane, travel speed, this vehicle for considering this vehicle are relative with exterior object The safe distance when relative velocity and this vehicle brake of distance, this vehicle and exterior object, to calculate this vehicle peace in real time Braking deceleration needed for full traveling, then judges whether to need to take speed-down action according to the braking deceleration, effectively reliable Avoid collision or mitigate collision injury, it is possible to solve collision avoidance risk when two cars are travelled at the same speed, it is also possible to effectively avoid not The morning of necessary influence normal driving stops situation.
In addition, in another embodiment based on the above-mentioned each control device of the present invention, control unit can be additionally used in：
When the size of braking deceleration is more than 0, detect whether to receive the system sent by the brake pedal of this vehicle Action；And the braking maneuver that the brake pedal in response to not receiving by this vehicle sends, perform according to braking deceleration Relation between degree and predetermined threshold value, controls this vehicle to carry out the operation of corresponding braking maneuver；
Or, during controlling this vehicle to carry out corresponding braking maneuver, in response to receiving by this vehicle The braking maneuver that brake pedal sends, stops performing the operation for controlling this vehicle to carry out corresponding braking maneuver.
Further, in another embodiment based on the above-mentioned each control device of the present invention, control unit can be additionally used in： When the size of braking deceleration is more than 0, the assisted instruction that the gas pedal in response to receiving by this vehicle sends, control This vehicle is not accelerated motion accordingly；And/or, during controlling this vehicle to carry out corresponding braking maneuver, response In the assisted instruction that the gas pedal received by this vehicle sends, this vehicle is controlled not accelerated motion accordingly.
The embodiment of the present invention additionally provides a kind of vehicle, and the car of any of the above-described embodiment of the invention can be included in the vehicle The control device of automatic emergency brake.
Vehicle in the embodiment of the present invention, includes the control dress of the vehicle automatic emergency brake of any of the above-described embodiment Put, effectively and reliably collision free or mitigation collision can injure, it is possible to solve collision avoidance risk when two cars are travelled at the same speed, also may be used Stopped situation with the morning for being prevented effectively from unnecessary influence normal driving.
Fig. 8 shows the structured flowchart of the vehicle in a concrete application embodiment of the invention.As shown in figure 8, the vehicle Can include：Middle control module, instrument board, drive recorder, HUD (Head Up Display, head-up display) come back and show Device, intelligent vehicle-carried information entertainment, intelligent driving module.
Instrument board has 12.3 cun of LCD display devices, and the instrument board can be using the J6 CPU of TI；The operation system of instrument board System can be based on QNX embedded systems, and instrument board is displayed for vehicle-state, map, vehicle navigation information, vehicle and plays Music etc., the car status information is including speed, rotating speed, electricity, tire pressure, vehicle parking, gear etc..HUD HUDs GPS navigation information, navigation route information, temporal information etc. can be shown.
In one embodiment, intelligent driving module can be used for the treatment operation related to intelligent driving, intelligent driving Module can include senior DAS (Driver Assistant System) (Advanced Driver Assistance Systems, ADAS), actively pacify Total system, notice accessory system (Attention Assist System, AAS), tired warning system (Fatigue Warning System, FWS), Vehicular intelligent acoustical alarm system (Acoustic Vehicle Alerting System, AVAS) etc..Vehicle can combine ADAS etc. and carry out intelligent driving, and the intelligent driving can be nobody driving complete, it is also possible to It is that driver carries out the senior auxiliary driving function such as auxiliary doubling, the lane shift of Driving control.
