CN112874517A - Vehicle AEB brake control method and vehicle - Google Patents
Vehicle AEB brake control method and vehicle Download PDFInfo
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- CN112874517A CN112874517A CN202110469684.XA CN202110469684A CN112874517A CN 112874517 A CN112874517 A CN 112874517A CN 202110469684 A CN202110469684 A CN 202110469684A CN 112874517 A CN112874517 A CN 112874517A
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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
- 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
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Abstract
The invention relates to the technical field of vehicle AEB, and discloses a vehicle AEB brake control method and a vehicle, wherein the vehicle AEB brake control method comprises the following steps: determining a driving mode of the vehicle according to the vehicle speed of the vehicle, the duration of the vehicle speed and environmental data; controlling a braking mode of the AEB system according to the driving mode; wherein the environmental data includes speed limit data for a road on which the vehicle is located and data for a primary target vehicle. Determining the driving mode of the vehicle according to the speed of the vehicle, the duration of the speed and the environmental data, and determining the driving mode corresponding to the speed under different road conditions; the braking mode of the AEB system is controlled according to the driving mode, the braking mode corresponding to the AEB system can be determined according to the type of the driving mode, and the phenomenon that the normal driving of a vehicle is influenced due to the fact that the AEB system does not correspond to the road condition can be effectively avoided.
Description
Technical Field
The invention relates to the technical field of vehicle AEB, in particular to a vehicle AEB brake control method and a vehicle.
Background
An automatic Braking system (AEB for short) for automobile is an intelligent device for preventing automobile from collision. The vehicle collision avoidance system can automatically find vehicles, pedestrians or other obstacle objects which may collide with the vehicle, send out an alarm or take measures such as braking or evasion at the same time so as to avoid collision.
In the development process of the AEB product, since vehicles can travel on different road conditions, such as expressways, urban roads, congested road sections, and the like, the requirements for the AEB system can be different.
Therefore, a vehicle AEB brake control method and a vehicle are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a vehicle AEB brake control method and a vehicle, which can effectively avoid the phenomenon that an AEB system does not correspond to road conditions and influences the normal driving of the vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a vehicle AEB brake control method is provided, including the steps of:
determining a driving mode of a vehicle according to the speed of the vehicle, the duration of the speed and environmental data; controlling a braking mode of the AEB system according to the driving mode; wherein the environmental data includes speed limit data for a road on which the vehicle is located and data for a primary target vehicle.
As a preferable aspect of the AEB brake control method for a vehicle, the determining a driving mode of the vehicle based on a vehicle speed of the vehicle, a duration of the vehicle speed, and environmental data includes:
comparing the speed limit of the road with a first preset speed, and comparing the vehicle speed with a second preset speed;
if the speed limit of the road is greater than or equal to a first preset speed, the vehicle speed is greater than or equal to a second preset speed, and the duration time of the vehicle speed which is greater than or equal to the second preset speed reaches a first preset duration, determining that the vehicle is in a high-speed mode;
wherein the second preset speed is less than or equal to the first preset speed.
As a preferable aspect of the AEB brake control method for a vehicle, the determining a driving mode of the vehicle based on a vehicle speed of the vehicle, a duration of the vehicle speed, and environmental data includes:
comparing the vehicle speed with a fourth preset speed, and comparing the vehicle speed with a fifth preset speed; comparing the collision time interval with a first preset value, or comparing the vehicle interval time with a second preset time length;
comparing the speed of the main target vehicle with a sixth preset speed, and/or comparing the speed of the main target vehicle with a seventh preset speed under a target condition, wherein the target condition is that: at least two target vehicles exist in a first preset distance in front of the main target vehicle;
if the vehicle speed is greater than or equal to the fourth preset speed, the vehicle speed is less than or equal to the fifth preset speed; the collision time interval is less than or equal to the first preset value or the vehicle distance time is less than or equal to the second preset time length; the speed of the main target vehicle is less than or equal to a sixth preset speed, the duration time of the speed of the main target vehicle, which is less than or equal to the sixth preset speed, reaches a third preset time period, and/or the speed of the main target vehicle is less than or equal to a seventh preset speed, and the duration time of the speed of the main target vehicle, which is less than or equal to the seventh preset speed, reaches a fourth preset time period, determining that the vehicle is in a congestion mode;
the third preset time length is greater than or equal to the fourth preset time length, and the fourth preset speed is less than the fifth preset speed;
if the vehicle does not meet the conditions for entering the high speed mode and the congestion mode, the vehicle is in a standard mode.
