CN106696927B - Control method and device for automatic emergency braking of vehicle and vehicle - Google Patents

Control method and device for automatic emergency braking of vehicle and vehicle Download PDF

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Publication number
CN106696927B
CN106696927B CN201611260142.7A CN201611260142A CN106696927B CN 106696927 B CN106696927 B CN 106696927B CN 201611260142 A CN201611260142 A CN 201611260142A CN 106696927 B CN106696927 B CN 106696927B
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vehicle
external object
braking
controlling
action
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CN106696927A (en
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李机智
刘瑞祥
刘海明
沈海寅
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Zhicheauto Technology Beijing Co ltd
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Zhicheauto Technology Beijing Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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

Abstract

The invention discloses a control method and a control device for automatic emergency braking of a vehicle and the vehicle, wherein the method comprises the following steps: determining whether the external object is in a driving lane of the vehicle according to the course angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; if the external object is in the driving lane of the vehicle, acquiring braking deceleration required by the safe driving of the vehicle according to the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked; and controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value in response to the fact that the magnitude of the braking deceleration is larger than 0. The invention can effectively and reliably avoid collision or reduce collision damage, can solve the collision avoidance risk when two vehicles run at the same speed, and can also effectively avoid the unnecessary early braking condition which influences normal driving.

Description

Control method and device for automatic emergency braking of vehicle and vehicle
Technical Field
The invention relates to a vehicle control technology, in particular to a control method and device for automatic emergency braking of a vehicle and the vehicle.
Background
According to the test of the euro-NCAP, the Advanced Emergency Braking (AEB) technology can avoid 27% of traffic accidents and can greatly reduce the degree of injury to people in collision accidents. At present, Advanced Emergency Braking Systems (AEBs) based on AEB technology have been paid attention and researched by various vehicle manufacturers, component suppliers and research institutes, and some products have been popularized. In the AEB technology, how to avoid collision or reduce collision damage without affecting normal driving is the most important issue.
In the active vehicle collision avoidance method provided by the prior art, an automatic emergency braking deceleration is calculated according to whether the measured inter-vehicle distance is smaller than the set 4 levels, and a corresponding braking action is triggered.
In the process of implementing the invention, the inventor finds that the vehicle active anti-collision method at least has the following problems through research:
in the vehicle active anti-collision method, the calculation of the automatic emergency braking deceleration and the triggering of the braking action are only calculated based on the inter-vehicle distance, the relative speed between the two vehicles is not considered, and emergency braking is also performed when the inter-vehicle distance is small but the speed of the vehicle is less than that of the vehicle ahead, so that the early braking condition affecting normal driving occurs, the AEB is closed due to distrust of a driver, and the AEB cannot be effectively used.
Disclosure of Invention
The embodiment of the invention aims to solve the technical problem that: the invention provides a control method and a control device for automatic emergency braking of a vehicle and the vehicle, which are used for effectively avoiding collision or reducing collision injury under the condition of not influencing normal driving.
According to an aspect of an embodiment of the present invention, there is provided a control method for automatic emergency braking of a vehicle, including:
determining whether the external object is in a driving lane of the vehicle according to the course angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
if the external object is in the driving lane of the vehicle, acquiring braking deceleration required by the safe driving of the vehicle according to the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked;
and controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value in response to the fact that the magnitude of the braking deceleration is larger than 0.
Optionally, in the control method according to the above embodiment of the present invention, the determining whether the external object is in the driving lane of the host vehicle according to the heading angular velocity of the host vehicle, the relative distance between the host vehicle and the external object, and the offset angle of the host vehicle relative to the external object includes:
determining whether a driving lane of the vehicle is a straight lane or not according to the course angular speed of the vehicle;
if the driving lane of the vehicle is a straight lane, calculating the transverse offset of the external object relative to the vehicle according to the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
otherwise, if the driving lane of the vehicle is a curve, calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the driving speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
and determining whether the external object is in the driving lane of the vehicle according to the relation between the transverse offset and the transverse setting range of the vehicle.
Alternatively, in the control method according to the above-described embodiment of the present invention, obtaining a braking deceleration required for safe travel of the host vehicle from the travel speed of the host vehicle, the relative distance between the host vehicle and the external object, the relative speed between the host vehicle and the external object, and the safe distance when the host vehicle is braked includes:
determining a running state of the external object with respect to the host vehicle, based on a relation between a running speed of the host vehicle and a relative speed of the host vehicle and the external object;
if the external object is static, calculating the braking deceleration required by the safe running of the vehicle according to the running speed of the vehicle, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked;
if the external object runs in the same direction as the vehicle, identifying whether the running speed of the vehicle is greater than the running speed of the external object; if the running speed of the vehicle is greater than the running speed of the external object, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; otherwise, if the running speed of the vehicle is not greater than the running speed of the external object, determining that the braking deceleration of the vehicle relative to the external object is 0;
and if the external object and the vehicle run oppositely, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked.
Optionally, the control method in the above embodiment of the present invention further includes:
and if the external object is not in the driving lane of the vehicle, determining that the braking deceleration of the vehicle relative to the external object is 0.
Alternatively, in the control method according to the above embodiment of the present invention, controlling the host vehicle to perform a corresponding braking action according to a relationship between the braking deceleration and a preset threshold value includes:
if the braking deceleration is larger than a first preset threshold value, controlling the vehicle to perform emergency braking based on the braking deceleration according to the running speed of the vehicle;
if the braking deceleration is larger than a second preset threshold and not larger than a first preset threshold, controlling the vehicle to carry out emergency alarm;
if the braking deceleration is larger than a third preset threshold and not larger than a second preset threshold, controlling the vehicle to perform predictive alarm;
the first preset threshold, the second preset threshold and the third preset threshold are reduced in size in sequence.
