CN111169445A - Automatic braking system and method - Google Patents

Automatic braking system and method Download PDF

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Publication number
CN111169445A
CN111169445A CN201811422149.3A CN201811422149A CN111169445A CN 111169445 A CN111169445 A CN 111169445A CN 201811422149 A CN201811422149 A CN 201811422149A CN 111169445 A CN111169445 A CN 111169445A
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distance
vehicle
target vehicle
automatic braking
smaller
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Inventor
许添本
许聿廷
萧唯伦
张太乙
李芊
林秉丰
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Institute for Information Industry
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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
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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

Abstract

An automatic braking system and method are disclosed. The automatic braking system detects a first front distance between a target vehicle and a front vehicle in front of the target vehicle and a first rear distance between the target vehicle and a rear vehicle behind the target vehicle. Then, the automatic braking system judges whether the first front distance is smaller than a front safety distance between the target vehicle and the front vehicle, and if the first front distance is smaller than the front safety distance, generates an instruction for enabling the target vehicle to execute one of a sudden braking mode and a slow braking mode according to a front minimum distance between the target vehicle and the front vehicle and a rear safety distance between the target vehicle and the rear vehicle, and transmits the instruction to the target vehicle, wherein the front minimum distance is smaller than the front safety distance.

Description

Automatic braking system and method
Technical Field
The embodiment of the invention relates to an automatic braking system. More particularly, embodiments of the present invention relate to an automatic braking system and method for preventing rear-end collisions.
Background
Conventional automatic brake systems use a monotonous braking pattern to prevent a target vehicle from colliding with a preceding vehicle in front thereof. Specifically, the conventional automatic braking system determines whether the distance between the target vehicle and the preceding vehicle is less than a predetermined distance, for example, the target vehicle immediately lowers the vehicle speed by the distance moved until it is stationary according to the maximum deceleration (maximum braking force) that the braking system can provide. When the distance between the target vehicle and the preceding vehicle is less than or equal to the preset distance, the conventional automatic braking system instructs the target vehicle to perform sudden braking (i.e., the maximum braking force is used to reduce the vehicle speed in an attempt to stop the vehicle in the shortest time) to avoid the target vehicle from overtaking the preceding vehicle. However, it is expected that when the target vehicle brakes suddenly, in addition to causing discomfort to the passenger on the target vehicle and wear of the brake device accelerating the target vehicle, a rear vehicle may follow the target vehicle due to insufficient braking.
In view of the above, it is an urgent need to solve the problem of providing an automatic braking technique for reducing the possibility of rear-end collision in the technical field of the present invention.
Disclosure of Invention
To solve at least the above problems, embodiments of the present invention provide an automatic braking system. The automatic braking system can be arranged on a target vehicle and can comprise a detection device and a computer device electrically connected to the detection device. The detecting device can be used for detecting a first front distance between the target vehicle and a front vehicle in front of the target vehicle and a first rear distance between the target vehicle and a rear vehicle behind the target vehicle, wherein the front vehicle, the target vehicle and the rear vehicle run along the same lane. The computer device can be used for judging whether the first front distance is smaller than a front safety distance between the target vehicle and the front vehicle, and if the first front distance is smaller than the front safety distance, generating an instruction for enabling the target vehicle to execute one of a sudden braking mode and a slow braking mode according to a front minimum distance between the target vehicle and the front vehicle and a rear safety distance between the target vehicle and the rear vehicle, and transmitting the instruction to the target vehicle, wherein the front minimum distance is smaller than the front safety distance.
In order to solve at least the above problems, an embodiment of the present invention further provides an automatic braking method, which may include the steps of:
detecting a first front distance between a target vehicle and a front vehicle in front of the target vehicle and a first rear distance between the target vehicle and a rear vehicle behind the target vehicle through an automatic braking system, wherein the front vehicle, the target vehicle and the rear vehicle run along the same lane;
judging whether the first front distance is smaller than a front safety distance between the target vehicle and the front vehicle through the automatic braking system; and
if the first front distance is smaller than the front safety distance, generating an instruction for the target vehicle to execute one of a sudden braking mode and a slow braking mode according to a front minimum distance between the target vehicle and the front vehicle and a rear safety distance between the target vehicle and the rear vehicle through the automatic braking system, and transmitting the instruction to the target vehicle, wherein the front minimum distance is smaller than the front safety distance.