As a preferable aspect of the AEB brake control method for a vehicle, after determining that the vehicle is in the high speed mode, the method further includes:
comparing the vehicle speed with a third preset speed;
and if the vehicle speed of the vehicle is less than or equal to a third preset speed and the duration time of the vehicle speed less than or equal to the third preset speed reaches a fifth preset duration, switching the vehicle from the high-speed mode to a standard mode.
As a preferable technical solution of the AEB brake control method for a vehicle, after determining that the vehicle is in a congestion mode, the method further includes:
comparing the vehicle speed with an eighth preset speed;
and if the vehicle speed is greater than or equal to an eighth preset speed, and the duration of the vehicle speed which is greater than or equal to the eighth preset speed is greater than or equal to a sixth preset duration, the vehicle is converted from the congestion mode to the standard mode.
As a preferable technical solution of the AEB brake control method for a vehicle, after determining that the vehicle is in a congestion mode, the method further includes:
determining whether the primary target vehicle is disappearing;
and if the main target vehicle disappears and lasts for more than a seventh preset time, the vehicle is converted from the congestion mode to the standard mode.
As a preferable technical solution of the AEB brake control method for a vehicle, after determining that the vehicle is in a congestion mode, the method further includes:
comparing the speed of the primary target vehicle relative to the vehicle to a ninth preset speed;
and if the speed of the main target vehicle relative to the vehicle is greater than or equal to the ninth preset speed and lasts for more than an eighth preset time, the vehicle is converted from the congestion mode to the standard mode.
As a preferable technical solution of the AEB brake control method for a vehicle, after determining that the vehicle is in a congestion mode, the method further includes:
determining whether the vehicle speed drops to zero;
and if the vehicle speed is reduced to zero, the vehicle is converted from the congestion mode to the standard mode.
As a preferable aspect of the AEB brake control method for a vehicle, the controlling of the brake mode of the AEB system according to the driving mode includes:
if the vehicle is in a high-speed mode, controlling early warning and braking time of the AEB system to be advanced;
if the vehicle is in the standard mode, controlling the AEB system to perform early warning and braking normally;
and if the vehicle is in a congestion mode, controlling early warning and braking time delay of the AEB system. In a second aspect, a vehicle is provided that employs the vehicle AEB brake control method described above.
The invention has the beneficial effects that:
determining the driving mode of the vehicle according to the speed of the vehicle, the duration of the speed and the environmental data, and determining the driving mode corresponding to the speed under different road conditions; the braking mode of the AEB system is controlled according to the driving mode, the braking mode corresponding to the AEB system can be determined according to the type of the driving mode, and the phenomenon that the normal driving of a vehicle is influenced due to the fact that the AEB system does not correspond to the road condition can be effectively avoided.
Drawings
FIG. 1 is a first schematic flow chart of an AEB brake control method for a vehicle according to the present invention;
FIG. 2 is a second flowchart of the AEB brake control method for a vehicle according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1, the present embodiment discloses a vehicle AEB brake control method, which includes the steps of: a driving mode of the vehicle is determined, and a braking mode of the AEB system is controlled according to the driving mode. Different driving modes are selected under different road conditions, and the corresponding braking mode of the AEB system is determined according to the type of the driving mode, so that the influence on normal driving caused by the fact that the AEB system does not correspond to the road conditions is avoided.