Alternatively, in the control method according to the above embodiment of the present invention, the controlling the host vehicle to perform emergency braking based on the braking deceleration in accordance with the traveling speed of the host vehicle includes:
identifying whether the running speed of the vehicle is greater than a preset speed value or not;
and if the running speed of the vehicle is greater than the preset speed value, controlling the vehicle to perform emergency braking at a preset part braking deceleration, wherein the size of the preset part braking deceleration is smaller than the braking deceleration.
Otherwise, if the running speed of the vehicle is not greater than the preset speed value, the vehicle is controlled to perform emergency braking according to the braking deceleration.
Optionally, in the control method according to the above embodiment of the present invention, in response to the magnitude of the braking deceleration being greater than 0, the method further includes:
detecting whether a braking action sent by a brake pedal of the vehicle is received;
and responding to the condition that the braking action sent by the brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and the preset threshold value.
Optionally, the control method according to the above embodiment of the present invention further includes:
and in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
Optionally, in the control method according to the above embodiment of the present invention, in response to the magnitude of the braking deceleration being greater than 0, the method further includes:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
According to another aspect of the embodiments of the present invention, there is provided a control apparatus for automatic emergency braking of a vehicle, including:
the acquisition unit is used for acquiring the course angular speed of the vehicle, the relative distance between the vehicle and an external object, the offset angle of the external object relative to the vehicle, the running speed of the vehicle and the relative speed between the vehicle and the external object;
the lane determining unit is used for determining whether the external object is in a driving lane of the vehicle according to the course angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
an obtaining unit, configured to obtain, according to a determination result of the lane determining unit, a braking deceleration required for safe driving of the host vehicle according to a driving speed of the host vehicle, a relative distance between the host vehicle and the external object, a relative speed between the host vehicle and the external object, and a safe distance when the host vehicle is braked, if the external object is in a driving lane of the host vehicle;
and the control unit is used for controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value when the magnitude of the braking deceleration is greater than 0.
Optionally, in the control device according to the above embodiment of the present invention, the lane determining unit is specifically configured to:
determining whether a driving lane of the vehicle is a straight lane or not according to the course angular speed of the vehicle;
if the driving lane of the vehicle is a straight lane, calculating the transverse offset of the external object relative to the vehicle according to the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
otherwise, if the driving lane of the vehicle is a curve, calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the driving speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
and determining whether the external object is in the driving lane of the vehicle according to the relation between the transverse offset and the transverse setting range of the vehicle.
Optionally, in the control device according to the foregoing embodiment of the present invention, the obtaining unit is specifically configured to:
if the external object is in the driving lane of the vehicle, determining the driving state of the external object relative to the vehicle according to the driving speed of the vehicle and the relation between the relative speeds of the vehicle and the external object;
if the external object is static, calculating the braking deceleration required by the safe running of the vehicle according to the running speed of the vehicle, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked;
if the external object runs in the same direction as the vehicle, identifying whether the running speed of the vehicle is greater than the running speed of the external object; if the running speed of the vehicle is greater than the running speed of the external object, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; otherwise, if the running speed of the vehicle is not greater than the running speed of the external object, determining that the braking deceleration of the vehicle relative to the external object is 0;
if the external object and the vehicle run oppositely, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed of the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked;
and if the external object is not in the driving lane of the vehicle, determining that the braking deceleration of the vehicle relative to the external object is 0.
Optionally, in the control device according to the above embodiment of the present invention, the control unit is specifically configured to:
when the braking deceleration is larger than 0, if the braking deceleration is larger than a first preset threshold value, controlling the vehicle to perform emergency braking based on the braking deceleration according to the running speed of the vehicle;
if the braking deceleration is larger than a second preset threshold and not larger than a first preset threshold, controlling the vehicle to carry out emergency alarm;
if the braking deceleration is larger than a third preset threshold and not larger than a second preset threshold, controlling the vehicle to perform predictive alarm;
the first preset threshold, the second preset threshold and the third preset threshold are reduced in size in sequence.
Alternatively, in the control device according to the above embodiment of the present invention, when the control unit controls the host vehicle to perform emergency braking based on the braking deceleration, according to the traveling speed of the host vehicle, the control unit is specifically configured to:
identifying whether the running speed of the vehicle is greater than a preset speed value or not;
if the running speed of the vehicle is greater than a preset speed value, controlling the vehicle to perform emergency braking at a preset partial braking deceleration, wherein the size of the preset partial braking deceleration is smaller than the braking deceleration;
otherwise, if the running speed of the vehicle is not greater than the preset speed value, the vehicle is controlled to perform emergency braking according to the braking deceleration.
Optionally, in the control device according to the above embodiment of the present invention, the control unit is further configured to:
when the braking deceleration is larger than 0, detecting whether a braking action sent by a brake pedal of the vehicle is received; responding to the situation that the braking action sent by a brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and a preset threshold value;
or
And in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
Optionally, in the control device according to the above embodiment of the present invention, the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
According to another aspect of the embodiments of the present invention, there is provided a vehicle including the control device for automatic emergency braking of the vehicle according to any of the above embodiments of the present invention.
Based on the control method and device for automatic emergency braking of the vehicle and the vehicle provided by the embodiment of the invention, whether the external object is in the driving lane of the vehicle is judged according to the course angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; if the external object is in the driving lane of the vehicle, acquiring braking deceleration required by the safe driving of the vehicle according to the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked; and when the magnitude of the braking deceleration is larger than 0, controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value. Compared with the prior art, the embodiment of the invention can effectively and reliably avoid collision or reduce collision damage, can solve the collision avoidance risk when two vehicles run at the same speed, and can also effectively avoid unnecessary early braking condition influencing normal driving by comprehensively considering the running speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle brakes to calculate the braking deceleration required by the safe running of the vehicle in real time.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of an embodiment of a method for controlling automatic emergency braking of a vehicle according to the present invention.