In embodiments of the present invention, a forward safety distance is specifically set for a target vehicle and a preceding vehicle ahead of it, and the forward safety distance is greater than a forward minimum distance between the target vehicle and the preceding vehicle (i.e., the distance that the target vehicle will hit the preceding vehicle if the target vehicle is no longer braked urgently). Therefore, before the current distance between the target vehicle and the front vehicle needs sudden braking due to the fact that the target vehicle is close to the front minimum distance to brake, whether the target vehicle can adopt slow braking (namely, the vehicle speed is reduced by adopting limited braking force) can be judged according to the front minimum distance and a rear safe distance between the target vehicle and a rear vehicle behind the target vehicle, so that the target vehicle is prevented from being collided by the rear vehicle.
The foregoing is not intended to limit the present invention but merely to generally describe the technical problems which can be solved, the technical means which can be adopted and the technical effects which can be achieved, so as to enable those skilled in the art to initially understand the present invention. Further details of various embodiments of the invention will be apparent to those skilled in the art from consideration of the following description of the preferred embodiments and accompanying drawings.
Drawings
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, wherein:
FIG. 1 illustrates a schematic diagram of the structure of an automatic braking system, according to some embodiments;
FIG. 2 illustrates a schematic diagram of an operating environment of the automatic braking system of FIG. 1, in accordance with certain embodiments;
FIG. 3 illustrates a schematic diagram of an operational flow of the automatic braking system of FIG. 1, according to some embodiments; and
FIG. 4 illustrates a schematic diagram of an automatic braking method according to some embodiments.
Element numbering in the figures:
1: automatic braking system
11: computer device
13: detecting device
15: warning device
S1: warning signal
FV: front vehicle
TV: target vehicle
RV: rear vehicle
FD 1: first front distance
FD 2: second front distance
RD 1: first rear distance
3: operation process of automatic braking system
301-311: movement of
4: automatic braking method
401-405: step (ii) of
Detailed Description
The present invention is illustrated by the following examples, which are not intended to limit the present invention to the particular embodiments described, but are instead capable of implementation in only those acts, environments, applications, structures, processes, or steps described. Elements not directly related to the invention are not shown in the drawings but may be implicit in the drawings. In the drawings, the sizes of elements and the ratios between the elements are merely examples, and are not intended to limit the present invention. In the following, the same (or similar) reference symbols may correspond to the same (or similar) elements, except where otherwise specified. In the case where it can be realized, the number of each element described below may be one or more, as not particularly described.
Fig. 1 illustrates a schematic view of a structure of an automatic braking system according to some embodiments, and fig. 2 illustrates a schematic view of an operating environment of the automatic braking system of fig. 1 according to some embodiments. The illustrations in fig. 1 and 2 are for the purpose of illustrating embodiments of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, the automatic braking system 1 basically includes a computer device 11, a detecting device 13 and an alarming device 15, wherein the computer device 11 is electrically connected to the detecting device 13 and the alarming device 15. The computer device 11, the detecting device 13 and the warning device 15 may be directly connected to each other (i.e. not connected to each other through other specific functional elements) or indirectly connected to each other (i.e. connected to each other through other specific functional elements). In some embodiments, the automatic braking system 1 may not include the warning device 15. For convenience of explanation, it is assumed that the automatic braking system 1 is provided on a target vehicle TV having a front vehicle FV in front thereof and a rear vehicle RV in rear thereof, and the target vehicle TV, the front vehicle FV and the rear vehicle RV run along the same lane L.
The computer device 11 may include various processing units (e.g., a central processing unit, a microprocessor, a microcontroller, etc.) and various storage units (e.g., a memory, a Universal Serial Bus (USB) Disk, a hard Disk, a Compact Disk (CD), a flash drive, a database, or other various storage media or circuits with the same functions). The computer device 11 can perform various logical operations through the processing unit and store the results of the operations in the storage unit. The computer device 11 may be, for example but not limited to: various servers, notebook computers, tablet computers, desktop computers, mobile devices, and the like. The storage unit may store data generated by the computer device 11 itself and various data input to the computer device 11.
