CN111252066A - Emergency braking control method and device, vehicle and storage medium - Google Patents
Emergency braking control method and device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
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Abstract
The embodiment of the invention discloses an emergency braking control method, an emergency braking control device, a vehicle and a storage medium. The method comprises the following steps: acquiring information of a target in front of a vehicle and road facility information; determining the time of the predicted collision according to the information of the target in front of the vehicle and the information of the road facilities; and executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision. According to the technical scheme of the embodiment of the invention, the preset braking strategy is executed according to the predicted time of collision and the information of the target in front of the vehicle, so that unnecessary braking is avoided due to wrong judgment of the static obstacle in the driving process of the vehicle, the accuracy and timeliness of the control of the emergency braking system are ensured, the collision damage is reduced, and the safety of vehicle driving is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile safety, in particular to an emergency braking control method and device, a vehicle and a storage medium.
Background
With the rapid development of intelligent driving technology, the level of vehicle intelligence is continuously improved, and the popularization of emergency braking control technology, especially active emergency braking control technology, becomes more important in order to reduce the incidence rate and the accident mortality rate of vehicle collision accidents.
The active emergency braking system used in large batch at present is realized based on a single millimeter wave radar or a single camera, and by monitoring information such as distance, speed and the like of a vehicle or an obstacle in front, when the detection distance is smaller than the safe driving distance, the system reminds a driver to brake through sound or light, and if the driver does not respond within the specified distance, the system automatically takes braking measures to avoid collision accidents.
However, the camera is easily interfered by external conditions such as night, smoke, haze, rain and snow weather, and the like, so that the environmental adaptability is poor; the detection accuracy of the millimeter wave radar on the static target correlation is required to be improved, the higher false alarm rate is realized on non-obstacle targets such as traffic signs crossing roads and rails on the ground, and meanwhile, the detection accuracy of the existing active emergency braking system on pedestrians is poorer due to the fact that the reflected energy of the pedestrians on the radar is lower. Therefore, the accuracy of the target detection by the single type of sensor has defects, which may cause the fault judgment of the vehicle in the driving process to be wrong, and unnecessary braking is performed, thereby affecting the accuracy of the emergency braking system control and the safety of vehicle driving.
Disclosure of Invention
The invention provides an emergency braking control method, an emergency braking control device, a vehicle and a storage medium, which are used for realizing the function of monitoring static obstacles on a road in real time and actively alarming and braking according to obstacle types, and improving the control accuracy of an emergency braking system and the driving safety of the vehicle.
In a first aspect, an embodiment of the present invention provides an emergency braking control method, including:
acquiring information of a target in front of a vehicle and road facility information;
determining the time of the predicted collision according to the information of the target in front of the vehicle and the information of the road facilities;
and executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision.
In a second aspect, an embodiment of the present invention further provides an emergency braking control apparatus, including:
the information acquisition module is used for acquiring information of a target in front of the vehicle and the road facility information;
the collision time determining module is used for determining the predicted time of collision according to the information of the target in front of the vehicle and the road facility information;
and the braking strategy executing module is used for executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
the vision sensor is used for acquiring information of a target in front of the vehicle;
the millimeter wave radar is used for acquiring information of a target in front of the vehicle;
the vehicle wireless communication system is used for acquiring the information of the road facilities in front of the vehicle;
one or more controllers;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement the emergency braking control method as provided in any embodiment of the invention.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the emergency braking control method as provided by any of the embodiments of the present invention.
The embodiment of the invention obtains the information of the target in front of the vehicle and the information of the road facilities; determining the time of the predicted collision according to the information of the target in front of the vehicle and the information of the road facilities; and executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision. The information of the target in front of the vehicle and the information of the road facilities are acquired through multiple ways, so that the problem that a single acquisition mode is easily interfered by the external environment or is sensitive to the obstacle of a specific condition is solved, and the diversity and the accuracy of the acquired information are improved. The time of the predicted collision is determined according to the information of the target in front of the vehicle and the information of the road facilities, so that the latest time when the vehicle does not collide with the obstacle when the current speed of the vehicle runs can be determined, and the vehicle can be automatically braked to avoid the collision when the vehicle judges that the danger is high. The preset braking strategy is executed according to the predicted time of the collision and the information of the target in front of the vehicle, so that unnecessary braking is avoided in the driving process of the vehicle due to wrong judgment of the static obstacle, the accuracy and timeliness of the control of the emergency braking system are guaranteed, the collision damage is reduced, and the driving safety of the vehicle is improved.