Fig. 2 is a flowchart of an embodiment of determining whether an external object is in a driving lane of a host vehicle according to the embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a positional relationship between the vehicle and an external object according to the embodiment of the present invention.
Fig. 4 is a schematic view showing another positional relationship between the vehicle and the external object according to the embodiment of the present invention.
Fig. 5 is a flowchart of an embodiment of obtaining the braking deceleration required for safe running of the vehicle according to the embodiment of the present invention.
Fig. 6 is a flowchart of an embodiment of controlling the vehicle to perform a corresponding braking action according to the embodiment of the present invention.
Fig. 7 is a schematic structural diagram of an embodiment of the control device for automatic emergency braking of a vehicle according to the present invention.
Fig. 8 is a block diagram of a vehicle in an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Embodiments of the invention are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known computing systems, environments, and/or configurations that may be suitable for use with the computer system/server include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, networked personal computers, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above, and the like.
The computer system/server may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
Fig. 1 is a flowchart of an embodiment of a method for controlling automatic emergency braking of a vehicle according to the present invention. As shown in fig. 1, the control method for automatic emergency braking of a vehicle according to this embodiment includes:
and 102, determining whether the external object is in the driving lane of the vehicle according to the heading angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle.
If the external object is in the driving lane of the vehicle, performing operation 104; otherwise, the subsequent flow of this embodiment is not executed.
The external object in each embodiment of the present invention may be any object outside the host vehicle, for example, an obstacle such as another vehicle or a building.
And 104, acquiring the braking deceleration required by the safe 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 between the vehicle and the external object and the safe distance when the vehicle is braked.
The braking deceleration in the embodiment of the invention is the minimum braking deceleration with the minimum value, namely: in order to effectively avoid a collision or reduce a collision, the host vehicle should be controlled to decelerate at the braking deceleration at a minimum. On the premise of ensuring safety, the vehicle can be controlled to decelerate at a braking deceleration value larger than the minimum braking deceleration.
And 106, responding to the condition that the magnitude of the braking deceleration is larger than 0, and controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value.
Based on the control method for automatic emergency braking of the vehicle provided by the above embodiment of the present invention, whether the external object is in the driving lane of the vehicle is determined according to the heading angular velocity of the vehicle, the relative distance between the vehicle and the external object, and the offset angle of the external object relative to the vehicle; if the external object is in the driving lane of the vehicle, acquiring braking deceleration required by the safe driving of the vehicle according to the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked; and when the magnitude of the braking deceleration is larger than 0, controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value. According to the embodiment of the invention, when the external object and the vehicle are in the same driving lane, the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked are comprehensively considered to calculate the braking deceleration required by the safe driving of the vehicle in real time, and then whether a deceleration action is required or not is judged according to the braking deceleration, so that collision is effectively and reliably avoided or collision damage is reduced, the collision avoidance risk when the two vehicles drive at the same speed can be solved, and unnecessary early braking condition influencing normal driving can be effectively avoided.
Fig. 2 is a flowchart of an embodiment of determining whether an external object is in a driving lane of a host vehicle according to the embodiment of the present invention. As shown in fig. 2, in operation 102 of the foregoing embodiments, determining whether the external object is in the driving lane of the host vehicle according to the heading angular velocity of the host vehicle, the relative distance between the host vehicle and the external object, and the offset angle of the external object relative to the host vehicle may be specifically implemented as follows:
and 202, determining whether the driving lane of the vehicle is a straight lane or not according to the heading angular speed omega of the vehicle.
Illustratively, if the heading angular velocity ω of the host vehicle is defined to be negative counterclockwise, the heading angular velocity ω of the host vehicle is within ± 1, and the lane of the host vehicle is determined to be a straight lane, otherwise, the lane is a curved lane. Specifically, if the heading angular velocity ω is smaller than-1, it is determined that the driving lane of the vehicle is a left-turn lane, and if the heading angular velocity ω is larger than 1, it is determined that the driving lane of the vehicle is a right-turn lane.
If the driving lane of the vehicle is a straight lane, executing operation 204; otherwise, if the driving lane of the vehicle is a curve, operation 206 is performed.
The lateral offset amount d of the external object with respect to the host vehicle is calculated from the relative distance S between the host vehicle and the external object and the offset angle θ of the external object with respect to the host vehicle 204.
For example, the lateral displacement amount d of the external object with respect to the host vehicle may be calculated by the formula d ═ S × sin (θ).
Thereafter, operation 208 is performed.
206, the lateral offset amount d of the external object with respect to the host vehicle is calculated from the course angular velocity θ of the host vehicle, the traveling velocity v of the host vehicle, the relative distance S between the host vehicle and the external object, and the offset angle θ of the external object with respect to the host vehicle.
Specifically, if it is defined that the heading angular velocity θ of the host vehicle is negative in the counterclockwise direction and the radius of the traveling lane of the external object is negative when the external object is on the left side of the host vehicle, the lateral offset d of the left-turning external object with respect to the host vehicle can be calculated as shown in the following equation 1, and the lateral offset d of the right-turning external object with respect to the host vehicle can be calculated as shown in equation 2:
equation 1:
Figure GDA0001872918310000121
equation 2:
Figure GDA0001872918310000122
wherein r1 is the radius of the driving lane of the vehicle,
Figure GDA0001872918310000123
is the radius of the driving lane of the external object. If the course angular speed theta of the vehicle is positive when the vehicle is anticlockwise, the sign of r1 is opposite to that in the formula 1 and the formula 2; if the radius of the traveling lane of the external object is positive when the external object is on the left side of the host vehicle, the sign of r2 is opposite to that in the above-described formula 1 and formula 2.