Control device can be made up of multiple modules, can mainly include：Mainboard；SATA(Serial Advanced Technology Attachment, Serial Advanced Technology Attachment) module, the storage device such as SSD is connected to, can be used to deposit Storage data message；AM (Amplitude Modulation, amplitude modulation)/FM (Frequency Modulation, frequency modulation) module, be Vehicle provides the function of radio；Power amplifier module, for acoustic processing；WIFI (Wireless-Fidelity, Wireless Fidelity)/ Bluetooth modules, the service of WIFI/Bluetooth is provided for vehicle；(Long Term Evolution, drill LTE for a long time Enter) communication module, for vehicle provides the communication function with telecom operators；Power module, power module is carried for the control device Power supply source；Switch interconnecting modules, the Switch interconnecting modules can connect multiple sensors as a kind of expansible interface, For example if necessary to addition night vision function sensor, PM2.5 function sensors, can be connected to by the Switch interconnecting modules The mainboard of control device, so that the processor of control device carries out data processing, and transfers data to middle control display.
In one embodiment, the vehicle also includes looking around camera, ADAS cameras, night vision cam, millimeter wave thunder Up to, the sensor such as ultrasonic radar, ESR radars.Vehicle hardware is after manufacture the above-mentioned intelligent driving related hardware of carry, later stage Can be upgraded by OTA and improve automatic Pilot correlation function using above-mentioned hardware.
The embodiment of the present invention has following Advantageous Effects：
By predictability alarm, emergency alarm two-layer reminder process, the probability of driver's response is increased, embody driving The preferential driving model of member；Meanwhile, even if also do not take braking by the driver that alarms, control device also can brake hard with Collision free mitigates collision injury；
Whether the entrance in each braking maneuver stage judge according to the braking deceleration that calculates less than given threshold completely, Ensure on the basis of each driving cycle systematic function, also can in time take response to arrange under two the cars at the same speed special operation condition of traveling Apply, considerably increase the applicability and reliability of system；
There is provided two-layer type of alarm, the selection of high, medium and low three kinds of sensitivity modes can be carried out, adapt to different driving and practise Used driver, the hommization that increased system is set；
By prolonged testing results, it was demonstrated that the embodiment of the present invention has very outstanding practicality and applicability, complete Can be applied to entirely on various vehicle automatic emergency brake systems.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and it The difference of its embodiment, same or analogous part cross-reference between each embodiment.For system embodiment For, because it is substantially corresponding with embodiment of the method, so description is fairly simple, referring to the portion of embodiment of the method in place of correlation Defend oneself bright.
Methods and apparatus of the present invention may be achieved in many ways.For example, can by software, hardware, firmware or Software, hardware, any combinations of firmware realize methods and apparatus of the present invention.The said sequence of the step of for methods described Order described in detail above is not limited to merely to illustrate, the step of the method for the present invention, it is special unless otherwise Do not mentionlet alone bright.Additionally, in certain embodiments, also the present invention can be embodied as recording program in the recording medium, these programs Including the machine readable instructions for realizing the method according to the invention.Thus, the present invention also covering storage is for performing basis The recording medium of the program of the method for the present invention.
Description of the invention is given for the sake of example and description, and is not exhaustively or by the present invention It is limited to disclosed form.Many modifications and variations are for the ordinary skill in the art obvious.Select and retouch State embodiment and be to more preferably illustrate principle of the invention and practical application, and one of ordinary skill in the art is managed The solution present invention is suitable to the various embodiments with various modifications of special-purpose so as to design.