Drawings
Fig. 1 is a flowchart of an emergency braking control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of an emergency braking control method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a second embodiment of the present invention for implementing a braking strategy based on driver status;
fig. 4 is a schematic structural diagram of an emergency braking control device according to a third embodiment of the present invention;
fig. 5 is a diagram showing a configuration example of an emergency brake control system in a third embodiment of the invention;
fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an emergency braking control method according to an embodiment of the present invention, which is applicable to a situation that a vehicle during driving determines a stationary obstacle encountered and controls the vehicle to perform early warning and emergency braking, where the method may be executed by an emergency braking control device, the emergency braking control device may be implemented by software and/or hardware, and the emergency braking control device may be configured on a computing device, and specifically includes the following steps:
The information of the object in front of the vehicle may be understood as information of a distance, an angle, a relative speed, a size, and the like of the object in front of the vehicle with respect to the vehicle, and information of a type of the object in front of the vehicle.
The road facility information can be understood as information of various facilities arranged along the road, which guarantees the safety of driving and pedestrians and fully exerts the function of the road.
Optionally, the road facility information may include real-time updated traffic condition information such as traffic signs, marking lines, pedestrian overpasses, pedestrian underpasses, guardrails, bollards, separation facilities, anti-glare screens, lighting devices, bus stops, and the like, and road congestion information.
Optionally, the information of the target in front of the Vehicle may be acquired by a millimeter wave radar, a vision sensor, and the like, and the road facility information may be acquired by interacting with the roadside control unit through a Vehicle wireless communication system (Vehicle to X, V2X).
Specifically, in the running process of the vehicle, the vehicle control unit obtains the radar distance, the radar angle, the target relative speed, the radar size, the radar target type and the target reliability information of the target in front of the vehicle in real time through the millimeter wave radar, obtains the visual target type, the visual distance, the visual angle, the lane line information and the visual size information of the target in front of the vehicle in real time through the visual sensor, and obtains the information of the road facilities around the vehicle in real time through the V2X system.
The information of the target in front of the vehicle and the information of the road facilities are acquired through multiple ways, so that the problem that a single acquisition mode is easily interfered by the external environment or is sensitive to the obstacle of a specific condition is solved, and the diversity and the accuracy of the acquired information are improved.
And 102, determining the time when the collision is predicted according to the information of the object in front of the vehicle and the road facility information.
Here, the Time when the Collision is expected may be understood as a Time when the Collision occurs when the vehicle travels toward the target ahead of the vehicle at the present acceleration, which is calculated by an Enhanced Time To Collision (ETTC) algorithm.
Specifically, the distance between the vehicle and the front target is determined according to the information of the front target of the vehicle, the acceleration of the front target relative to the vehicle is determined, and the acceleration is substituted into the reinforced distance collision event algorithm to calculate the time when the distance collision occurs under the assumption that the acceleration is kept unchanged, and the time is used as the time when the collision is predicted.
The time of the predicted collision is determined according to the information of the target in front of the vehicle and the information of the road facilities, so that the latest time when the vehicle does not collide with the obstacle when the current speed of the vehicle runs can be determined, and the vehicle can be automatically braked to avoid the collision when the vehicle judges that the danger is high.
And 103, executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision.
The preset braking strategy can be understood as a strategy that the damage degree of the target in front of the vehicle to the vehicle is determined according to the type of the target, and the alarm is sent out at different moments according to different damage degrees and the braking is automatically executed.