As can be seen from the above, the lateral offset d of the external object with respect to the host vehicle can be obtained from the difference between the traveling lane radius r1 of the host vehicle and the traveling lane radius r2 of the external object, and therefore, the traveling lane radius r1 of the host vehicle may be calculated by r1 ═ v/ω, and then the vehicle may pass through r1
Figure GDA0001872918310000124
The distance d between the two lateral offsets is obtained from the difference between the radius r2 of the driving lane of the external object and the radius r of the driving lane of the external object.
Fig. 3 is a schematic diagram illustrating a positional relationship between the vehicle and an external object according to the embodiment of the present invention. Fig. 4 is a schematic view showing another positional relationship between the vehicle and the external object according to the embodiment of the present invention. Wherein, in fig. 3, the vehicle is in a left-turn driving lane; in fig. 4, the host vehicle is in the right-turn travel lane.
208, it is determined whether the external object is within the traveling lane of the host vehicle based on the relationship between the lateral shift amount D and the lateral setting range D of the host vehicle.
If the transverse offset D of the external object relative to the vehicle is not larger than the transverse setting range D, the external object and the vehicle are considered to be in the same driving lane; and if the lateral offset D of the external object relative to the vehicle is larger than the lateral setting range D, the external object and the vehicle are not considered to be in the same driving lane. In a specific application, the lateral setting range D may be a half of the width of the host vehicle, or may be a half of the width of the driving lane in which the host vehicle is located. In one specific example, the vehicle running lane may be considered to be a standard width of 3.5m, and therefore the above-described lateral setting range is ± 1.75 m.
If the external object is in the driving lane of the vehicle, performing operation 104; otherwise, the subsequent flow of this embodiment is not executed, that is: no braking or warning operation is performed.
Fig. 5 is a flowchart of an embodiment of obtaining the braking deceleration required for safe running of the vehicle according to the embodiment of the present invention. As shown in fig. 5, in operation 104 of each of the above embodiments, obtaining the braking deceleration required for safe running of the host vehicle according to the running speed of the host vehicle, the relative distance between the host vehicle and the external object, the relative speed between the host vehicle and the external object, and the safe distance when the host vehicle is braked can be specifically realized as follows:
302, the traveling state of the external object with respect to the host vehicle is determined based on the traveling speed of the host vehicle and the relationship between the relative speeds of the host vehicle and the external object.
If the external object is stationary, perform operation 304; if the external object is traveling in the same direction as the host vehicle, perform operation 306; if the external object is traveling in the opposite direction of the host vehicle, operation 308 is performed.
The braking deceleration required for safe travel of the host vehicle is calculated 304 from the traveling speed of the host vehicle, the relative distance between the host vehicle and the external object, and the safe distance when the host vehicle is braked.
Thereafter, the subsequent flow of the present embodiment is not executed.
And 306, identifying whether the running speed of the vehicle is greater than the running speed of the external object.
If the driving speed of the vehicle is greater than the driving speed of the external object, operation 308 is performed; otherwise, if the traveling speed of the host vehicle is not greater than the traveling speed of the external object, operation 310 is performed.
The braking deceleration required for safe travel of the host vehicle is calculated 308 from the relative speed between the host vehicle and the external object, the relative distance between the host vehicle and the external object, and the safe distance when the host vehicle is braked.
Thereafter, operation 106 is performed.
At 310, the braking deceleration of the host vehicle with respect to the external object is determined to be 0.
Then, the subsequent flow of the present embodiment is not executed, that is: no braking or warning operation is performed.
In one specific example of the embodiments of the present invention, the braking deceleration required for safe running can be calculated specifically by the following formula:
Figure GDA0001872918310000141
where v is the running speed of the vehicle, S is the relative distance between the vehicle and the external object, and S is the distance between the vehicle and the external object0The safety distance for braking the vehicle can be, for example, 2m in a specific application; v. ofRelative to each otherThe relative speed of the vehicle and the external object; min () represents taking the minimum of two values.
Fig. 6 is a flowchart of another embodiment of the method for controlling automatic emergency braking of a vehicle according to the present invention. As shown in fig. 6, compared with the above embodiments, the method for controlling automatic emergency braking of a vehicle according to this embodiment further includes, if the external object is not in the lane of travel of the host vehicle:
402, it is determined that the braking deceleration of the host vehicle with respect to the external object is 0.
Then, the subsequent flow of the present embodiment is not executed, that is: no braking or warning operation is performed.
In a specific example of the above method embodiments of the present invention, the preset threshold in operation 106 may be divided into 3 values: the device comprises a first preset threshold, a second preset threshold and a third preset threshold, wherein the sizes of the first preset threshold, the second preset threshold and the third preset threshold are reduced in sequence. In this example, the corresponding braking action of the vehicle is controlled according to the relationship between the braking deceleration and the preset threshold, which can be specifically realized as follows:
comparing the relation between the braking deceleration and a first preset threshold, a second preset threshold and a third preset threshold;
if the braking deceleration is larger than the first preset threshold value abrakeControlling the host vehicle to perform emergency braking based on the braking deceleration according to the running speed of the host vehicle;
if the braking deceleration is larger than a second preset threshold value asAnd is not greater than a first preset threshold abrakeControlling the vehicle to perform emergency alarm, for example, alarm in any two or more of sound alarm, icon prompt, seat vibration, steering wheel vibration and the like;
if the braking deceleration is larger than a third preset threshold value avAnd is not greater than a second preset threshold asThe vehicle is controlled to perform predictive alarming, for example, alarming in any one or two of sound alarming, icon prompting and the like.
In one specific example, the emergency alarm is performed by means of sound + instrument alarm icon display, and the predictive alarm is performed by means of instrument alarm icon.
