CN109017730A - Vehicle brake control method - Google Patents
Vehicle brake control method Download PDFInfo
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- CN109017730A CN109017730A CN201810901870.4A CN201810901870A CN109017730A CN 109017730 A CN109017730 A CN 109017730A CN 201810901870 A CN201810901870 A CN 201810901870A CN 109017730 A CN109017730 A CN 109017730A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
The present embodiments relate to a kind of vehicle brake control methods, comprising: vehicle is according to preset travel TRAJECTORY CONTROL vehicle driving；Control unit for vehicle obtains real road environmental information by the sension unit in vehicle；Real road environmental information is parsed；When, there are when collision target, determining collision target at a distance from vehicle according to real road environmental information in real road environment；Estimated braking distance is calculated according to Vehicle Speed and motor vehicle braking system performance parameter；Motor vehicle braking system performance parameter includes conventional brake output parameter；When estimated braking distance is greater than or equal to collision target at a distance from vehicle, control unit for vehicle generates and exports emergency braking instruction, instructs control vehicle operation according to emergency braking to control unit for vehicle；Emergency braking instruction includes emergency braking output parameter；Emergency braking output parameter is greater than conventional brake output parameter；Also, control unit for vehicle generates and exports emergency braking warning message.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of vehicle brake control methods.
Background technique
With the development of economy and the emergence of artificial intelligence technology, autonomous driving vehicle is also increasingly by the pass in market
Note.Autonomous driving vehicle refers to closing by artificial intelligence, vision calculating, radar, monitoring device and global positioning system collaboration
Make, computer is allowed can to operate motor vehicles to automatic safe under the operation of nobody class active.Market prediction is driven automatically
Sailing the universal of automobile may be implemented to reduce traffic accident incidence, reduces traffic congestion degree, reduces investment traffic infrastructure
Cost and reduce pollution and other effects to environment.
But currently, the relevant technologies in automatic Pilot field are also and immature, so that automatic Pilot vehicle can not be in real road
Middle traveling.Especially vehicle under automatic driving mode, how utmostly guarantee safety under the premise of realize vehicle control
Emergency brake of vehicle becomes current automatic Pilot field and continues to solve the problems, such as.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of vehicle brake control method, when nobody drives
Sail vehicle periphery exist with larger risk of collision collision target, and the collision target appearance so that vehicle in conventional brake
When being unable to satisfy the demand of evacuation target under mode, automatic driving vehicle timely, safety can take emergency braking measure, with
Avoid collision or reduce collision damage.
To achieve the goals above, the embodiment of the invention provides a kind of vehicle brake control methods, comprising:
Control unit for vehicle in vehicle obtains default wheelpath information, to the vehicle according to the preset travel
TRAJECTORY CONTROL vehicle driving；
The control unit for vehicle obtains real road environmental information by the sension unit in the vehicle；
The real road environmental information is parsed, is determined in real road environment with the presence or absence of collision target；
When there are when the collision target, being touched according to real road environmental information determination in the real road environment
Target is hit at a distance from vehicle；
Estimated braking distance is calculated according to the Vehicle Speed and motor vehicle braking system performance parameter；The vehicle
Braking system performance parameter includes conventional brake output parameter；
It is at a distance from vehicle and described it is expected that braking distance to compare the collision target；
When the estimated braking distance is greater than or equal to the collision target at a distance from vehicle, the vehicle control list
Member generates and exports emergency braking instruction, controls the vehicle according to emergency braking instruction to the control unit for vehicle
Work；The emergency braking instruction includes emergency braking output parameter；The emergency braking output parameter is greater than the conventional system
Dynamic output parameter；
Also, the control unit for vehicle generates and exports emergency braking warning message.
Preferably, the default wheelpath information includes default traffic route information and preset vehicle travel speed, is used
Vehicle driving is controlled according to the default traffic route information and the preset vehicle travel speed with the vehicle.
Preferably, sension unit described in the sension unit includes that vision obtains module, millimeter wave radar module, laser thunder
Up to module and locating module.
Preferably, the motor vehicle braking system performance parameter further include: vehicle actuator delay parameter and braking system add
Press the time.