Specifically, when the vehicle control unit determines that the type of a target in front of the vehicle is the vehicle through the vehicle-mounted sensor, the vehicle control unit considers that the damage degree to the current vehicle is high and the detection accuracy of the vehicle target is highest, so that when the time of the predicted collision is reached, an alarm is given out, and the maximum capacity braking is started after the danger is continuously maintained for a certain time; when the vehicle control unit determines that the type of the target in front of the vehicle is a non-vehicle through the vehicle-mounted sensor, whether the type of the target in front of the vehicle is a non-obstacle road facility or not is determined through the V2X system, if the type of the target in front of the vehicle is the non-obstacle road facility, the damage degree to the current vehicle can be considered to be low, so that the vehicle control unit alarms after the time of expected collision and starts braking when a driver does not operate; when the type of the target in front of the vehicle is non-vehicle and non-road facilities, the target is considered to have certain threat to the vehicle but the threat degree is uncertain, at the moment, an alarm is sent out at the time of expected collision, the time is strived for to confirm the hazard degree for a driver, braking is carried out after delay, and the false alarm probability and the safety hazard are reduced.
According to the technical scheme of the embodiment, the information of the target in front of the vehicle and the road facility information are acquired; determining the time of the predicted collision according to the information of the target in front of the vehicle and the information of the road facilities; and executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision. The information of the target in front of the vehicle and the information of the road facilities are acquired through multiple ways, so that the problem that a single acquisition mode is easily interfered by the external environment or is sensitive to the obstacle of a specific condition is solved, and the diversity and the accuracy of the acquired information are improved. The time of the predicted collision is determined according to the information of the target in front of the vehicle and the information of the road facilities, so that the latest time when the vehicle does not collide with the obstacle when the current speed of the vehicle runs can be determined, and the vehicle can be automatically braked to avoid the collision when the vehicle judges that the danger is high. The preset braking strategy is executed according to the predicted time of the collision and the information of the target in front of the vehicle, so that unnecessary braking is avoided in the driving process of the vehicle due to wrong judgment of the static obstacle, the accuracy and timeliness of the control of the emergency braking system are guaranteed, the collision damage is reduced, and the driving safety of the vehicle is improved.
Example two
Fig. 2 is a flowchart of an emergency braking control method according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, and specifically comprises the following steps:
The millimeter wave radar can be understood as a radar which works in millimeter wave band for detection and has partial advantages of a microwave radar and a photoelectric radar.
The target reliability information can be understood as target existence reliability judged according to multiple logics such as the reflection capacity of the target to the radar, the existence time of the target, the motion track of the target and the like.
Specifically, the vehicle control unit transmits millimeter waves through a millimeter wave radar and receives feedback information, and information such as target reliability information, distance, angle, speed and size of a front reflection object is determined through the feedback information.
The millimeter wave radar has the advantages of microwave guidance and photoelectric guidance, and compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave guide head are superior to those of other microwave guide heads, and the adaptability of the vehicle to special weather conditions such as night, rain, snow and haze is improved by adopting the millimeter wave radar for information acquisition.
The vision sensor is understood to be an instrument for acquiring image information of an external environment by using an optical element and an imaging device, and is used for acquiring the most original image which needs to be processed by the system.
The target type can be understood as image recognition of an original image acquired by a visual sensor, and the target type in the original image is judged based on a deep learning algorithm and a database. Specifically, the target category may include vehicles, pedestrians, road facilities, and the like.
Specifically, the vehicle control unit acquires an original image through the vision sensor, performs image recognition processing such as boundary enhancement on the original image, and judges information such as target type, visual distance, visual angle, visual size and the like in a result according to a deep learning algorithm and an image database.
The vision sensor can judge the type of the target in front of the vehicle in detail, so that the accuracy of detecting the vehicle and the pedestrian is improved, and the accuracy of judging the emergency braking moment by the whole vehicle controller is improved.
Specifically, the Vehicle wireless communication system (Vehicle to X, V2X) performs interactive communication with a Roadside control Unit (RSU) to acquire information of road facilities such as Roadside street lamps, traffic signs, rails, and tunnels near the Vehicle at the current time and road condition information near the Vehicle at the current time.