Specifically, in the above example, the control of the host vehicle to perform emergency braking based on the braking deceleration according to the running speed of the host vehicle may be specifically realized as follows:
identifying whether the running speed of the vehicle is greater than a preset speed value, for example, 80 km/h;
if the running speed of the vehicle is greater than the preset speed value, controlling the vehicle to brake at the preset partial brake deceleration apartCarry out emergency braking to lead to dangers such as car turnover when avoiding high-speed emergency braking, alleviate the collision injury simultaneously. Wherein the magnitude of the braking deceleration of the preset part is smaller than the braking deceleration;
otherwise, if the running speed of the vehicle is not greater than the preset speed value, the vehicle is controlled to perform emergency braking at the braking deceleration so as to completely avoid collision.
Second preset threshold asAnd a third preset threshold avCan be realized by users according to actual requirementsThe man-machine interaction interface in the device of the invention selects high, medium and low sizes, thereby controlling the sensitivity of alarm.
In one specific example, a first set threshold a may be setbrakeIs-5 m/s2(ii) a Controlling the host vehicle to act at the calculated braking deceleration a to completely avoid the collision if the running speed of the host vehicle is less than or equal to 80 km/h; if the running speed of the vehicle is more than 80km/h, the vehicle is controlled to set partial braking deceleration apart＝-4m/s2And (4) acting to reduce collision damage and avoid high-speed rollover risk. Wherein the first set threshold abrakeAnd a partial braking deceleration apartThe size of (b) may be determined by the manufacturer of the control device or the server based on empirical values and set in advance in the control device.
In one specific example, the second set threshold may be set to asIs-2.7 m/s2，-3m/s2，-3.3m/s2Three selectable levels, corresponding to high, medium and low sensitivity, respectively, default to medium sensitivity, namely as＝-3m/s2Controlling the vehicle to carry out emergency alarm action;
in one specific example, the third threshold may be set to-2.0 m/s2，-2.2m/s2，-2.4m/s2Three selectable levels, corresponding to high, medium and low sensitivity, respectively, default to medium sensitivity, namely av＝-2.2m/s2And controlling the vehicle to perform a predictive alarm action.
In addition, in another embodiment of the above control method for automatic emergency braking of each vehicle according to the present invention, in response to the magnitude of the braking deceleration being greater than 0, the method may further include:
detecting whether a braking action sent by a brake pedal of the vehicle is received;
if the braking action sent by the brake pedal of the vehicle is received, stopping executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and the preset threshold value, and if the braking action is already executed in the process of controlling the vehicle to perform the corresponding braking action, immediately stopping executing the braking action;
otherwise, if the braking action sent by the brake pedal of the vehicle is not received, the vehicle is controlled to perform corresponding braking action operation according to the relation between the braking deceleration and the preset threshold value.
Further, in another embodiment of the above control method for automatic emergency braking of a vehicle according to the present invention, in response to the magnitude of the braking deceleration being greater than 0, the method may further include:
when the relation between the braking deceleration and the first preset threshold, the second preset threshold and the third preset threshold meets the braking condition, responding to the received acceleration instruction sent by an accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
Namely: based on the above two embodiments, when the driver depresses the brake pedal, if the control device is acting, no matter which stage of action in emergency braking, emergency warning or predictive warning, the action is immediately released, giving priority to manual braking by the driver; if the control means is ready to enter the emergency braking, emergency warning or predictive warning phases, none of the phases is entered, regardless of whether the conditions for entering the phases are met. When the vehicle meets the emergency braking, emergency alarming or predictive alarming conditions, no matter whether the driver steps on an accelerator pedal or not, corresponding actions are executed so as to avoid vehicle collision.
In the corresponding embodiment of the invention, the vehicle speed can be completely prevented from collision under the conditions of the preset speed value and below, and collision damage can be effectively reduced under the conditions of the preset speed value and above; a two-stage sensitivity-adjustable alarm mode before emergency braking is provided, the possibility of intervention of a driver is enhanced, and the interactive humanization degree is improved; in addition, the entering of each stage under the braking condition is completely controlled based on the braking deceleration a calculated in real time, so that effective actions of two vehicles under the same speed and other conditions are guaranteed, system misoperation under each special condition is eliminated, and the system reliability is greatly improved; in addition, the embodiment of the invention also provides a method for judging whether the external object is in the driving lane of the vehicle at the curve, so that the application scene of the device under the non-straight road condition is enlarged, and higher guarantee is provided for the driving safety of a driver.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Fig. 7 is a schematic structural diagram of an embodiment of the control device for automatic emergency braking of a vehicle according to the present invention. The control device of this embodiment can be used to implement the above-described control method embodiments of the present invention. As shown in fig. 7, the control device of this embodiment includes: the system comprises a collecting unit, a lane determining unit, an acquiring unit and a control unit. Wherein:
the acquisition unit is used for acquiring the course angular speed of the vehicle, the relative distance between the vehicle and the external object, the offset angle of the external object relative to the vehicle, the running speed of the vehicle and the relative speed between the vehicle and the external object.
Illustratively, the above-mentioned acquisition unit may specifically include, but is not limited to, any one or more of the following: equipment such as a millimeter wave radar, a laser radar and a camera which can directly acquire information of relative distance, relative speed and offset angle between an external object and the vehicle; or a device that indirectly acquires information on the relative distance, relative speed, and offset angle between an external object and the host vehicle, such as a Global Positioning System (GPS) device or a vehicle-to-vehicle (V2V) device.
And the lane determining unit is used for determining whether the external object is in the driving lane of the vehicle according to the heading angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle.
In one specific example, the lane determination unit is specifically configured to: determining whether a driving lane of the vehicle is a straight lane or not according to the course angular speed of the vehicle; if the driving lane of the vehicle is a straight lane, calculating the transverse offset of the external object relative to the vehicle according to the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; otherwise, if the driving lane of the vehicle is a curve, calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the driving speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; and determining whether the external object is within the driving lane of the vehicle according to the relationship between the lateral offset amount and the lateral setting range of the vehicle.