The detecting device 13 may include various different types of detectors, such as, but not limited to, a range finder (e.g., an acoustic ranging device, an ultrasonic ranging device, an electromagnetic ranging device, a laser ranging device, an image recognition device, etc.), an accelerometer, or a road roughness measuring device, etc., to detect the environmental parameters related to the detection of the target vehicle TV through the detecting device 13, wherein the environmental parameters may be, but not limited to: the distance between the target vehicle TV and the preceding vehicle FV, the distance between the target vehicle TV and the following vehicle RV, and the coefficient of dynamic friction and the coefficient of static friction of the road L. In some embodiments, the detecting device 13 may also be connected to an external server by wireless communication, and receive the vehicle data and the environmental data from the external server. For example, in some embodiments, the computer device 11 can obtain or estimate the following information through the detection device 13, but is not limited to: distance information between the target vehicle TV and the preceding vehicle FV (for example, the first front distance FD1 and the second front distance FD2 detected at different time points), distance information between the target vehicle TV and the following vehicle RV (the first rear distance RD1), information of the lane L, vehicle speed information of each of the target vehicle TV, the preceding vehicle FV, and the following vehicle RV, sudden braking deceleration information, slow braking deceleration information, vehicle weight information, Anti-lock braking system (ABS) information, and the like.
The warning device 15 can be used to send a warning signal S1 to warn the vehicle RV behind. In various embodiments, the warning device 15 may include one or more warning devices of different types. For example, the warning device 15 may emit a visual signal (e.g., a brake light is turned on), an audible signal (e.g., a warning sound emitted by a buzzer). The warning signal S1 is intended to remind the rear vehicle RV to reduce the vehicle speed so as to lengthen the distance between the target vehicle TV and the rear vehicle RV.
FIG. 3 illustrates a schematic diagram of an operational flow of the automatic braking system of FIG. 1, according to some embodiments.
The illustration in fig. 3 is for the purpose of illustrating embodiments of the invention only and is not intended to be limiting thereof.
Referring to fig. 3, first, when the detecting device 13 detects the current distance between the target vehicle TV and the front vehicle FV (i.e., the first front distance FD1), the computer device 11 determines whether the first front distance FD1 is smaller than (or equal to or smaller than) a front safety distance between the target vehicle TV and the front vehicle FV (denoted by 301). In some embodiments, the computer device 11 may determine the front safety distance according to the following equation:
Figure BDA0001880725740000051
where FSD is the safe distance ahead, VTIs the speed, V, of the target vehicle TVFIs the speed of the preceding vehicle FV, aTSBIs the slow braking deceleration of the target vehicle TV.
If the computer device 11 determines that the first front distance FD1 is greater than or equal to the front safety distance, then act 301 is executed again.
If the computer device 11 determines that the first front distance FD1 is less than or equal to the front safety distance, the detecting device 13 detects the first rear distance RD1, and the computer device 11 then determines whether the first rear distance RD1 is less than or equal to a rear safety distance (denoted by 303) between the target vehicle TV and the rear vehicle RV.
In some embodiments, the computer device 11 may determine the rear safety distance according to the following equation:
Figure BDA0001880725740000061
where RSD is the rear safety distance, VRIs the speed, V, of the rear vehicle RVTIs the speed, V, of the target vehicle TVFIs the speed of the preceding vehicle FV, aRSBIs the slow braking deceleration of the rear vehicle RV, aTSBIs the slow braking deceleration of the target vehicle TV.
In some embodiments, the computer device 11 may also determine the rear safety distance according to the following equation:
Figure BDA0001880725740000062
Figure BDA0001880725740000063
where RSD is the rear safety distance, VRIs the speed, V, of the rear vehicle RVTIs the speed, V, of the target vehicle TVFIs the speed of the preceding vehicle FV, aRSBIs the slow braking deceleration of the rear vehicle RV, aTSBIs the slow braking deceleration of the target vehicle TV, g is the gravitational acceleration, μkIs the dynamic friction coefficient, mu, of the road LsIs the static friction coefficient of the road L.