The V2X system is adopted to interactively acquire information in real time, so that the false alarm rate of the vehicle to an irrelevant static target can be reduced, meanwhile, the information acquired by the vehicle-mounted sensor is supplemented, and the accuracy of emergency braking judgment of the vehicle control unit is improved.
Specifically, because the installation positions of the millimeter wave radar and the vision sensor on the vehicle are different, the target information acquired by the millimeter wave radar and the vision sensor are also different, and the target information acquired by the millimeter wave radar and the vision sensor is unified into a coordinate system of the position of the vehicle according to the installation position parameters of the millimeter wave radar and the vision sensor on the vehicle, so that information such as the target distance, the target angle, the target size, the target type and the like of the front target is obtained.
Specifically, assuming that the relative acceleration is constant from the target distance and the relative acceleration between the vehicle and the target in front of the vehicle, the time until the collision is expected is calculated by substituting the relative acceleration into the ETTC algorithm.
The ETTC algorithm can be understood as an algorithm for calculating the collision occurrence time more accurately by considering the acceleration of the main vehicle and the target obstacle, the calculation basis is uniform deceleration movement, and the specific calculation formula is as follows:
wherein v istagIs the target obstacle velocity, vsubIs the speed of the bicycle, atagAcceleration of the target obstacle, asubIs the acceleration of the bicycle, xcIs the target distance.
And step 206, judging the target type when the target reliability information is high reliability and the relative speed is the same as the current speed of the vehicle.
The high reliability may be understood as that the radar reflection energy is greater than a preset threshold, and the preset threshold may be determined by a vehicle factory setting, which is not limited in the embodiment of the present invention.
Specifically, when the target reliability information is high reliability, the target is considered to have a high possibility, when the relative speed of the target is the same as the current speed of the vehicle, the target can be considered to be in a static state, and at the moment, the vehicle controller judges the type of the target in front of the vehicle through the original image acquired by the vision sensor.
And step 207, if the target type is a vehicle, giving an alarm when the collision is predicted, and starting braking at a first preset time after the alarm.
Specifically, when the type of the target is judged to be a vehicle, the target is considered to have a large threat to the vehicle, the vehicle control unit gives an alarm to the driver when the time of collision is predicted, and starts braking when the danger continues to exist for a certain time and the driver takes action, wherein the braking can be the maximum braking capacity, so that the target is prevented from colliding with the vehicle. Alternatively, the driver may be alerted to the presence of the target obstacle by a light displayed on the dashboard or by a sound emitted by the speaker.
The first preset time may be directly set by the factory of the vehicle, which is not limited in the embodiment of the present invention.
And step 208, if the target type is a non-vehicle, judging whether the target type is a non-obstacle road facility.
Specifically, when the type of the target is judged to be a non-vehicle, the target is considered to have low threat on the vehicle, and the target may exist only for a short time, the vehicle moving target removes the vehicle moving track, and no collision occurs, and at this time, the vehicle control unit judges the type of the non-vehicle target through the V2X system to determine whether the non-vehicle target is a non-obstacle road facility.
Specifically, when the type of the target is determined to be a non-obstacle road facility, the target is considered to be not threatening the vehicle and not to need to take a braking action, or the driver should be able to avoid or brake the target obstacle by self determination, so that no alarm is given and braking is not started when the type of the target is determined to be a non-obstacle road facility.
Non-obstacle road devices are understood to be road devices which do not influence the driving of the vehicle, such as rails, cables, etc.
And step 210, if the target type is not the non-obstacle road facility, giving an alarm at a second preset time after the time of the expected collision, and starting braking at a first preset time after the alarm is given.
Specifically, when the type of the target is judged not to be the non-obstacle road facility, the threat capability of the target to the vehicle cannot be determined, so that the target needs to be used as a target with greater threat to remind a driver, the vehicle control system controls the vehicle to give an alarm within a second preset time after the time of expected collision, and controls the vehicle to brake if the driver does not take any action within the first preset time after the alarm is given out, wherein the emergency braking system timely performs braking assistance within the time period from the alarm being given out to the automatic braking starting, and the emergency braking system performs braking assistance to enable the vehicle to achieve the maximum braking capability and complete braking.