And an acquisition unit configured to acquire, based on the determination result of the lane determination unit, a braking deceleration required for safe traveling of the host vehicle, based on the traveling speed of the host vehicle, the relative distance between the host vehicle and the external object, the relative speed between the host vehicle and the external object, and the safe distance when the host vehicle is braked, if the external object is in the traveling lane of the host vehicle.
In one specific example, the obtaining unit is specifically configured to: if the external object is in the driving lane of the vehicle, determining the driving state of the external object relative to the vehicle according to the driving speed of the vehicle and the relation between the relative speeds of the vehicle and the external object; if the external object is static, calculating the braking deceleration required by the safe running of the vehicle according to the running speed of the vehicle, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; if the external object runs in the same direction as the vehicle, identifying whether the running speed of the vehicle is greater than the running speed of the external object; if the running speed of the vehicle is greater than the running speed of the external object, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed of the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; otherwise, if the running speed of the vehicle is not greater than the running speed of the external object, determining that the braking deceleration of the vehicle relative to the external object is 0; if the external object and the vehicle run oppositely, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; if the external object is not in the driving lane of the vehicle, the braking deceleration of the vehicle relative to the external object is determined to be 0.
And the control unit is used for controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value when the magnitude of the braking deceleration is greater than 0.
In one specific example, the control unit is specifically configured to: when the magnitude of the braking deceleration is larger than 0, if the magnitude of the braking deceleration is larger than a first preset threshold value, controlling the vehicle to perform emergency braking based on the braking deceleration according to the running speed of the vehicle; if the braking deceleration is larger than a second preset threshold and not larger than a first preset threshold, controlling the vehicle to carry out emergency alarm; if the braking deceleration is larger than a third preset threshold and not larger than a second preset threshold, controlling the vehicle to perform predictive alarm; the first preset threshold, the second preset threshold and the third preset threshold are reduced in size in sequence.
Further exemplarily, the control unit controls the host vehicle to perform emergency braking based on the braking deceleration, in accordance with the traveling speed of the host vehicle, specifically to: identifying whether the running speed of the vehicle is greater than a preset speed value or not; if the running speed of the vehicle is greater than the preset speed value, the vehicle is controlled to perform emergency braking at the preset part braking deceleration, and the size of the preset part braking deceleration is smaller than the braking deceleration; otherwise, if the running speed of the vehicle is not greater than the preset speed value, the vehicle is controlled to perform emergency braking at the braking deceleration.
Based on the control device for automatic emergency braking of the vehicle provided by the above embodiment of the present invention, whether the external object is in the driving lane of the vehicle is determined according to the heading angular velocity of the vehicle, the relative distance between the vehicle and the external object, and the offset angle of the external object relative to the vehicle; if the external object is in the driving lane of the vehicle, acquiring braking deceleration required by the safe driving of the vehicle according to the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked; and when the magnitude of the braking deceleration is larger than 0, controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value. According to the embodiment of the invention, when the external object and the vehicle are in the same driving lane, the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked are comprehensively considered to calculate the braking deceleration required by the safe driving of the vehicle in real time, and then whether a deceleration action is required or not is judged according to the braking deceleration, so that collision is effectively and reliably avoided or collision damage is reduced, the collision avoidance risk when the two vehicles drive at the same speed can be solved, and unnecessary early braking condition influencing normal driving can be effectively avoided.
In another embodiment of the above control devices according to the present invention, the control unit may further be configured to:
when the braking deceleration is larger than 0, detecting whether a braking action sent by a brake pedal of the vehicle is received; and in response to not receiving the braking action sent by the brake pedal of the vehicle, executing an operation of controlling the vehicle to perform a corresponding braking action according to the relation between the braking deceleration and a preset threshold value;
alternatively, in the process of controlling the own vehicle to perform the corresponding braking operation, in response to receiving the braking operation transmitted through the brake pedal of the own vehicle, the execution of the operation of controlling the own vehicle to perform the corresponding braking operation is stopped.
Further, in another embodiment of the above control devices according to the present invention, the control unit is further configured to: when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration command sent by an accelerator pedal of the vehicle in the process of controlling the vehicle to perform corresponding braking action.
The embodiment of the invention also provides a vehicle, and the vehicle can comprise the control device for the automatic emergency braking of the vehicle in any embodiment of the invention.
The vehicle in the embodiment of the invention comprises the control device for automatic emergency braking of the vehicle in any embodiment, so that collision can be effectively and reliably avoided or collision damage can be reduced, the collision avoidance risk when two vehicles run at the same speed can be solved, and unnecessary early braking condition influencing normal driving can be effectively avoided.
Fig. 8 is a block diagram showing a configuration of a vehicle in an embodiment of the present invention. As shown in fig. 8, the vehicle may include: the intelligent vehicle-mounted information entertainment system comprises a central control module, an instrument panel, a vehicle data recorder, a HUD (Head up display), an intelligent vehicle-mounted information entertainment system and an intelligent driving module.
The instrument panel is provided with a 12.3-inch LCD display device, and the instrument panel can adopt a J6CPU of TI; the operating system of the dashboard may be based on a QNX embedded system, and the dashboard may be used to display vehicle status including speed, rotational speed, electrical quantity, tire pressure, vehicle parking, gear, etc., a map, vehicle navigation information, vehicle music play, etc. The HUD heads-up display may display GPS navigation information, navigation path information, time information, and the like.
In one embodiment, the smart driving module may be used to process operations related to smart driving, and the smart driving module may include Advanced Driver Assistance Systems (ADAS), active safety Systems, Attention Assistance Systems (AAS), Fatigue Warning Systems (FWS), Vehicle intelligent Acoustic alert Systems (AVAS), and the like. The vehicle may be intelligently driven in conjunction with ADAS or the like, and the intelligent driving may be completely unmanned driving, or may be advanced driving assistance functions such as a lane departure, and a parallel assistance function for driving control performed by the driver.