Specifically, the driving modes include a high speed mode, a standard mode, and a congestion mode. Typically, the vehicle is driven in a standard mode. If the vehicle is in a high-speed mode, the AEB system detects a main target vehicle (the vehicle in a certain distance right ahead of the vehicle, specifically a car or a truck, and is determined by using a vision sensor and a distance sensor of the vehicle), the early warning and braking time of the AEB system is advanced, and the vehicle is controlled to run by a smaller deceleration, so that the vehicle is decelerated to achieve the effect of avoiding collision, and the danger caused by emergency braking can be effectively avoided. The speed of the vehicle is higher and the inertia is large in the high-speed mode, and the early warning and braking time is advanced, so that the vehicle can be decelerated in advance, and the emergency braking caused by human intervention is avoided.
If the vehicle is in the standard mode, the AEB system detects the main target vehicle, the AEB system performs early warning and braking normally, the vehicle speed is not fast or slow, and the normal early warning and braking of the AEB system can meet the normal safe driving requirement of the vehicle.
If the vehicle is in a congestion mode, the AEB system detects a main target vehicle, the early warning and braking time of the AEB system is delayed, namely the early warning and automatic braking are not carried out under the unnecessary condition; when the vehicle is driven in a congestion mode, the speed of the vehicle is slow, the distance between the vehicle and a main target vehicle is small, the vehicle needs to be started and stopped frequently, and normal driving is influenced if early warning and automatic braking are performed frequently. The early warning and braking of the AEB system are delayed, so that the normal driving of a driver is not influenced, and the collision is avoided in an emergency.
Determining the driving mode of the vehicle is specifically: and determining the driving mode of the vehicle according to the vehicle speed of the vehicle, the duration of the vehicle speed and environment data, wherein the environment data comprises speed limit data of a road where the vehicle is located and data of the main target vehicle. Specifically, the speed limit data of the road on which the vehicle is located refers to the speed limit data of the speed limit sign of the road. The visual sensor or the camera of the vehicle collects the speed limit data of the speed limit board and then the speed limit data is used as the speed limit data of the road where the vehicle is located. Whether the vehicle meets the requirement of entering a high-speed mode or not is determined according to the speed of the vehicle, the duration of the speed and the speed limit data of the road, and whether the vehicle meets the requirement of entering a congestion mode or not is determined according to the speed of the vehicle, the duration of the speed and the data of the main target vehicle.
More specifically, determining a driving mode of the vehicle based on a vehicle speed of the vehicle, a duration of the vehicle speed, and environmental data includes: determining whether the vehicle satisfies a condition for entering a high speed mode and determining whether the vehicle satisfies a condition for entering a congestion mode. If the vehicle meets the condition of entering the high-speed mode, the vehicle enters the high-speed mode; if the vehicle meets the condition of entering the congestion mode, the vehicle enters the congestion mode; if the vehicle does not meet the conditions for entering the high speed mode and the congestion mode, the vehicle is still in the standard mode.
The determination of whether the vehicle satisfies the condition for entering the high speed mode specifically includes:
comparing the speed limit of the road with a first preset speed, and comparing the vehicle speed with a second preset speed (the first preset speed is preferably 90km/h in the embodiment, in other embodiments, the specific value can be determined according to local traffic regulations and road conditions, and the second preset speed is preferably 70km/h in the embodiment); if the speed limit of the road is greater than or equal to a first preset speed, the vehicle speed is greater than or equal to a second preset speed, and the duration of the vehicle speed which is greater than or equal to the second preset speed reaches a first preset duration (preferably 30s in the embodiment), determining that the vehicle is in a high-speed mode; the second preset speed is less than or equal to the first preset speed.