The difference between the (third formula) and the (second formula) is that the (third formula) is added with
Figure BDA0001880725740000064
The rear safety distance is calculated. δ is used to indicate whether the rear vehicle RV has an anti-lock brake system. δ ═ 0 indicates that the rear vehicle RV is equipped with an anti-lock brake system, and δ ═ 1 indicates that the rear vehicle RV is not equipped with an anti-lock brake system. That is, when looking behindWhen the vehicle RV is provided with the anti-lock brake system, the rear safe distance RSD is larger in value.
If the computer device 11 determines that the first rear distance RD1 is greater than or equal to the rear safety distance, the computer device 11 may generate a command for the target vehicle TV to perform a slow braking mode and transmit the command to the target vehicle TV (indicated as 305). In some embodiments, computer device 11 may use a predetermined deceleration as the deceleration for the slow braking mode.
If the computer device 11 determines that the first rear distance RD1 is less than or equal to the rear safety distance, the computer device 11 optionally transmits a warning signal S1 to the rear vehicle RV (indicated as 307) via the warning device 15, and then the detecting device 13 again detects the current distance between the target vehicle TV and the front vehicle FV (i.e., the second front distance FD 2). Next, the computer device 11 determines whether the second front distance FD2 is less than or equal to a front minimum distance (denoted as 309) between the subject vehicle TV and the front vehicle FV, wherein the front minimum distance is less than the front safety distance. In some embodiments, after performing act 303, act 307 may not be performed, but rather act 311 may be performed after waiting a period of time (e.g., 1 second). In some embodiments, the computer device 11 can calculate the front minimum distance according to the following formula:
Figure BDA0001880725740000071
wherein FMD is the minimum distance in front, VTIs the speed, V, of the target vehicle TVFIs the speed of the preceding vehicle FV, aTHBIs the sudden braking deceleration of the target vehicle TV.
If the computer device 11 determines that the second front distance FD2 is less than (or equal to or less than) the front minimum distance, the computer device 11 may generate a command for the target vehicle TV to perform a hard braking mode and transmit the command to the target vehicle TV (indicated as 311). In some embodiments, the computer device 11 may calculate the deceleration of the target vehicle TV in the hard braking mode according to the following equation:
Figure BDA0001880725740000072
wherein, aTHBMIs the deceleration, V, of the target vehicle TV in hard braking modeTIs the speed, V, of the target vehicle TVFIs the speed, S, of the preceding vehicle FVFD2Is the second front distance FD 2.
If the computer device 11 determines that the second front distance FD2 is greater than or equal to the front minimum distance, then act 303 is executed again.
FIG. 4 illustrates a schematic diagram of an automatic braking method according to some embodiments. The illustration of fig. 4 is for the purpose of illustrating embodiments of the invention only and is not intended to be limiting thereof.
Referring to fig. 4, an automatic braking method 4 may include the steps of:
detecting, by an automatic braking system, a first front distance between a target vehicle and a front vehicle in front of the target vehicle and a first rear distance between the target vehicle and a rear vehicle behind the target vehicle, wherein the front vehicle, the target vehicle and the rear vehicle travel along a same lane (denoted as 401);
determining whether the first forward distance is less than a forward safe distance between the target vehicle and the forward vehicle (denoted as 403) by the automatic braking system; and
if the first front distance is smaller than the front safety distance, generating an instruction for the target vehicle to execute one of a sudden braking mode and a slow braking mode according to a front minimum distance between the target vehicle and the front vehicle and a rear safety distance between the target vehicle and the rear vehicle through the automatic braking system, and transmitting the instruction to the target vehicle, wherein the front minimum distance is smaller than the front safety distance (marked as 405).
The order of steps 401 to 405 shown in fig. 4 is not limited. The sequence of steps 401 to 405 shown in fig. 4 may be arbitrarily adjusted while still being practicable.