The second preset time may be directly set by the factory of the vehicle, which is not limited in the embodiment of the present invention.
Further, fig. 3 is a flowchart of executing a braking strategy according to the driver state, which specifically includes the following steps:
The driver state may include, among other things, an awake state and a fatigue state.
Specifically, the vehicle control unit obtains the state of the driver at the current moment through the driver state monitoring system.
And 2092, if the driver is in the waking state, executing a preset braking strategy according to the target type.
Specifically, when the driver is in a waking state, the driver can acquire external information in time and can avoid or brake the target obstacle through self judgment, and the vehicle control unit executes a preset braking strategy according to the judged target type.
And 2093, if the driver is in a fatigue state, sending an alarm in the preset brake strategy corresponding to the target type in advance for a third preset time.
Specifically, when the driver is in a fatigue state, the driver is considered to be unable to acquire external information in time, and a long response time is required to evade or brake the target obstacle, at this time, after the vehicle control unit determines the target type, the vehicle control unit sends out an alarm in a preset brake strategy corresponding to each target type for a third preset time in advance, so that sufficient response time is left for the driver, and the vehicle control unit starts braking when the driver still does not take action within the first preset time after the alarm is sent out.
The third preset time may be set by the owner of the vehicle or directly set by the vehicle leaving the factory, which is not limited in the embodiment of the present invention.
According to the technical scheme of the embodiment, the predicted time for collision is calculated according to the acquired target information in front of the vehicle and the road facility information, and different braking strategies are respectively executed according to the time, the target type and the state of the driver, so that the collision avoidance capacity of the static target is improved while the braking effect is ensured, the false alarm rate of the static obstacle target is reduced, the collision damage is reduced, and the safety of vehicle driving is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of an emergency braking control device according to a third embodiment of the present invention, where the emergency braking control device includes: an information acquisition module 31, a collision time determination module 32 and a braking strategy execution module 33.
The information acquisition module 31 is used for acquiring information of a target in front of the vehicle and road facility information; a collision time determination module 32 for determining a time at which a collision is expected based on information of the object ahead of the vehicle and the asset information; and a braking strategy executing module 33, configured to execute a preset braking strategy according to the information of the target in front of the vehicle, the road facility information, and the time of the predicted collision.
The technical scheme of this embodiment has solved the vehicle and has judged the problem of wrong unnecessary braking because to static obstacle in the driving process, has guaranteed simultaneously the accuracy and the timeliness of emergency braking system control, has reduced the collision injury, has increased the security of vehicle driving.
Optionally, the apparatus further comprises:
and the first coordinate system module is used for unifying the coordinate system of the target information based on the installation position parameters of the millimeter wave radar and the vision sensor on the vehicle and determining the target distance and the target type according to the radar distance, the radar angle, the vision distance, the vision angle, the radar target type and the vision target type.
Optionally, the information obtaining module 31 includes:
and the radar information acquisition unit is used for acquiring the radar distance, the radar angle, the target relative speed, the radar size, the radar target type and the target reliability information of the target in front of the vehicle through the millimeter wave radar.
And the visual information acquisition unit is used for acquiring the visual target type, the visual distance, the visual angle and the visual size information of the target in front of the vehicle through the visual sensor.
An asset information acquisition unit for acquiring asset information through the vehicular wireless communication system.
Optionally, the collision time determining module 32 is specifically configured to: and determining the predicted time for collision according to the target distance, the target relative speed and the acceleration of the vehicle and the target in front of the vehicle.
Optionally, the braking strategy executing module 33 includes:
and the target type determination unit is used for determining the target type when the target reliability information is high reliability and the target relative speed is the same as the current speed of the vehicle.
And the braking strategy executing unit is used for executing the corresponding braking strategy according to the judged target type.
Further, the braking strategy execution unit is specifically configured to: if the target type is a vehicle, giving an alarm when the collision is predicted, and starting braking at a first preset time after the alarm is given; if the target type is a non-vehicle, judging whether the target type is a non-obstacle road facility; if the target type is non-obstacle road facility, not giving an alarm and not starting braking; and if the target type is not the non-obstacle road facility, giving an alarm at a second preset time after the time of the expected collision, and starting braking at a first preset time after the alarm is given.