Claims (17)

1. a kind of control method of vehicle automatic emergency brake, it is characterised in that including：
Relative distance, the exterior object of course angular speed, this vehicle and exterior object according to this vehicle are relative to this car Deviation angle, determine the exterior object whether in the traveling lane of this vehicle；
If the exterior object is in the traveling lane of this vehicle, travel speed, this vehicle and exterior object according to this vehicle Relative distance, the relative velocity and this vehicle brake of this vehicle and exterior object when safe distance, obtain this vehicle peace Braking deceleration needed for full traveling；
Size in response to the braking deceleration is more than 0, according to the relation between the braking deceleration and predetermined threshold value, control Making this vehicle carries out corresponding braking maneuver.
2. method according to claim 1, it is characterised in that the course angular speed according to this vehicle, this vehicle with Whether relative distance, this vehicle of exterior object determine the exterior object at this relative to the deviation angle of the exterior object In the traveling lane of vehicle, including：
Course angular speed according to this vehicle determines whether the traveling lane of this vehicle is straight way；
If the traveling lane of this vehicle is straight way, the relative distance, the exterior object according to this vehicle and exterior object are relative In the deviation angle of this vehicle, transversal displacement of the exterior object relative to this vehicle is calculated；
Otherwise, if the traveling lane of this vehicle is bend, course angular speed, the travel speed of this vehicle, sheet according to this vehicle Relative distance, the exterior object of vehicle and exterior object calculate the exterior object phase relative to the deviation angle of this vehicle For the transversal displacement of this vehicle；
According to the relation between the transversal displacement and the lateral set scope of this vehicle, determine the exterior object whether In the traveling lane of this vehicle.
3. method according to claim 1 and 2, it is characterised in that travel speed, this vehicle according to this vehicle with it is outside The safe distance when relative velocity and this vehicle brake of the relative distance, this vehicle and exterior object of object, obtains this car Safety traffic needed for braking deceleration, including：
According to the relation between the travel speed of this vehicle and this vehicle and the relative velocity of exterior object, the outside is determined Transport condition of the object relative to this vehicle；
If the exterior object is static, relative distance, the Yi Jiben of travel speed, this vehicle and exterior object according to this vehicle Safe distance during vehicle brake, the braking deceleration needed for calculating this vehicle safe driving；
If the exterior object is travelled in the same direction with this vehicle, recognize the travel speed of this vehicle whether more than the exterior object Running velocity；If the travel speed of this vehicle is more than the running velocity of the exterior object, according to this vehicle and exterior object The safe distance when relative distance and this vehicle brake of relative velocity, this vehicle and exterior object, calculates this vehicle safety Braking deceleration needed for traveling；Otherwise, if the travel speed of this vehicle is not more than the running velocity of the exterior object, it is determined that This vehicle is 0 relative to the braking deceleration of the exterior object；
If the exterior object is travelled in opposite directions with this vehicle, relative velocity, this vehicle according to this vehicle and exterior object with it is outer The safe distance when relative distance and this vehicle brake of portion's object, the braking deceleration needed for calculating this vehicle safe driving Degree.
4. the method according to claims 1 to 3 any one, it is characterised in that also include：
If the exterior object is not in the traveling lane of this vehicle, determine that this vehicle subtracts relative to the braking of the exterior object Speed is 0.
5. the method according to Claims 1-4 any one, it is characterised in that according to the braking deceleration with it is default Relation between threshold value, controls this vehicle to carry out corresponding braking maneuver, including：
If the size of braking deceleration is more than the first predetermined threshold value, according to the travel speed of this vehicle, this vehicle is controlled to be based on institute Stating braking deceleration carries out brake hard；
If the size of braking deceleration is more than the second predetermined threshold value and no more than the first predetermined threshold value, this vehicle is controlled to carry out tightly Anxious alarm；
If the size of braking deceleration is more than the 3rd predetermined threshold value and no more than the second predetermined threshold value, this vehicle is controlled to carry out pre- The property surveyed alarm；