Specifically, in this embodiment, the speed limit of the road is compared with a first preset speed, and if the speed limit of the road is greater than or equal to the first preset speed, the vehicle speed is compared with a second preset speed; if the vehicle speed is greater than or equal to the second preset speed, determining whether the duration time of the vehicle speed greater than or equal to the second preset speed reaches the first preset duration, and if so, determining that the vehicle is in a high-speed mode. More specifically, a vision sensor or a camera of the vehicle identifies a speed limit board of 90km/h or more, the speed of the vehicle is greater than or equal to 70km/h and the duration time reaches 30 seconds, and the vehicle is in a high-speed mode; in the high-speed mode, the AEB system adopts a strategy that the early warning and braking time is advanced, the effect of avoiding collision is achieved with smaller deceleration, and the danger caused by emergency braking is avoided. In other embodiments, the vehicle speed may be compared with a second preset speed; if the speed of the vehicle is greater than or equal to the second preset speed, determining whether the duration time of the vehicle speed greater than or equal to the second preset speed reaches a first preset time length, if so, comparing the speed limit of the road with the first preset speed, and if the speed limit of the road is greater than or equal to the first preset speed, determining that the vehicle is in a high-speed mode.
After determining that the vehicle is in the high speed mode, further comprising: comparing the vehicle speed with a third preset speed (preferably 60km/h in the embodiment); if the vehicle speed of the vehicle is less than or equal to the third preset speed and the duration of the vehicle speed less than or equal to the third preset speed reaches a fifth preset duration (preferably 10s in the embodiment), the vehicle is switched from the high-speed mode to the standard mode. Specifically, after the vehicle is in the high-speed mode, the speed of the vehicle is reduced to be less than or equal to 60km/h and the duration time reaches 10 seconds, the high-speed mode is exited, the normal mode is entered, and the AEB system performs early warning and braking normally.
The specific conditions for determining whether the vehicle satisfies the condition for entering the congestion mode include:
comparing the vehicle speed with a fourth preset speed, and comparing the vehicle speed with a fifth preset speed (the fourth preset speed is preferably 40km/h in the embodiment, and the fifth preset speed is preferably 5km/h in the embodiment); comparing the Time To Collision (TTC) with a first preset value (preferably 8.0s in this embodiment) or comparing the time between vehicle distances (the ratio of the vehicle distance to the speed, and also the display time of the time between vehicle distance monitoring and early warning vehicle distances) with a second preset time (preferably 8.0s in this embodiment); comparing the speed of the main target vehicle with a sixth preset speed (preferably 30km/h in this embodiment), and/or comparing the speed of the main target vehicle with a seventh preset speed (preferably 30km/h in this embodiment) under target conditions, wherein the target conditions are: at least two target vehicles (vehicles within a certain distance right in front of the main target vehicle, specifically, cars or trucks, which are determined by using a vision sensor and a distance sensor of the vehicles) exist within a first preset distance (preferably 20m in the embodiment) in front of the main target vehicle; the fourth preset speed is less than the fifth preset speed.
If the vehicle speed is greater than or equal to the fourth preset speed, the vehicle speed is less than or equal to the fifth preset speed; the collision time interval is less than or equal to a first preset value or the vehicle interval time is less than or equal to a second preset time length; and (3) determining that the vehicle is in the congestion mode if the vehicle speed of the main target vehicle is less than or equal to a sixth preset speed, and the duration of the vehicle speed of less than or equal to the sixth preset speed reaches a third preset time period (preferably 15s in the embodiment), and/or the speed of the main target vehicle is less than or equal to a seventh preset speed, and the duration of the speed of the main target vehicle less than or equal to the seventh preset speed reaches a fourth preset time period (preferably 5s in the embodiment). And the third preset time length is greater than or equal to the fourth preset time length. And determining whether the vehicle is converted into a congestion mode condition, wherein the vehicle speed, the vehicle speed duration and the vehicle speed of the main target vehicle are consistent, if no target vehicle is in front of the main target vehicle, the required determination duration is longer, and if at least two target vehicles are in front of the main target vehicle within 20m, the condition indicates that the road is in a congestion state, the required determination duration is shorter.