Preferably, before the control unit for vehicle generates and exports emergency braking instruction, the method also includes:
The control unit for vehicle determines in advance at a distance from vehicle with the Vehicle Speed according to the collision target
Count collision time；
Determine whether the estimated collision time is less than preset time；
When the estimated collision time is less than the preset time, the control unit for vehicle generates and exports urgent system
Dynamic instruction.
Preferably, after the control unit for vehicle generates and exports emergency braking instruction, the method also includes:
The control unit for vehicle receives user to be believed by trampling the control for brake of the generation of the brake pedal in the vehicle
Number；The brake control signal includes artificial braking output parameter；
The artificial braking output parameter and the emergency braking output parameter are compared, determines the artificial braking output ginseng
Maximum braking output parameter in the several and emergency braking output parameter；
Emergency braking instruction is generated according to the maximum braking output parameter, and is exported.
It is further preferred that it is raw by trampling the brake pedal in the vehicle to receive user in the control unit for vehicle
At brake control signal before, the method also includes:
The control unit for vehicle generates the warning information of emergency braking, and exports.
It is further preferred that when the estimated braking distance is greater than the collision target at a distance from vehicle, and it is described pre-
When counting collision time less than the preset time, the method also includes:
The control unit for vehicle generates directional lock dead instructions, and exports.
Preferably, the deceleration value in the emergency braking output parameter is greater than the first pre-programmed emergency braking deceleration angle value,
And the mean deceleration angle value in the emergency braking output parameter is in the second pre-programmed emergency braking deceleration threshold range.
Preferably, the control unit for vehicle generates and exports emergency braking warning message specifically:
The control unit for vehicle generates emergency braking warning message, and the emergency braking warning message is sent to use
Family terminal and server；The emergency braking brake alarm information includes: current vehicle location information, current vehicle pattern information
With the real road environmental information.
Vehicle brake control method provided in an embodiment of the present invention, existing around automatic driving vehicle has larger collision
The collision target of risk, and the appearance of the collision target is so that vehicle is unable to satisfy the need of evacuation target under conventional brake mode
When asking, automatic driving vehicle can in time, safety take emergency braking measure, to avoid collision or reduce collision damage
Detailed description of the invention
Fig. 1 is the flow chart of vehicle brake control method provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Vehicle brake control method provided in an embodiment of the present invention, is implemented in automatic driving vehicle, for unmanned
Vehicle takes emergency braking to handle to guarantee traffic safety in outstanding situation, and method flow diagram is as shown in Figure 1, include as follows
Step:
Step 110, control unit for vehicle obtains default wheelpath information；
Specifically, including control unit for vehicle and sension unit in automatic driving vehicle.Wherein, control unit for vehicle can be with
It is interpreted as the control module for controlling vehicle driving.Sension unit can be understood as the mould perceived to vehicle-periphery
Block.Sension unit includes locating module, vision acquisition module, millimeter wave radar module and laser radar module.Locating module is used
In the position current by global positioning system acquisition vehicle.Vision obtains module and is used for the environmental aspect to 360 ° of vehicle periphery
Carry out Image Acquisition.Millimeter wave radar module and laser radar module are for detecting object near automobile body.
Default wheelpath information includes default traffic route information and preset vehicle travel speed.Default traffic route letter
Breath can be understood as traffic route be previously obtained, for executing this driving task.Traffic route information is also possible to use
Family input, it is also possible to what control unit for vehicle was generated according to driving mission bit stream and cartographic information.Driving a vehicle mission bit stream can
To be interpreted as the relevant information of this driving task.Mission bit stream of driving a vehicle includes running time requirement, origin, stop off
Place and terminal place.Cartographic information can be understood as an electronic map.It include road information in cartographic information.Road information
It can be understood as including that runway identifies the information identified with speed limit.
Preset vehicle travel speed can be according to driving a vehicle what mission bit stream obtained, be also possible to user's input.