The central control device can be composed of a plurality of modules, and mainly comprises: a main board; a SATA (Serial advanced technology Attachment) module connected to a storage device, such as an SSD, that may be used to store data information; an AM (Amplitude Modulation)/FM (Frequency Modulation) module for providing the function of a radio for the vehicle; the power amplifier module is used for processing sound; a WIFI (Wireless-Fidelity)/Bluetooth module for providing WIFI/Bluetooth service for the vehicle; an LTE (Long Term Evolution) communication module for providing a communication function with a telecom operator for a vehicle; the power module provides power for the central control device; the Switch switching module can be used as an expandable interface to connect various sensors, for example, a night vision function sensor and a PM2.5 function sensor are added if necessary, and can be connected to a main board of the central control device through the Switch switching module, so that a processor of the central control device can process data and transmit the data to a central control display.
In one embodiment, the vehicle further includes a look-around camera, an ADAS camera, a night vision camera, a millimeter wave radar, an ultrasonic radar, an ESR radar, or the like. After the vehicle hardware is produced, the intelligent driving related hardware is mounted, and in the later stage, the automatic driving related functions can be completed by using the hardware through OTA (over the air) upgrading.
The embodiment of the invention has the following beneficial technical effects:
through the two-layer reminding process of predictive alarm and emergency alarm, the response probability of the driver is increased, and the preferential driving mode of the driver is embodied; meanwhile, even if the driver is not braked by alarming, the control device can brake emergently to avoid collision or reduce collision damage;
the entering of each braking action stage is judged completely according to whether the calculated braking deceleration is smaller than a set threshold value or not, on the basis of ensuring the performance of each running condition system, response measures can be taken in time under the special working condition that two vehicles run at the same speed, and the applicability and the reliability of the system are greatly improved;
a two-layer alarm mode is provided, three sensitivity modes of high sensitivity, medium sensitivity and low sensitivity can be selected, the system is suitable for drivers with different driving habits, and the humanized setting of the system is increased;
long-time running tests prove that the embodiment of the invention has very excellent practicability and applicability and can be completely applied to various automatic emergency braking systems of vehicles.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The method and apparatus of the present invention may be implemented in a number of ways. For example, the methods and apparatus of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (34)

1. A method for controlling automatic emergency braking of a vehicle, comprising:
calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; the calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the vehicle relative to the external object comprises the following steps: determining whether a driving lane of the vehicle is a straight lane or not according to the course angular speed of the vehicle; if the driving lane of the vehicle is a straight lane, calculating the transverse offset of the external object relative to the vehicle according to the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; otherwise, if the driving lane of the vehicle is a curve, calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the driving speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle;
determining whether the external object is in a driving lane of the vehicle according to the relation between the transverse offset and the transverse setting range of the vehicle;
if the external object is in the driving lane of the vehicle, acquiring braking deceleration required by the safe driving of the vehicle according to the driving speed of the vehicle, the relative distance between the vehicle and the external object, the relative speed between the vehicle and the external object and the safe distance when the vehicle is braked;
and controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value in response to the fact that the magnitude of the braking deceleration is larger than 0.
2. The method according to claim 1, wherein obtaining the braking deceleration required for safe travel of the host vehicle from the travel speed of the host vehicle, the relative distance between the host vehicle and the external object, the relative speed between the host vehicle and the external object, and the safe distance when the host vehicle is braked comprises:
determining a running state of the external object with respect to the host vehicle, based on a relation between a running speed of the host vehicle and a relative speed of the host vehicle and the external object;
if the external object is static, calculating the braking deceleration required by the safe running of the vehicle according to the running speed of the vehicle, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked;
if the external object runs in the same direction as the vehicle, identifying whether the running speed of the vehicle is greater than the running speed of the external object; if the running speed of the vehicle is greater than the running speed of the external object, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; otherwise, if the running speed of the vehicle is not greater than the running speed of the external object, determining that the braking deceleration of the vehicle relative to the external object is 0;
and if the external object and the vehicle run oppositely, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked.
3. The method of claim 1 or 2, further comprising:
and if the external object is not in the driving lane of the vehicle, determining that the braking deceleration of the vehicle relative to the external object is 0.
4. The method according to claim 1 or 2, wherein controlling the own vehicle to perform a corresponding braking action according to the relationship between the braking deceleration and a preset threshold value includes:
if the braking deceleration is larger than a first preset threshold value, controlling the vehicle to perform emergency braking based on the braking deceleration according to the running speed of the vehicle;
if the braking deceleration is larger than a second preset threshold and not larger than a first preset threshold, controlling the vehicle to carry out emergency alarm;
if the braking deceleration is larger than a third preset threshold and not larger than a second preset threshold, controlling the vehicle to perform predictive alarm;
the first preset threshold, the second preset threshold and the third preset threshold are reduced in size in sequence.
5. The method according to claim 4, wherein the controlling of the host vehicle to make an emergency brake based on the braking deceleration in accordance with the traveling speed of the host vehicle includes:
identifying whether the running speed of the vehicle is greater than a preset speed value or not;
if the running speed of the vehicle is greater than a preset speed value, controlling the vehicle to perform emergency braking at a preset partial braking deceleration, wherein the size of the preset partial braking deceleration is smaller than the braking deceleration;
otherwise, if the running speed of the vehicle is not greater than the preset speed value, the vehicle is controlled to perform emergency braking according to the braking deceleration.
6. The method of claim 1 or 2, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
detecting whether a braking action sent by a brake pedal of the vehicle is received;
and responding to the condition that the braking action sent by the brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and the preset threshold value.
7. The method of claim 6, further comprising:
and in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
8. The method of claim 4, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
detecting whether a braking action sent by a brake pedal of the vehicle is received;
and responding to the condition that the braking action sent by the brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and the preset threshold value.
9. The method of claim 8, further comprising:
and in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
10. The method of claim 5, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
detecting whether a braking action sent by a brake pedal of the vehicle is received;
and responding to the condition that the braking action sent by the brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and the preset threshold value.