Specifically, in the present embodiment, the vehicle speed is compared with the fourth preset speed; if the vehicle speed is greater than or equal to the fourth preset speed, comparing the vehicle speed with the fifth preset speed; if the vehicle speed is less than or equal to a fifth preset speed, comparing the TTC with a first preset value or comparing the vehicle distance time with a second preset time length; if the TTC is less than or equal to a first preset value or the inter-vehicle distance time is less than or equal to a second preset time length; comparing the main target vehicle with a sixth preset speed, and/or comparing the speed of the main target vehicle with a seventh preset speed under the target condition; and if the speed of the main target vehicle is less than or equal to a sixth preset speed, the duration time of the speed of the main target vehicle which is less than or equal to the sixth preset speed reaches a third preset time period, and/or the speed of the main target vehicle is less than or equal to a seventh preset speed, and the duration time of the speed of the main target vehicle which is less than or equal to the seventh preset speed reaches a fourth preset time period, determining that the vehicle is in the congestion mode. More specifically, the first: the speed of the vehicle is less than or equal to 40km/h and less than or equal to 5km/h, the TTC is less than or equal to 8.0 or the inter-vehicle distance time is less than or equal to 8.0s, the speed of the main target vehicle is less than or equal to 30km/h and lasts for 15 seconds, and the vehicle enters a congestion mode. And the second method comprises the following steps: the speed of the vehicle is less than or equal to 5km/h and less than or equal to 40km/h, the TTC is less than or equal to 8.0 or the inter-vehicle distance time is less than or equal to 8.0s, more than 2 target vehicles exist within 20 meters in front of the main target, the speed of the target vehicles is less than or equal to 30km/h and lasts for 5 seconds, and the vehicles enter a congestion mode. The vehicle enters the congestion mode when either of the two conditions is satisfied. In other embodiments, the TTC may be compared with a first preset value or the inter-vehicle time may be compared with a second preset time, and if the first preset value or the inter-vehicle time of the TTC is less than or equal to the second preset time; comparing the vehicle speed with a fourth preset speed; if the vehicle speed is greater than or equal to the fourth preset speed, comparing the vehicle speed with the fifth preset speed; if the vehicle speed is less than or equal to the fifth preset speed, comparing the main target vehicle with the sixth preset speed, and/or comparing the speed of the main target vehicle with the seventh preset speed under the target condition; and if the speed of the main target vehicle is less than or equal to a sixth preset speed, the duration time of the speed of the main target vehicle which is less than or equal to the sixth preset speed reaches a third preset time period, and/or the speed of the main target vehicle is less than or equal to a seventh preset speed, and the duration time of the speed of the main target vehicle which is less than or equal to the seventh preset speed reaches a fourth preset time period, determining that the vehicle is in the congestion mode.
After determining that the vehicle is in the congestion mode, further comprising:
1. comparing the vehicle speed with an eighth preset speed (preferably 40km/h in the embodiment); if the vehicle speed is greater than or equal to the eighth preset speed, and the duration of the vehicle speed being greater than or equal to the eighth preset speed is greater than or equal to a sixth preset duration (preferably 10s in the embodiment);
2. determining whether the primary target vehicle is disappearing; if the main target vehicle disappears, lasting for more than a seventh preset time (preferably 10s in the embodiment);
3. comparing the speed of the main target vehicle relative to the vehicle with a ninth preset speed (preferably 2km/h in the present embodiment); if the speed of the main target vehicle relative to the vehicle is greater than or equal to the ninth preset speed and lasts for more than the eighth preset time (preferably 5s in the embodiment);
4. determining whether the vehicle speed is reduced to zero, if so, determining whether the vehicle speed is reduced to zero;
when the vehicle is in the congestion mode, at least one of the four conditions is met, and the vehicle is switched from the congestion mode to the standard mode.