In some embodiments, in addition to steps 401-405, autobraking method 4 may further include the steps of:
when the first front distance is judged to be smaller than the front safety distance, whether the first rear distance is smaller than the rear safety distance is further judged through the automatic braking system;
when the first rear distance is judged to be smaller than the rear safety distance, a warning signal is transmitted to the rear vehicle through the automatic braking system;
after transmitting a warning signal to the rear vehicle, further detecting a second front distance between the target vehicle and the front vehicle through the automatic braking system, and further judging whether the second front distance is smaller than the front minimum distance; and
when the second front distance is judged to be smaller than the front minimum distance, the command for the target vehicle to execute the emergency braking mode is generated through the automatic braking system, and the command is transmitted to the target vehicle.
In some embodiments, in addition to steps 401-405, autobraking method 4 may further include the steps of:
when the first front distance is judged to be smaller than the front safety distance, whether the first rear distance is smaller than the rear safety distance is further judged through the automatic braking system;
when the first rear distance is judged to be smaller than the rear safety distance, a second front distance between the target vehicle and the front vehicle is further detected through the automatic brake system, and whether the second front distance is smaller than the front minimum distance is further judged; and
when the second front distance is judged to be smaller than the front minimum distance, detecting a front vehicle speed of the front vehicle and a target vehicle speed of the target vehicle through the automatic braking system, calculating a deceleration of the sudden braking mode according to the front vehicle speed, the target vehicle speed and the second front distance, then generating the command enabling the target vehicle to execute the sudden braking mode, and transmitting the command to the target vehicle.
In some embodiments, in addition to steps 401-405, autobraking method 4 may further include the steps of:
when the first front distance is judged to be smaller than the front safety distance, whether the first rear distance is smaller than the rear safety distance is further judged through the automatic braking system; and
when the first rear distance is judged to be larger than the rear safe distance, the command enabling the target vehicle to execute the slow braking mode is generated through the automatic braking system, and the command is transmitted to the target vehicle.
In some embodiments, in addition to steps 401-405, autobraking method 4 may further include the steps of:
when the first front distance is judged to be smaller than the front safety distance, whether the first rear distance is smaller than the rear safety distance is further judged through the automatic braking system; and
when the first rear distance is judged to be larger than the rear safe distance, the command for enabling the target vehicle to execute the slow braking mode is generated through the automatic braking system, and the command is transmitted to the target vehicle, wherein the slow braking mode has a preset deceleration.
In some embodiments, in addition to steps 401-405, autobraking method 4 may further include the steps of:
through this automatic braking system, detect at least one item: the weight information of the rear vehicle, the anti-lock brake system information of the rear vehicle, and the road information of the lane; and
and defining the rear safety distance through the automatic brake system according to at least one item of the weight information, the anti-lock brake system information and the road information.
In some embodiments, all of the above steps of the automatic braking method 4 may be performed by the automatic braking system 1. In addition to the above steps, the automatic braking method 4 may further include other steps corresponding to all of the above-described embodiments of the automatic braking system 1. Since those skilled in the art can understand these other steps according to the above description of the automatic braking system 1, they will not be described in detail herein.
The above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any other embodiments modified, changed, adjusted and integrated with the above embodiments are within the scope of the present invention as long as they are not easily understood by those skilled in the art. The protection scope of the invention is subject to the claims.

Claims (12)

1. An automatic braking system provided on a target vehicle, the automatic braking system comprising:
a detecting device for detecting a first front distance between the target vehicle and a front vehicle in front of the target vehicle and a first rear distance between the target vehicle and a rear vehicle behind the target vehicle, wherein the front vehicle, the target vehicle and the rear vehicle travel along the same lane; and
and if the first front distance is judged to be smaller than the front safety distance, generating an instruction for enabling the target vehicle to execute one of a sudden braking mode and a slow braking mode according to a front minimum distance between the target vehicle and the front vehicle and a rear safety distance between the target vehicle and the rear vehicle, and transmitting the instruction to the target vehicle, wherein the front minimum distance is smaller than the front safety distance.