Wherein, the first predetermined threshold value, the second predetermined threshold value, the size of the 3rd predetermined threshold value are sequentially reduced.
6. method according to claim 5, it is characterised in that the travel speed according to this vehicle, controls this vehicle Brake hard is carried out based on the braking deceleration, including：
Recognize the travel speed of this vehicle whether more than pre-set velocity value；
If the travel speed of this vehicle is more than pre-set velocity value, this vehicle is controlled promptly to be made with predetermined fraction braking deceleration Dynamic, the size of the predetermined fraction braking deceleration is less than the braking deceleration；
Otherwise, if the travel speed of this vehicle is not more than pre-set velocity value, this vehicle is controlled to be carried out tightly with the braking deceleration Anxious braking.
7. the method according to claim 1 to 6 any one, it is characterised in that in response to the big of the braking deceleration It is small to be more than 0, also include：
Detect whether to receive the braking maneuver sent by the brake pedal of this vehicle；
In response to the braking maneuver that the brake pedal not received by this vehicle sends, perform described according to the braking deceleration Relation between degree and predetermined threshold value, controls this vehicle to carry out the operation of corresponding braking maneuver.
8. method according to claim 7, it is characterised in that also include：
During described this vehicle of control carries out corresponding braking maneuver, the braking in response to receiving by this vehicle is stepped on The braking maneuver that plate sends, stops performing the operation for controlling this vehicle to carry out corresponding braking maneuver.
9. the method according to claim 1 to 8 any one, it is characterised in that in response to the big of the braking deceleration It is small to be more than 0, also include：
In response to the assisted instruction that the gas pedal received by this vehicle sends, this vehicle is controlled not accelerated accordingly Action；And/or
During described this vehicle of control carries out corresponding braking maneuver, the throttle in response to receiving by this vehicle is stepped on The assisted instruction that plate sends, controls this vehicle not accelerated motion accordingly.
10. a kind of control device of vehicle automatic emergency brake, it is characterised in that including：
Collecting unit, the relative distance of course angular speed, this vehicle with exterior object, the outside thing for gathering this vehicle Body phase is for the deviation angle of this vehicle, the travel speed of this vehicle and this vehicle and the relative velocity of exterior object；
Track determining unit, for the course angular speed according to this vehicle, relative distance of this vehicle and exterior object, described outer Whether portion's object determines the exterior object in the traveling lane of this vehicle relative to the deviation angle of this vehicle；
Acquiring unit, for the determination result according to the track determining unit, if the exterior object is in the traveling of this vehicle In track, the relative distance of travel speed, this vehicle according to this vehicle and exterior object, this vehicle are relative with exterior object Safe distance when speed and this vehicle brake, the braking deceleration needed for obtaining this vehicle safe driving；
Control unit, for when the size of the braking deceleration is more than 0, according to the braking deceleration and predetermined threshold value it Between relation, control this vehicle to carry out corresponding braking maneuver.
11. devices according to claim 10, it is characterised in that the track determining unit, specifically for：
Course angular speed according to this vehicle determines whether the traveling lane of this vehicle is straight way；
If the traveling lane of this vehicle is straight way, the relative distance, the exterior object according to this vehicle and exterior object are relative In the deviation angle of this vehicle, transversal displacement of the exterior object relative to this vehicle is calculated；
Otherwise, if the traveling lane of this vehicle is bend, course angular speed, the travel speed of this vehicle, sheet according to this vehicle Relative distance, the exterior object of vehicle and exterior object calculate the exterior object phase relative to the deviation angle of this vehicle For the transversal displacement of this vehicle；
According to the relation between the transversal displacement and the lateral set scope of this vehicle, determine the exterior object whether In the traveling lane of this vehicle.
12. device according to claim 10 or 11, it is characterised in that the acquiring unit, specifically for：
If the exterior object is in the traveling lane of this vehicle, according to the travel speed of this vehicle and this vehicle and outside thing Relation between the relative velocity of body, determines transport condition of the exterior object relative to this vehicle；