11. The method of claim 10, further comprising:
and in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
12. The method of claim 1 or 2, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
13. The method of claim 4, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
14. The method of claim 5, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
15. The method of claim 6, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
16. The method of claim 7, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
17. The method of claim 8, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
18. The method of claim 9, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
19. The method of claim 10, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
20. The method of claim 11, wherein in response to the magnitude of the braking deceleration being greater than 0, further comprising:
controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
21. A control device for automatic emergency braking of a vehicle, comprising:
the acquisition unit is used for acquiring the course angular speed of the vehicle, the relative distance between the vehicle and an external object, the offset angle of the external object relative to the vehicle, the running speed of the vehicle and the relative speed between the vehicle and the external object;
the lane determining unit is used for determining whether a driving lane of the vehicle is a straight lane or not according to the course angular speed of the vehicle; if the driving lane of the vehicle is a straight lane, calculating the transverse offset of the external object relative to the vehicle according to the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; otherwise, if the driving lane of the vehicle is a curve, calculating the lateral offset of the external object relative to the vehicle according to the course angular speed of the vehicle, the driving speed of the vehicle, the relative distance between the vehicle and the external object and the offset angle of the external object relative to the vehicle; determining whether the external object is in a driving lane of the vehicle according to the relation between the transverse offset and the transverse setting range of the vehicle;
an obtaining unit, configured to obtain, according to a determination result of the lane determining unit, a braking deceleration required for safe driving of the host vehicle according to a driving speed of the host vehicle, a relative distance between the host vehicle and the external object, a relative speed between the host vehicle and the external object, and a safe distance when the host vehicle is braked, if the external object is in a driving lane of the host vehicle;
and the control unit is used for controlling the vehicle to perform corresponding braking action according to the relation between the braking deceleration and a preset threshold value when the magnitude of the braking deceleration is greater than 0.
22. The apparatus according to claim 21, wherein the obtaining unit is specifically configured to:
if the external object is in the driving lane of the vehicle, determining the driving state of the external object relative to the vehicle according to the driving speed of the vehicle and the relation between the relative speeds of the vehicle and the external object;
if the external object is static, calculating the braking deceleration required by the safe running of the vehicle according to the running speed of the vehicle, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked;
if the external object runs in the same direction as the vehicle, identifying whether the running speed of the vehicle is greater than the running speed of the external object; if the running speed of the vehicle is greater than the running speed of the external object, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed between the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked; otherwise, if the running speed of the vehicle is not greater than the running speed of the external object, determining that the braking deceleration of the vehicle relative to the external object is 0;
if the external object and the vehicle run oppositely, calculating the braking deceleration required by the safe running of the vehicle according to the relative speed of the vehicle and the external object, the relative distance between the vehicle and the external object and the safe distance when the vehicle is braked;
and if the external object is not in the driving lane of the vehicle, determining that the braking deceleration of the vehicle relative to the external object is 0.
23. The apparatus according to claim 21, wherein the control unit is specifically configured to:
when the braking deceleration is larger than 0, if the braking deceleration is larger than a first preset threshold value, controlling the vehicle to perform emergency braking based on the braking deceleration according to the running speed of the vehicle;
if the braking deceleration is larger than a second preset threshold and not larger than a first preset threshold, controlling the vehicle to carry out emergency alarm;
if the braking deceleration is larger than a third preset threshold and not larger than a second preset threshold, controlling the vehicle to perform predictive alarm;
the first preset threshold, the second preset threshold and the third preset threshold are reduced in size in sequence.
24. The apparatus according to claim 23, wherein the control means, when controlling the host vehicle to perform emergency braking based on the braking deceleration in accordance with a traveling speed of the host vehicle, is configured to:
identifying whether the running speed of the vehicle is greater than a preset speed value or not;
if the running speed of the vehicle is greater than a preset speed value, controlling the vehicle to perform emergency braking at a preset partial braking deceleration, wherein the size of the preset partial braking deceleration is smaller than the braking deceleration;
otherwise, if the running speed of the vehicle is not greater than the preset speed value, the vehicle is controlled to perform emergency braking according to the braking deceleration.
25. The apparatus according to claim 21 or 22, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, detecting whether a braking action sent by a brake pedal of the vehicle is received; responding to the situation that the braking action sent by a brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and a preset threshold value;
or
And in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
26. The apparatus of claim 23, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, detecting whether a braking action sent by a brake pedal of the vehicle is received; responding to the situation that the braking action sent by a brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and a preset threshold value;
or
And in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
27. The apparatus of claim 24, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, detecting whether a braking action sent by a brake pedal of the vehicle is received; responding to the situation that the braking action sent by a brake pedal of the vehicle is not received, executing the operation of controlling the vehicle to perform the corresponding braking action according to the relation between the braking deceleration and a preset threshold value;
or
And in the process of controlling the vehicle to perform the corresponding braking action, stopping executing the operation of controlling the vehicle to perform the corresponding braking action in response to receiving the braking action sent by the brake pedal of the vehicle.
28. The apparatus according to claim 21 or 22, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
29. The apparatus of claim 23, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
30. The apparatus of claim 24, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
31. The apparatus of claim 25, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
32. The apparatus of claim 26, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
33. The apparatus of claim 27, wherein the control unit is further configured to:
when the braking deceleration is larger than 0, controlling the vehicle not to perform corresponding acceleration action in response to receiving an acceleration instruction sent by an accelerator pedal of the vehicle; and/or
And in the process of controlling the vehicle to perform corresponding braking action, responding to the received acceleration instruction sent by the accelerator pedal of the vehicle, and controlling the vehicle not to perform corresponding acceleration action.
34. A vehicle comprising a control device for automatic emergency braking of a vehicle as claimed in any one of claims 21 to 33.
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