Step 120, driving task is executed according to default traffic route information and preset vehicle travel speed；
Specifically, automatic driving vehicle is travelled according to default traffic route information and preset vehicle travel speed.At nobody
During vehicle is driven according to default traffic route information execution driving task, control unit for vehicle can be by sension unit
Modules obtain real road environmental information in real time.Real road environmental information reflects current vehicle running environment feelings
Condition.
Step 130, real road environmental information is parsed, is determined in real road environment with the presence or absence of collision mesh
Mark；
Specifically, real road environmental information includes vehicle environmental image data, millimetre-wave radar data and laser radar
Data.Wherein, laser radar data is made of multiple laser point datas.Control unit for vehicle integration analysis vehicle environmental picture number
According to, millimetre-wave radar data and laser radar data, determine in real road environment with the presence or absence of collision target.Collision target can
To be interpreted as in the default traffic route that automatic driving vehicle is travelled, there are risk of collision, need to avoid it
Moving object.
In the real road environment representated by vehicle environmental image data, millimetre-wave radar data and the laser radar data
With the target for being less than pre-determined distance at a distance from automatic driving vehicle, and the target is located at representated by default traffic route information
Route in, then control unit for vehicle determines that there are collision targets in real road environment, then execute following step 140.On the contrary,
Do not have in the real road environment representated by vehicle environmental image data, millimetre-wave radar data and the laser radar data with
The distance of automatic driving vehicle is less than the target of pre-determined distance or the target is located at route representated by default traffic route information
In, then control unit for vehicle determines that there is no collision targets in real road environment, then return to step 120, that is, vehicle
Control single control vehicle continues to execute driving task according to presetting traffic route information and preset vehicle travel speed.
In a specific example, control unit for vehicle can obtain in real time reality by the modules in sension unit
Road environment information, and determine that the specific method is as follows with the presence or absence of collision target in real road environmental information:
Vision is obtained module and is mainly detected in the form of visual pattern to target, that is to say, that vision obtains module
Image including target, profile and the distance between target and automatic driving vehicle can be recognized in the form of visual pattern
Vehicle environmental image data.
Millimeter wave radar module is being detected by way of launching outward radar to target.Millimeter wave thunder
Investigative range up to sensor is bigger relative to the investigative range of laser radar module, can achieve 200 meters, and millimeter wave thunder
Very high up to identification precision of the sensor to target speed, degree of error is less than 0.3m/s.That is, control unit for vehicle
After parsing to millimetre-wave radar data, available includes target velocity and the distance between target and automatic driving vehicle
Millimetre-wave radar data.
Laser radar module is to be detected by way of launching outward laser beam to target.Laser radar module to
Objective emission multiple groups laser beam, laser beam forms laser point after getting to target, and is reflected back target echo, by target echo and hair
It penetrates signal to be compared and treated, profile, motion state and target and automatic driving vehicle including target can be recognized
The distance between laser radar data.
Further specifically, control unit for vehicle can according to the motion state for the target that laser radar module recognizes,
What is obtained is used to determine the data of target type specifically: control unit for vehicle parses multiple laser point datas of multiple frame numbers,
Determine whether the position of multiple laser point datas changes linearly in default frame number.When the position of multiple laser point datas is pre-
If change linearly in frame number, illustrate to move when target, thus may determine that target type is dynamic object type.When more
The position of a laser point data does not change linearly in default frame number, but when being in coherent condition, illustrate it is static when target,
Thus may determine that target type is static object type.
Control unit for vehicle is according to the data in vehicle environmental image data, millimetre-wave radar data and laser radar data
Confidence level height, the data in vehicle environmental image data, millimetre-wave radar data and laser radar data are integrated
Analysis, with the lower higher data of Data Matching confidence level of confidence level, according to matching result determine target at a distance from vehicle,
And the current position of automatic driving vehicle obtained according to locating module, according to the distance between target and automatic driving vehicle and
The current position of automatic driving vehicle obtains target position.
Control unit for vehicle is according to the data in vehicle environmental image data, millimetre-wave radar data and laser radar data
Confidence level height can be user's self-setting.Generally, the confidence level highest of vehicle environmental image data.
When the distance between target and automatic driving vehicle are less than pre-determined distance, and target position and default traffic route letter
Manner of breathing symbol can then determine that the target is collision target, that is, determine that there are collision targets in real road environment.