If the exterior object is static, relative distance, the Yi Jiben of travel speed, this vehicle and exterior object according to this vehicle Safe distance during vehicle brake, the braking deceleration needed for calculating this vehicle safe driving；
If the exterior object is travelled in the same direction with this vehicle, recognize the travel speed of this vehicle whether more than the exterior object Running velocity；If the travel speed of this vehicle is more than the running velocity of the exterior object, according to this vehicle and exterior object The safe distance when relative distance and this vehicle brake of relative velocity, this vehicle and exterior object, calculates this vehicle safety Braking deceleration needed for traveling；Otherwise, if the travel speed of this vehicle is not more than the running velocity of the exterior object, it is determined that This vehicle is 0 relative to the braking deceleration of the exterior object；
If the exterior object is travelled in opposite directions with this vehicle, relative velocity, this vehicle according to this vehicle and exterior object with it is outer The safe distance when relative distance and this vehicle brake of portion's object, the braking deceleration needed for calculating this vehicle safe driving Degree；
If the exterior object is not in the traveling lane of this vehicle, determine that this vehicle subtracts relative to the braking of the exterior object Speed is 0.
13. device according to claim 10 to 12 any one, it is characterised in that described control unit, specifically for：
When the size of the braking deceleration is more than 0, if the size of braking deceleration is more than the first predetermined threshold value, according to this car Travel speed, control this vehicle to carry out brake hard based on the braking deceleration；
If the size of braking deceleration is more than the second predetermined threshold value and no more than the first predetermined threshold value, this vehicle is controlled to carry out tightly Anxious alarm；
If the size of braking deceleration is more than the 3rd predetermined threshold value and no more than the second predetermined threshold value, this vehicle is controlled to carry out pre- The property surveyed alarm；
Wherein, the first predetermined threshold value, the second predetermined threshold value, the size of the 3rd predetermined threshold value are sequentially reduced.
14. devices according to claim 13, it is characterised in that described control unit according to the travel speed of this vehicle, When controlling this vehicle and carrying out brake hard based on the braking deceleration, specifically for：
Recognize the travel speed of this vehicle whether more than pre-set velocity value；
If the travel speed of this vehicle is more than pre-set velocity value, this vehicle is controlled promptly to be made with predetermined fraction braking deceleration Dynamic, the size of the predetermined fraction braking deceleration is less than the braking deceleration；.
Otherwise, if the travel speed of this vehicle is not more than pre-set velocity value, this vehicle is controlled to be carried out tightly with the braking deceleration Anxious braking.
15. device according to claim 10 to 14 any one, it is characterised in that described control unit, is additionally operable to：
When the size of the braking deceleration is more than 0, detect whether to receive the system sent by the brake pedal of this vehicle Action；And the braking maneuver that the brake pedal in response to not receiving by this vehicle sends, perform described in the basis Relation between braking deceleration and predetermined threshold value, controls this vehicle to carry out the operation of corresponding braking maneuver；
Or
During described this vehicle of control carries out corresponding braking maneuver, the braking in response to receiving by this vehicle is stepped on The braking maneuver that plate sends, stops performing the operation for controlling this vehicle to carry out corresponding braking maneuver.
16. device according to claim 10 to 15 any one, it is characterised in that described control unit, is additionally operable to：
When the size of the braking deceleration is more than 0, the acceleration that the gas pedal in response to receiving by this vehicle sends Instruction, controls this vehicle not accelerated motion accordingly；And/or
During described this vehicle of control carries out corresponding braking maneuver, the throttle in response to receiving by this vehicle is stepped on The assisted instruction that plate sends, controls this vehicle not accelerated motion accordingly.
17. a kind of vehicles, it is characterised in that including the vehicle automatic emergency brake described in claim 10 to 16 any one Control device.
CN201611260142.7A 2016-12-30 2016-12-30 Control method and device for automatic emergency braking of vehicle and vehicle Active CN106696927B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611260142.7A CN106696927B (en) 2016-12-30 2016-12-30 Control method and device for automatic emergency braking of vehicle and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611260142.7A CN106696927B (en) 2016-12-30 2016-12-30 Control method and device for automatic emergency braking of vehicle and vehicle