Further, the braking strategy executing unit is also used for: acquiring a driver state; if the driver is in a waking state, executing a preset braking strategy according to the target type; and if the driver is in a fatigue state, sending out an alarm in a preset brake strategy corresponding to the target type in advance for a third preset time.
Fig. 5 is a diagram illustrating a structure of an emergency braking control system, which specifically includes: millimeter-wave radar 41, micro-optical camera 42, car networking module 43, environment perception processor 44, emergency brake controller 45, engine control unit 46, electronic brake system 47, instrument display system 48 and automatic transmission 49. The millimeter-wave radar 41, the micro-optical camera 42, the car networking module 43, the environment sensing processor 44, the emergency brake controller 45, the engine control unit 46, the electronic brake system 47, the instrument display system 48 and the automatic transmission 49 in the system can be connected through a bus or in other ways, and the bus connection is taken as an example in fig. 5.
The millimeter wave radar 41 is used for acquiring information such as the distance, the angle, the relative speed, the size and the target reliability of a target in front of the vehicle and sending the target information to the environment sensing processor; the micro-optical camera 42 is used for acquiring information such as the type (vehicles, pedestrians, traffic signs, lane lines and the like) of a target in front of the vehicle, the distance, the angle, the size and the like of the target and sending the target information to the environment sensing processor; the vehicle networking module 43 is configured to receive target information of the road-side device and send the target information to the environment sensing processor; the environment perception processor 44 is used for receiving the target information sent by each sensor, perfecting target information check through coordinate integration, and sending the target information to the emergency brake controller 45; and the emergency brake controller 45 is used for judging the correlation between the target and the vehicle by combining the running state information of the vehicle, performing differential control on the correlation target, and sending the alarm at different moments and different braking forces and braking intervention moments to the engine control unit 46, the electronic brake system 47, the instrument display system 48 and the automatic gearbox 49 respectively so as to achieve the purposes of improving the braking performance of the brake system and improving the braking accuracy.
The emergency brake control device provided by the embodiment of the invention can execute the emergency brake control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 6, the vehicle includes a vision sensor 51, a millimeter wave radar 52, a vehicle wireless communication system 53, a controller 54, a storage device 55, an input device 56, and an output device 57; the number of the controllers 54 may be one or more, and one controller 54 is exemplified in fig. 6; the vision sensor 51, the millimeter wave radar 52, the vehicular wireless communication system 53, the controller 54, the storage device 55, the input device 56, and the output device 57 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 6.
And a vision sensor 51 for acquiring information of the object in front of the vehicle, the information including a type of the visual object, a visual distance, a visual angle, and visual size information of the object in front of the vehicle.
The millimeter wave radar 52 is configured to acquire information of a target ahead of the vehicle, which includes a radar distance, a radar angle, a target relative speed, a radar size, a radar target type, and target reliability information of the target ahead of the vehicle.
The wireless communication system 53 for a vehicle acquires the information on the road facility ahead of the vehicle.
The storage device 55, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules (e.g., the information acquisition module 31, the collision time determination module 32, and the braking strategy execution module 33) corresponding to the emergency braking control method in the embodiment of the present invention. The controller 54 executes various functional applications and data processing of the vehicle, i.e., implements the emergency braking control method described above, by executing software programs, instructions, and modules stored in the storage device 55.
The storage device 55 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage device 55 may include a high speed random access storage device, and may also include a non-volatile storage device, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 55 may further include a storage device remotely located from the controller 54, which may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 56 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the vehicle. The output device 57 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform an emergency braking control method, the method including:
acquiring information of a target in front of a vehicle and road facility information;
determining the time of the predicted collision according to the information of the target in front of the vehicle and the information of the road facilities;
and executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision.