If the vehicle does not meet the conditions of entering the high-speed mode and the congestion mode, the vehicle is in the standard mode; but the vehicle is in the high-speed mode and does not meet the condition of exiting the high-speed mode, and the vehicle is still in the high-speed mode; the vehicle is in the congestion mode and does not meet the conditions for exiting the congestion mode, and the vehicle is still in the congestion mode. The vehicle is in a standard mode in an initial state, and the standard mode is converted into a high-speed mode when the condition of entering the high-speed mode is met; when the condition for entering the congestion mode is met, the standard mode is changed into the congestion mode, and when the condition for entering the high-speed mode and the congestion mode is not met, the vehicle is still in the standard mode.
As shown in fig. 1, the concrete control procedures of the AEB brake control method for the vehicle are as follows:
in the present embodiment, the vehicle is in the standard mode in the initial state, and it is determined whether the vehicle satisfies the condition for entering the high speed mode. If yes, the vehicle is changed from the standard mode to the high-speed mode; if not, determining whether the vehicle meets the condition of entering the congestion mode; if the standard mode is satisfied, the vehicle is switched to the congestion mode from the standard mode, and if the standard mode is not satisfied, the vehicle is still in the standard mode.
When the vehicle is in the high-speed mode, whether the vehicle meets the condition of exiting the high-speed mode is judged, if yes, the vehicle is changed from the high-speed mode to the standard mode, and if not, the vehicle is still in the high-speed mode.
And when the vehicle is in the congestion mode, judging whether the vehicle meets the condition of exiting the congestion mode, if so, switching the vehicle from the congestion mode to the standard mode, and if not, still keeping the vehicle in the congestion mode.
Referring to fig. 2, in other embodiments, the vehicle is in the standard mode at an initial state, and it is determined whether the vehicle satisfies a condition for entering the congestion mode. If yes, the vehicle is switched from the standard mode to the congestion mode; if not, determining whether the vehicle meets the condition of entering the high-speed mode; if so, the vehicle is shifted from the standard mode to the high speed mode, and if not, the vehicle is still in the standard mode.
And when the vehicle is in the congestion mode, judging whether the vehicle meets the condition of exiting the congestion mode, if so, switching the vehicle from the congestion mode to the standard mode, and if not, still keeping the vehicle in the congestion mode.
When the vehicle is in the high-speed mode, whether the vehicle meets the condition of exiting the high-speed mode is judged, if yes, the vehicle is changed from the high-speed mode to the standard mode, and if not, the vehicle is still in the high-speed mode.
The embodiment also discloses a vehicle which adopts the AEB brake control method of the vehicle.
The vehicle is provided with a control board card which is electrically connected with a CAN bus of the vehicle and is electrically connected with a vision sensor. The control board card CAN acquire data of the vehicle through the CAN bus, and is mainly used for acquiring the speed of the vehicle and the duration of the speed of the vehicle in the embodiment; the data collected by the vision sensor can be transmitted to the control board card, and the control board card processes the data to obtain the speed limit data of the road where the vehicle is located and the data of the main target vehicle and the target vehicle. The control board processes the acquired data, and specifically, the control board includes a memory and one or more processors. The memory has stored therein one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle AEB brake control method described above.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An AEB brake control method for a vehicle, comprising the steps of:
determining a driving mode of a vehicle according to the speed of the vehicle, the duration of the speed and environmental data; controlling a braking mode of the AEB system according to the driving mode; wherein the environmental data includes speed limit data for a road on which the vehicle is located and data for a primary target vehicle.
2. The vehicle AEB brake control method of claim 1, wherein said determining a driving pattern of the vehicle based on a vehicle speed of the vehicle, a duration of the vehicle speed, and environmental data comprises:
comparing the speed limit of the road with a first preset speed, and comparing the vehicle speed with a second preset speed;
if the speed limit of the road is greater than or equal to a first preset speed, the vehicle speed is greater than or equal to a second preset speed, and the duration time of the vehicle speed which is greater than or equal to the second preset speed reaches a first preset duration, determining that the vehicle is in a high-speed mode;
wherein the second preset speed is less than or equal to the first preset speed.