Step 140, determine collision target at a distance from vehicle according to real road environmental information；
Specifically, when, there are when collision target, monitoring objective position is to touch in above-mentioned steps in real road environment
Target position is hit, the distance between target and automatic driving vehicle are at a distance from collision target and vehicle.
Step 150, estimated braking distance is calculated；
Specifically, firstly, control unit for vehicle obtains current vehicle travel speed by the wheel speed meter in vehicle, and obtain
Motor vehicle braking system performance parameter.Motor vehicle braking system performance parameter reflects automatic driving vehicle and controls in data conventional brake
When some performance parameters.Motor vehicle braking system performance parameter includes conventional brake output parameter, vehicle actuator delay parameter
With braking system pressing time.Wherein, conventional brake output parameter can be understood as conventional brake control under it is exportable most
Big retarding degree；Vehicle actuator delay parameter can be understood as control unit for vehicle after output control for brake instruction, output system
The execution time needed for dynamic each actuator；Braking system pressing time can be understood as the braking control system in vehicle and exist
Execute pressing time required when control for brake instruction.
Then, control unit for vehicle calculates estimated system according to current vehicle travel speed and motor vehicle braking system performance parameter
Dynamic distance.It is expected that braking distance can be understood as automatic driving vehicle with current travel speed and conventional brake performance, it will be fast
Spend the shortest distance consumed by being reduced to zero.
Step 160, collision target is at a distance from vehicle and it is expected that braking distance, determines whether estimated braking distance is big for comparison
In or equal to collision target at a distance from vehicle；
Specifically, illustrating when estimated braking distance is greater than or equal to collision target at a distance from vehicle with current vehicle speed
With conventional brake mode, automatic driving vehicle can not check vehicle before collision target, that is to say, that with current vehicle speed according to routine
Mode of braking is unable to satisfy the demand of Collision target, then executes following step 170.And when estimated braking distance is less than collision
When target is at a distance from vehicle, illustrate that in a manner of current vehicle speed and conventional brake, automatic driving vehicle can be before collision target
Vehicle is checked, is collided to avoid automatic driving vehicle and collision target, then executes following step 171.
Step 170, control unit for vehicle generates and exports emergency braking instruction；
Specifically, illustrating when estimated braking distance is greater than or equal to collision target at a distance from vehicle with current vehicle speed
The demand of Collision target is unable to satisfy according to conventional brake mode, therefore automatic driving vehicle should take the side of emergency braking
Formula, rather than the mode Collision target of conventional brake.Emergency braking output parameter in emergency braking instruction is greater than conventional system
Dynamic output parameter, that is to say, that automatic driving vehicle is instructing what is can be output when emergency braking to subtract according to emergency braking
Speed is bigger than the deceleration that can be output when conventional brake, thus automatic driving vehicle in emergency braking can it is shorter away from
Parking in discrete time, to avoid colliding with collision target to greatest extent.
Also, after generating in control unit for vehicle and exporting emergency braking instruction, control unit for vehicle can also be received
The brake control signal that user is generated by trampling the brake pedal in vehicle.Brake control signal includes artificial braking output ginseng
Number.When control unit for vehicle, which had both received brake control signal, also creates emergency braking instruction, need to compare control for brake
The emergency braking output parameter in artificial braking output parameter and emergency braking instruction in signal, determines artificial braking output ginseng
Maximum braking output parameter in several and emergency braking output parameter, and emergency braking is generated according to maximum braking output parameter
Instruction, and export.That is, when control unit for vehicle had not only automatically generated emergency braking instruction, but also have received user and step on
When the brake control signal of brake-apply, control unit for vehicle is can export instruction or the letter of maximum braking in both
Number be it is preferential, export emergency braking.
To guarantee emergency braking effect, the deceleration value in emergency braking output parameter is greater than 3.92m/s2It is first default
Emergency braking deceleration value, and the mean deceleration angle value in emergency braking output parameter is 4.9 to 5.88m/s2It is second default
Within the scope of emergency braking deceleration threshold.