2. The automatic braking system of claim 1, further comprising a warning device, wherein:
when the first front distance is judged to be smaller than the front safety distance, the computer device further judges whether the first rear distance is smaller than the rear safety distance;
when the first rear distance is judged to be smaller than the rear safety distance, the warning device transmits a warning signal to the rear vehicle, the detecting device further detects a second front distance between the target vehicle and the front vehicle, and the computer device further judges whether the second front distance is smaller than the front minimum distance; and
when the second front distance is judged to be smaller than the front minimum distance, the computer device generates the command for the target vehicle to execute the emergency braking mode and transmits the command to the target vehicle.
3. The automatic braking system of claim 2, wherein:
the detecting device is further used for detecting a front vehicle speed of the front vehicle and a target vehicle speed of the target vehicle; and
the computer device is further configured to calculate a deceleration of the sudden braking mode according to the forward vehicle speed, the target vehicle speed, and the second forward distance.
4. The automatic braking system of claim 1, wherein:
when the first front distance is judged to be smaller than the front safety distance, the computer device further judges whether the first rear distance is smaller than the rear safety distance; and
when the first rear distance is judged to be larger than the rear safe distance, the computer device generates the instruction for enabling the target vehicle to execute the slow braking mode, and transmits the instruction to the target vehicle.
5. The automatic braking system of claim 4, wherein the slow braking mode has a predetermined deceleration.
6. The automatic braking system of claim 1, wherein:
the detecting device is further configured to detect at least one of: the weight information of the rear vehicle, the anti-lock brake system information of the rear vehicle, and the road information of the lane; and is
The computer structure is further configured to define the rear safety distance according to at least one of the weight information, the anti-lock brake system information, and the road information.
7. An automatic braking method, comprising:
detecting a first front distance between a target vehicle and a front vehicle in front of the target vehicle and a first rear distance between the target vehicle and a rear vehicle behind the target vehicle through an automatic braking system, wherein the front vehicle, the target vehicle and the rear vehicle run along the same lane;
judging whether the first front distance is smaller than a front safety distance between the target vehicle and the front vehicle through the automatic braking system; and
if the first front distance is smaller than the front safety distance, generating an instruction for the target vehicle to execute one of a sudden braking mode and a slow braking mode according to a front minimum distance between the target vehicle and the front vehicle and a rear safety distance between the target vehicle and the rear vehicle through the automatic braking system, and transmitting the instruction to the target vehicle, wherein the front minimum distance is smaller than the front safety distance.
8. The automatic braking method of claim 7, further comprising:
when the first front distance is judged to be smaller than the front safety distance, whether the first rear distance is smaller than the rear safety distance is further judged through the automatic braking system;
when the first rear distance is judged to be smaller than the rear safety distance, a warning signal is transmitted to the rear vehicle through the automatic brake system, a second front distance between the target vehicle and the front vehicle is further detected, and whether the second front distance is smaller than the front minimum distance is further judged; and
when the second front distance is judged to be smaller than the front minimum distance, the command for the target vehicle to execute the emergency braking mode is generated through the automatic braking system, and the command is transmitted to the target vehicle.
9. The automatic braking method of claim 8, further comprising:
detecting a front vehicle speed of the front vehicle and a target vehicle speed of the target vehicle through the automatic braking system; and
and calculating a deceleration of the sudden braking mode according to the front vehicle speed, the target vehicle speed and the second front distance through the automatic braking system.
10. The automatic braking method of claim 7, further comprising:
when the first front distance is judged to be smaller than the front safety distance, whether the first rear distance is smaller than the rear safety distance is further judged through the automatic braking system; and
when the first rear distance is judged to be larger than the rear safe distance, the command enabling the target vehicle to execute the slow braking mode is generated through the automatic braking system, and the command is transmitted to the target vehicle.
11. The automatic braking method of claim 10, wherein the slow braking mode has a predetermined deceleration.
12. The automatic braking method of claim 7, further comprising:
through this automatic braking system, detect at least one item: the weight information of the rear vehicle, the anti-lock brake system information of the rear vehicle, and the road information of the lane; and
and defining the rear safety distance through the automatic brake system according to at least one item of the weight information, the anti-lock brake system information and the road information.
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