3. The vehicle AEB brake control method of claim 2, wherein said determining a driving pattern of the vehicle based on a vehicle speed of the vehicle, a duration of the vehicle speed, and environmental data comprises:
comparing the vehicle speed with a fourth preset speed, and comparing the vehicle speed with a fifth preset speed; comparing the collision time interval with a first preset value, or comparing the vehicle interval time with a second preset time length;
comparing the speed of the main target vehicle with a sixth preset speed, and/or comparing the speed of the main target vehicle with a seventh preset speed under a target condition, wherein the target condition is that: at least two target vehicles exist in a first preset distance in front of the main target vehicle;
if the vehicle speed is greater than or equal to the fourth preset speed, the vehicle speed is less than or equal to the fifth preset speed; the collision time interval is less than or equal to the first preset value or the vehicle distance time is less than or equal to the second preset time length; the speed of the main target vehicle is less than or equal to a sixth preset speed, the duration time of the speed of the main target vehicle, which is less than or equal to the sixth preset speed, reaches a third preset time period, and/or the speed of the main target vehicle is less than or equal to a seventh preset speed, and the duration time of the speed of the main target vehicle, which is less than or equal to the seventh preset speed, reaches a fourth preset time period, determining that the vehicle is in a congestion mode;
the third preset time length is greater than or equal to the fourth preset time length, and the fourth preset speed is less than the fifth preset speed;
if the vehicle does not meet the conditions for entering the high speed mode and the congestion mode, the vehicle is in a standard mode.
4. The vehicle AEB brake control method of claim 2, further comprising, after determining that the vehicle is in the high speed mode:
comparing the vehicle speed with a third preset speed;
and if the vehicle speed of the vehicle is less than or equal to a third preset speed and the duration time of the vehicle speed less than or equal to the third preset speed reaches a fifth preset duration, switching the vehicle from the high-speed mode to a standard mode.
5. The vehicle AEB brake control method of claim 3, further comprising, after determining that the vehicle is in congestion mode:
comparing the vehicle speed with an eighth preset speed;
and if the vehicle speed is greater than or equal to an eighth preset speed, and the duration of the vehicle speed which is greater than or equal to the eighth preset speed is greater than or equal to a sixth preset duration, the vehicle is converted from the congestion mode to the standard mode.
6. The vehicle AEB brake control method of claim 3, further comprising, after determining that the vehicle is in congestion mode:
determining whether the primary target vehicle is disappearing;
and if the main target vehicle disappears and lasts for more than a seventh preset time, the vehicle is converted from the congestion mode to the standard mode.
7. The vehicle AEB brake control method of claim 3, further comprising, after determining that the vehicle is in congestion mode:
comparing the speed of the primary target vehicle relative to the vehicle to a ninth preset speed;
and if the speed of the main target vehicle relative to the vehicle is greater than or equal to the ninth preset speed and lasts for more than an eighth preset time, the vehicle is converted from the congestion mode to the standard mode.
8. The vehicle AEB brake control method of claim 3, further comprising, after determining that the vehicle is in congestion mode:
determining whether the vehicle speed drops to zero;
and if the vehicle speed is reduced to zero, the vehicle is converted from the congestion mode to the standard mode.
9. The vehicle AEB brake control method of claim 3, wherein said controlling the braking mode of the AEB system according to the driving mode comprises:
if the vehicle is in a high-speed mode, controlling early warning and braking time of the AEB system to be advanced;
if the vehicle is in the standard mode, controlling the AEB system to perform early warning and braking normally;
and if the vehicle is in a congestion mode, controlling early warning and braking time delay of the AEB system.
10. A vehicle employing the vehicle AEB brake control method according to any one of claims 1 to 9.
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