In some preferred examples, before control unit for vehicle generates and exports emergency braking instruction, vehicle control
Unit is first according to collision target at a distance from vehicle and Vehicle Speed determines estimated collision time, and when determining estimated collision
Between whether be less than preset time.When estimated collision time is less than when preset time, control unit for vehicle can just be generated and be exported
Emergency braking instruction.Wherein, it is contemplated that collision time can be understood as with the current travel speed of automatic driving vehicle and collision mesh
The distance between mark and automatic driving vehicle, the automatic driving car estimated time to collide with collision target.When estimated collision
When preset time of the time less than 3 seconds, control unit for vehicle can just generate and export emergency braking instruction.That is, nobody
The emergency braking of driving vehicle triggers before must not being equal to 3 seconds earlier than estimated collision time.
In some preferred examples, when estimated braking distance is greater than or equal to collision target at a distance from vehicle,
Exactly when control unit for vehicle determination will execute emergency braking, control unit for vehicle can generate the early warning letter of emergency braking
Breath, and export, emergency braking will be executed by predicting interior user's vehicle.
In other preferred examples, when estimated braking distance is greater than collision target at a distance from vehicle, and it is expected that touch
When hitting the time less than preset time, control unit for vehicle generates directional lock dead instructions, and exports, to vehicle in emergency braking
Keep steering wheel current location.
Step 180, control unit for vehicle generates and exports emergency braking warning message；
Specifically, after vehicle has carried out emergency braking, control unit for vehicle is according to current vehicle location information, current
Vehicle mode information and currently practical road environment information generate and export emergency braking warning message to user terminal and service
Device, to prompt the user with warning message by user terminal and server.
Step 171, control unit for vehicle generates and exports conventional brake instruction；
Specifically, illustrating when estimated braking distance is less than collision target at a distance from vehicle with current vehicle speed according to normal
Regulation flowing mode can satisfy the demand of Collision target, then control unit for vehicle according to collision target at a distance from vehicle and
Current vehicle travel speed generates conventional brake instruction, to vehicle parking under a reasonable deceleration.
A kind of vehicle brake control method provided in an embodiment of the present invention exists around automatic driving vehicle with larger
The collision target of risk of collision, and the appearance of the collision target is so that vehicle is unable to satisfy evacuation target under conventional brake mode
Demand when, automatic driving vehicle can in time, safety take emergency braking measure, to avoid collision or reduce bumper injury
Evil.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, the control of CD-ROM dynamical system
In any other form of storage medium well known in method or technical field.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of vehicle brake control method, which is characterized in that the described method includes:
Control unit for vehicle in vehicle obtains default wheelpath information, to the vehicle according to the preset travel track
Control vehicle driving；
The control unit for vehicle obtains real road environmental information by the sension unit in the vehicle；
The real road environmental information is parsed, is determined in real road environment with the presence or absence of collision target；
When there are when the collision target, determining collision mesh according to the real road environmental information in the real road environment
Mark is at a distance from vehicle；
Estimated braking distance is calculated according to the Vehicle Speed and motor vehicle braking system performance parameter；The vehicle system
Dynamic system performance parameter includes conventional brake output parameter；
It is at a distance from vehicle and described it is expected that braking distance to compare the collision target；
When the estimated braking distance is greater than or equal to the collision target at a distance from vehicle, the control unit for vehicle is raw
At and export emergency braking instruction, the vehicle work is controlled according to emergency braking instruction to the control unit for vehicle
Make；The emergency braking instruction includes emergency braking output parameter；The emergency braking output parameter is greater than the conventional brake
Output parameter；
Also, the control unit for vehicle generates and exports emergency braking warning message.
2. vehicle brake control method according to claim 1, which is characterized in that the default wheelpath information includes
Default traffic route information and preset vehicle travel speed, to the vehicle according to the default traffic route information and described
Preset vehicle travel speed controls vehicle driving.
3. vehicle brake control method according to claim 1, which is characterized in that sension unit described in the sension unit
Module, millimeter wave radar module, laser radar module and locating module are obtained including vision.
4. vehicle brake control method according to claim 1, which is characterized in that the motor vehicle braking system performance parameter
Further include: vehicle actuator delay parameter and braking system pressing time.