Publications (2)

Publication Number Publication Date
CN106696927A true CN106696927A (en) 2017-05-24
CN106696927B CN106696927B (en) 2020-04-28

Family

ID=58903823

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611260142.7A Active CN106696927B (en) 2016-12-30 2016-12-30 Control method and device for automatic emergency braking of vehicle and vehicle

Country Status (1)

Country Link
CN (1) CN106696927B (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107650916A (en) * 2017-09-12 2018-02-02 深圳智慧车联科技有限公司 Driver's defense driving efficiency method of discrimination, system and vehicle
CN108422983A (en) * 2018-03-03 2018-08-21 孙国栋 A kind of vehicle auxiliary braking system based on artificial intelligence
CN109204311A (en) * 2017-07-04 2019-01-15 华为技术有限公司 A kind of car speed control method and device
CN109606285A (en) * 2018-12-07 2019-04-12 天津所托瑞安汽车科技有限公司 A kind of ADAS data monitoring analysis method based on cloud interaction
CN110775034A (en) * 2019-11-07 2020-02-11 厦门金龙联合汽车工业有限公司 Control method of automatic brake auxiliary system, terminal equipment and storage medium
CN111354224A (en) * 2020-02-27 2020-06-30 中国重汽集团济南动力有限公司 Vehicle forward collision early warning system and method based on LTE-V2X
CN111506087A (en) * 2020-05-21 2020-08-07 安徽江淮汽车集团股份有限公司 Self-adaptive car following method, device, equipment and storage medium for automatic driving car
CN111703420A (en) * 2020-06-29 2020-09-25 嘉善新石器智牛科技有限公司 Anti-collision method for unmanned vehicle
CN111735642A (en) * 2020-07-30 2020-10-02 北汽福田汽车股份有限公司 Road test method and device of automatic braking system
CN112046473A (en) * 2020-09-22 2020-12-08 北京信息科技大学 Apparatus and method for automatic driving
CN112093672A (en) * 2020-08-13 2020-12-18 中联重科股份有限公司 Stroke limiting control system and method based on speed control and tower crane
CN113415265A (en) * 2021-08-23 2021-09-21 天津所托瑞安汽车科技有限公司 Vehicle driving examination method, device, equipment and storage medium
CN113511081A (en) * 2021-06-03 2021-10-19 北京车和家信息技术有限公司 Control method and device for self-adaptive energy recovery of electric automobile
CN113799852A (en) * 2021-09-22 2021-12-17 天津津航计算技术研究所 Intelligent active obstacle identification protection method supporting dynamic mode switching
CN113848871A (en) * 2020-06-28 2021-12-28 北京极智嘉科技股份有限公司 Method, device and system for controlling robot to avoid obstacle
CN113844444A (en) * 2021-09-10 2021-12-28 杭州鸿泉物联网技术股份有限公司 Vehicle forward collision early warning method and device, electronic equipment and vehicle
CN113997911A (en) * 2021-11-09 2022-02-01 岚图汽车科技有限公司 Automatic emergency braking control method and device
CN114162122A (en) * 2020-09-10 2022-03-11 郑州宇通客车股份有限公司 Automatic driving control method based on longitudinal safety and vehicle
CN116968701A (en) * 2023-09-22 2023-10-31 北京理工大学 Brake execution system and control method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090107455A1 (en) * 2007-10-26 2009-04-30 Ford Global Technologies, Llc Engine Idle Speed and Turbocharger Speed Control
CN102156284A (en) * 2011-03-24 2011-08-17 中国汽车技术研究中心 Anti-collision early-warning device and method for passenger car
CN103909926A (en) * 2014-03-31 2014-07-09 长城汽车股份有限公司 Vehicle lateral collision prevention method, device and system
CN104943689A (en) * 2015-06-03 2015-09-30 奇瑞汽车股份有限公司 Control method for active automobile anti-collision system
CN106056972A (en) * 2016-06-29 2016-10-26 江苏科技大学 Security anti-collision early-warning method based on vehicle driving speed and position information fusion