Of course, the embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the emergency braking control method provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An emergency braking control method, characterized by comprising:
acquiring information of a target in front of a vehicle and road facility information;
determining the time of the predicted collision according to the information of the target in front of the vehicle and the information of the road facilities;
and executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision.
2. The method of claim 1, wherein the obtaining information of the object ahead of the vehicle and the asset information comprises:
acquiring radar distance, radar angle, target relative speed, radar size, radar target type and target reliability information of a target in front of a vehicle through a millimeter wave radar;
acquiring visual target type, visual distance, visual angle and visual size information of a target in front of a vehicle through a visual sensor;
the infrastructure information is acquired through the vehicular wireless communication system.
3. The method of claim 2, wherein the predicting the time of the collision based on the information on the object ahead of the vehicle and the asset information further comprises:
unifying a coordinate system of the target information based on the installation position parameters of the millimeter wave radar and the vision sensor on the vehicle, and determining a target distance and a target type according to the radar distance, the radar angle, the vision distance, the vision angle, the radar target type and the vision target type.
4. The method of claim 3, wherein predicting a time of collision based on the information of the object ahead of the vehicle and the asset information comprises:
and determining the predicted time for collision according to the target distance, the target relative speed and the acceleration of the vehicle and the target in front of the vehicle.
5. The method of claim 3, wherein the executing a preset braking strategy based on the information of the object ahead of the vehicle, the asset information, and the time of the predicted collision comprises:
when the target reliability information is high reliability and the target relative speed is the same as the current speed of the vehicle, judging the target type;
if the target type is a vehicle, giving an alarm when the collision is predicted, and starting braking at a first preset time after the alarm is given;
if the target type is a non-vehicle, judging whether the target type is a non-obstacle road facility;
if the target type is non-obstacle road facility, not giving an alarm and not starting braking;
and if the target type is not the non-obstacle road facility, giving an alarm at a second preset time after the time of the expected collision, and starting braking at a first preset time after the alarm is given.
6. The method of claim 5, further comprising:
acquiring a driver state;
if the driver is in a waking state, executing a preset braking strategy according to the target type;
and if the driver is in a fatigue state, sending out an alarm in a preset brake strategy corresponding to the target type in advance for a third preset time.
7. An emergency brake control apparatus, comprising:
the information acquisition module is used for acquiring information of a target in front of the vehicle and the road facility information;
the collision time determining module is used for determining the predicted time of collision according to the information of the target in front of the vehicle and the road facility information;
and the braking strategy executing module is used for executing a preset braking strategy according to the information of the target in front of the vehicle, the road facility information and the predicted time of the collision.
8. The apparatus of claim 7, further comprising:
and the first coordinate system module is used for unifying the coordinate system of the target information based on the installation position parameters of the millimeter wave radar and the vision sensor on the vehicle and determining the target distance and the target type according to the radar distance, the radar angle, the vision distance, the vision angle, the radar target type and the vision target type.
9. A vehicle, characterized in that the vehicle comprises:
the vision sensor is used for acquiring information of a target in front of the vehicle;
the millimeter wave radar is used for acquiring information of a target in front of the vehicle;
the vehicle wireless communication system is used for acquiring the information of the road facilities in front of the vehicle;
one or more controllers;
storage means for storing one or more programs;
when executed by the one or more controllers, cause the one or more controllers to implement the emergency braking control method of any of claims 1-6.
10. A storage medium containing computer executable instructions for performing the emergency brake control method of any one of claims 1 to 6 when executed by a computer processor.
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| CN202010058882.2A CN111252066A (en) | 2020-01-19 | 2020-01-19 | Emergency braking control method and device, vehicle and storage medium |
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| CN202010058882.2A CN111252066A (en) | 2020-01-19 | 2020-01-19 | Emergency braking control method and device, vehicle and storage medium |
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| CN112249010A (en) * | 2020-11-03 | 2021-01-22 | 浙江大华汽车技术有限公司 | Method and apparatus for controlling automatic emergency braking of vehicle and storage medium |
| CN112644484A (en) * | 2021-01-06 | 2021-04-13 | 北京汽车股份有限公司 | Braking method, braking device, electronic equipment and readable storage medium |
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