5. vehicle brake control method according to claim 1, which is characterized in that generated simultaneously in the control unit for vehicle
Before exporting emergency braking instruction, the method also includes:
The control unit for vehicle determines with the Vehicle Speed at a distance from vehicle according to the collision target and expects to touch
Hit the time；
Determine whether the estimated collision time is less than preset time；
When the estimated collision time is less than the preset time, the control unit for vehicle, which generates and exports emergency braking, to be referred to
It enables.
6. vehicle brake control method according to claim 1, which is characterized in that generated simultaneously in the control unit for vehicle
After exporting emergency braking instruction, the method also includes:
The control unit for vehicle receives the brake control signal that user generates by trampling the brake pedal in the vehicle；Institute
Stating brake control signal includes artificial braking output parameter；
Compare the artificial braking output parameter and the emergency braking output parameter, determine the artificial braking output parameter and
Maximum braking output parameter in the emergency braking output parameter；
Emergency braking instruction is generated according to the maximum braking output parameter, and is exported.
7. vehicle brake control method according to claim 6, which is characterized in that receive and use in the control unit for vehicle
Before brake control signal of the family by trampling the generation of the brake pedal in the vehicle, the method also includes:
The control unit for vehicle generates the warning information of emergency braking, and exports.
8. vehicle brake control method according to claim 5, which is characterized in that when the estimated braking distance is greater than institute
Collision target is stated at a distance from vehicle, and when the estimated collision time is less than the preset time, the method also includes:
The control unit for vehicle generates directional lock dead instructions, and exports.
9. vehicle brake control method according to claim 1, which is characterized in that in the emergency braking output parameter
Deceleration value is greater than the first pre-programmed emergency braking deceleration angle value, and the mean deceleration angle value in the emergency braking output parameter exists
In second pre-programmed emergency braking deceleration threshold range.
10. vehicle brake control method according to claim 1, which is characterized in that the control unit for vehicle generates simultaneously
Export emergency braking warning message specifically:
The control unit for vehicle generates emergency braking warning message, and the emergency braking warning message is sent to user's end
End and server；The emergency braking brake alarm information includes: current vehicle location information, current vehicle pattern information and institute
State real road environmental information.
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|---|---|---|---|
| CN201810901870.4A CN109017730A (en) | 2018-08-09 | 2018-08-09 | Vehicle brake control method |
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|---|---|---|---|
| CN201810901870.4A CN109017730A (en) | 2018-08-09 | 2018-08-09 | Vehicle brake control method |
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| CN110155047A (en) * | 2019-06-19 | 2019-08-23 | 新石器慧通（北京）科技有限公司 | A kind of anti-collision control method, device, system and vehicle |
| CN110491153A (en) * | 2019-07-23 | 2019-11-22 | 深圳市新桓信息技术研究院有限公司 | A kind of intelligent management system of car networking |
| CN111540192A (en) * | 2019-02-06 | 2020-08-14 | 哲内提 | Control of activation thresholds for vehicle safety systems |
| CN111724577A (en) * | 2019-03-19 | 2020-09-29 | 北京新能源汽车股份有限公司 | Method and device for remote control driving of vehicle and vehicle |
| CN112224391A (en) * | 2020-10-12 | 2021-01-15 | 四川航天烽火伺服控制技术有限公司 | Brake device and system |
| CN112477830A (en) * | 2019-09-11 | 2021-03-12 | 中车唐山机车车辆有限公司 | Automatic vehicle control method for railway vehicle and terminal equipment |
| CN113997911A (en) * | 2021-11-09 | 2022-02-01 | 岚图汽车科技有限公司 | Automatic emergency braking control method and device |
| CN114291113A (en) * | 2021-12-30 | 2022-04-08 | 苏州智加科技有限公司 | Risk threshold determination method, device, equipment and storage medium |
| CN115691221A (en) * | 2022-12-16 | 2023-02-03 | 山东矩阵软件工程股份有限公司 | Vehicle early warning method, vehicle early warning system and related device |
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Application publication date: 20181218 |