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090107455A1 (en) * 2007-10-26 2009-04-30 Ford Global Technologies, Llc Engine Idle Speed and Turbocharger Speed Control
CN102156284A (en) * 2011-03-24 2011-08-17 中国汽车技术研究中心 Anti-collision early-warning device and method for passenger car
CN103909926A (en) * 2014-03-31 2014-07-09 长城汽车股份有限公司 Vehicle lateral collision prevention method, device and system
CN104943689A (en) * 2015-06-03 2015-09-30 奇瑞汽车股份有限公司 Control method for active automobile anti-collision system
CN106056972A (en) * 2016-06-29 2016-10-26 江苏科技大学 Security anti-collision early-warning method based on vehicle driving speed and position information fusion

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109204311B (en) * 2017-07-04 2021-06-01 华为技术有限公司 Automobile speed control method and device
CN109204311A (en) * 2017-07-04 2019-01-15 华为技术有限公司 A kind of car speed control method and device
CN107650916A (en) * 2017-09-12 2018-02-02 深圳智慧车联科技有限公司 Driver's defense driving efficiency method of discrimination, system and vehicle
CN108422983A (en) * 2018-03-03 2018-08-21 孙国栋 A kind of vehicle auxiliary braking system based on artificial intelligence
CN109606285A (en) * 2018-12-07 2019-04-12 天津所托瑞安汽车科技有限公司 A kind of ADAS data monitoring analysis method based on cloud interaction
CN110775034A (en) * 2019-11-07 2020-02-11 厦门金龙联合汽车工业有限公司 Control method of automatic brake auxiliary system, terminal equipment and storage medium
CN110775034B (en) * 2019-11-07 2021-10-15 厦门金龙联合汽车工业有限公司 Control method of automatic brake auxiliary system, terminal equipment and storage medium
CN111354224A (en) * 2020-02-27 2020-06-30 中国重汽集团济南动力有限公司 Vehicle forward collision early warning system and method based on LTE-V2X
CN111506087A (en) * 2020-05-21 2020-08-07 安徽江淮汽车集团股份有限公司 Self-adaptive car following method, device, equipment and storage medium for automatic driving car
CN113848871A (en) * 2020-06-28 2021-12-28 北京极智嘉科技股份有限公司 Method, device and system for controlling robot to avoid obstacle
CN111703420A (en) * 2020-06-29 2020-09-25 嘉善新石器智牛科技有限公司 Anti-collision method for unmanned vehicle
CN111735642A (en) * 2020-07-30 2020-10-02 北汽福田汽车股份有限公司 Road test method and device of automatic braking system
CN112093672A (en) * 2020-08-13 2020-12-18 中联重科股份有限公司 Stroke limiting control system and method based on speed control and tower crane
CN114162122A (en) * 2020-09-10 2022-03-11 郑州宇通客车股份有限公司 Automatic driving control method based on longitudinal safety and vehicle
CN114162122B (en) * 2020-09-10 2023-08-08 宇通客车股份有限公司 Automatic driving control method based on longitudinal safety and vehicle
CN112046473A (en) * 2020-09-22 2020-12-08 北京信息科技大学 Apparatus and method for automatic driving
CN113511081A (en) * 2021-06-03 2021-10-19 北京车和家信息技术有限公司 Control method and device for self-adaptive energy recovery of electric automobile
CN113511081B (en) * 2021-06-03 2023-10-10 北京车和家信息技术有限公司 Control method and device for self-adaptive energy recovery of electric automobile
CN113415265A (en) * 2021-08-23 2021-09-21 天津所托瑞安汽车科技有限公司 Vehicle driving examination method, device, equipment and storage medium
CN113415265B (en) * 2021-08-23 2022-01-07 天津所托瑞安汽车科技有限公司 Vehicle driving examination method, device, equipment and storage medium
CN113844444A (en) * 2021-09-10 2021-12-28 杭州鸿泉物联网技术股份有限公司 Vehicle forward collision early warning method and device, electronic equipment and vehicle
CN113799852B (en) * 2021-09-22 2022-12-02 天津津航计算技术研究所 Intelligent active obstacle identification protection method supporting dynamic mode switching
CN113799852A (en) * 2021-09-22 2021-12-17 天津津航计算技术研究所 Intelligent active obstacle identification protection method supporting dynamic mode switching
CN113997911A (en) * 2021-11-09 2022-02-01 岚图汽车科技有限公司 Automatic emergency braking control method and device
CN116968701A (en) * 2023-09-22 2023-10-31 北京理工大学 Brake execution system and control method thereof
CN116968701B (en) * 2023-09-22 2024-01-26 北京理工大学 Brake execution system and control method thereof

Also Published As

Publication number Publication date
CN106696927B (en) 2020-04-28

Similar Documents

Publication Publication Date Title
CN106696927A (en) Vehicle and method and device for controlling automatic emergency braking of vehicle
US10457294B1 (en) Neural network based safety monitoring system for autonomous vehicles
US10915101B2 (en) Context-dependent alertness monitor in an autonomous vehicle
US10338594B2 (en) Navigation of autonomous vehicles to enhance safety under one or more fault conditions
US10424127B2 (en) Controller architecture for monitoring health of an autonomous vehicle
US11724708B2 (en) Fail-safe handling system for autonomous driving vehicle
US11568492B2 (en) Information processing apparatus, information processing method, program, and system
CN111361552B (en) Automatic driving system
US20190185018A1 (en) ALARM SYSTEM OF AUTONOMOUS DRIVING VEHICLES (ADVs)
US11807273B2 (en) Methods and apparatus to provide accident avoidance information to passengers of autonomous vehicles
JP2019535566A (en) Unexpected impulse change collision detector
CN111801260A (en) Advanced driver attention escalation with chassis feedback
JP2022512114A (en) Systems and methods for detecting and dynamically relieving driver fatigue
US20200122773A1 (en) System and Method for Rear Collision Avoidance
US11099571B2 (en) Autonomous vehicle takeover based on restricted areas
WO2018220829A1 (en) Policy generation device and vehicle
CN113692372B (en) Exception handling for autonomous vehicles
WO2018168018A1 (en) Driving assistance apparatus, program, and driving assistance method
US20200391729A1 (en) Method to monitor control system of autonomous driving vehicle with multiple levels of warning and fail operations
JP2019079363A (en) Vehicle control device
US11080975B2 (en) Theft proof techniques for autonomous driving vehicles used for transporting goods
CN112631206A (en) Cognitive robot system and method with fear-based actions/responses
US20230331257A1 (en) Responding to unsupported or degraded conditions for autonomous vehicles
CN113401071A (en) Display control device, display control method, and computer-readable storage medium
US20230331253A1 (en) Systems and methods for responding to detected emergency vehicles

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant