CN112977370B - Automatic emergency braking system and method - Google Patents
Automatic emergency braking system and method Download PDFInfo
- Publication number
- CN112977370B CN112977370B CN202110445918.7A CN202110445918A CN112977370B CN 112977370 B CN112977370 B CN 112977370B CN 202110445918 A CN202110445918 A CN 202110445918A CN 112977370 B CN112977370 B CN 112977370B
- Authority
- CN
- China
- Prior art keywords
- information
- weather information
- vehicle
- braking
- weather
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Abstract
The invention discloses an automatic emergency braking system and method. An upper plate of a cloud controller in the automatic emergency braking system is used for obtaining second weather information corresponding to the real-time positioning information through network communication connection, and a lower plate of the cloud controller is used for calculating and obtaining the predicted collision time between an object in front of the vehicle and the vehicle; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to the first weather information provided by the camera and the second weather information provided by the upper plate of the cloud controller, and determining a response condition according to the actual weather information and the braking strategy; and controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition. The technical scheme provided by the embodiment of the invention ensures the safety and the effectiveness of the operation of the automatic emergency braking system under different weather conditions.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic emergency braking, in particular to an automatic emergency braking system and method.
Background
The automatic emergency braking system is a technology for improving the driving safety by actively braking when a vehicle normally runs under the condition of non-adaptive cruise, such as the vehicle encounters an emergency dangerous condition or the distance between the vehicle and a front vehicle or a pedestrian is less than a safe distance, and avoiding or reducing collision accidents such as rear-end collision and the like.
The automatic emergency braking system in the prior art cannot acquire weather information, the response control of the automatic emergency braking system is irrelevant to weather, and the automatic emergency braking system cannot be adaptively adjusted in special weather with influence on the corresponding automatic emergency braking system such as rainy days, snowy days, foggy days and haze days, so that the condition of braking discomfort is easy to occur, and further additional traffic accidents occur.
Disclosure of Invention
The invention provides an automatic emergency braking system and a method thereof, which are used for acquiring accurate weather information, determining the response condition of the automatic emergency braking system according to the weather information, executing corresponding response and ensuring the safety and effectiveness of the operation of the automatic emergency braking system under different weather conditions.
In a first aspect, an embodiment of the present invention provides an automatic emergency braking system, including: the system comprises a radar, a camera, a braking mechanism, an alarm unit, a cloud controller lower plate and a cloud controller upper plate;
the radar, the camera, the brake mechanism and the cloud controller upper plate are all connected with the cloud controller lower plate;
the radar is used for detecting first distance information, first relative speed information and first relative acceleration information between an object in front of the vehicle and the vehicle;
the camera is used for acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, the type of the object in front of the vehicle and acquiring first day information;
the brake mechanism is used for braking a vehicle under the control of the cloud controller lower plate;
the alarm unit is used for carrying out alarm prompt under the control of the cloud controller lower plate;
the cloud controller upper plate comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for realizing network communication connection between the cloud controller upper plate and a cloud server, and the cloud controller upper plate is used for acquiring second weather information corresponding to the real-time positioning information through the network communication connection;
the cloud controller lower plate is used for calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to first weather information provided by the camera and second weather information provided by the cloud controller upper plate, and determining a response condition according to the actual weather information and the braking strategy; and controlling the brake mechanism and the alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition.
In a second aspect, an embodiment of the present invention further provides an automatic emergency braking method, which is implemented by using the automatic emergency braking system according to the first aspect, and includes:
acquiring first weather information provided by a camera;
acquiring second weather information provided by an upper plate of the cloud controller;
determining actual weather information according to the first weather information and the second weather information;
determining a response condition according to the actual weather information and a preset weather-related braking strategy;
acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, which are provided by a camera, and the type of the object in front of the vehicle, and acquiring first distance information, first relative speed information and first relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by a radar;
calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information;
and controlling the brake mechanism and the alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition.
The automatic emergency braking system provided by the embodiment of the invention comprises a radar, a camera, a braking mechanism, an alarm unit, a cloud controller lower plate and a cloud controller upper plate; the radar, the camera, the brake mechanism and the cloud controller upper plate are all connected with the cloud controller lower plate; the radar is used for detecting first distance information, first relative speed information and first relative acceleration information between an object in front of the vehicle and the vehicle; the camera is used for acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, the type of the object in front of the vehicle and acquiring first day information; the braking mechanism is used for braking the vehicle under the control of the lower plate of the cloud controller; the alarm unit is used for carrying out alarm prompt under the control of the lower plate of the cloud controller; the cloud controller upper plate comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for realizing network communication connection between the cloud controller upper plate and the cloud server, and the cloud controller upper plate is used for acquiring second weather information corresponding to the real-time positioning information through network communication connection; the cloud controller lower plate is used for calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to first relative acceleration information first distance information, first relative acceleration information first relative speed information, first relative acceleration information, first relative acceleration information second distance information, first relative acceleration information second relative speed information and first relative acceleration information second relative acceleration information; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to the first weather information provided by the camera and the second weather information provided by the upper plate of the cloud controller, and determining a response condition according to the actual weather information and the braking strategy; and controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition. The method and the device realize accurate acquisition of the actual weather information, determine the response condition of the automatic emergency braking system according to the actual weather information, execute corresponding response, and ensure the safety and effectiveness of the operation of the automatic emergency braking system under different weather conditions.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic structural diagram of an automatic emergency braking system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a lower cloud controller board and an upper cloud controller board according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of an automatic emergency braking method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another automatic emergency braking method provided by the embodiment of the invention;
FIG. 5 is a schematic flow chart of a method for reducing output braking force provided by an embodiment of the present invention;
fig. 6 is a schematic flow chart of another automatic emergency braking method according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be given of specific embodiments, structures, features and effects of an automatic emergency braking system and method according to the present invention with reference to the accompanying drawings and preferred embodiments.
An embodiment of the present invention provides an automatic emergency braking system, including: the system comprises a radar, a camera, a braking mechanism, an alarm unit, a cloud controller lower plate and a cloud controller upper plate;
the radar, the camera, the brake mechanism and the cloud controller upper plate are all connected with the cloud controller lower plate;
the radar is used for detecting first distance information, first relative speed information and first relative acceleration information between an object in front of the vehicle and the vehicle;
the camera is used for acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, the type of the object in front of the vehicle and acquiring first day information;
the brake mechanism is used for braking a vehicle under the control of the cloud controller lower plate;
the alarm unit is used for carrying out alarm prompt under the control of the cloud controller lower plate;
the cloud controller upper plate comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for realizing network communication connection between the cloud controller upper plate and a cloud server, and the cloud controller upper plate is used for acquiring second weather information corresponding to the real-time positioning information through the network communication connection;
the cloud controller lower plate is used for calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to first weather information provided by the camera and second weather information provided by the cloud controller upper plate, and determining a response condition according to the actual weather information and the braking strategy; and controlling the brake mechanism and the alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition.
The automatic emergency braking system provided by the embodiment of the invention comprises a radar, a camera, a braking mechanism, an alarm unit, a cloud controller lower plate and a cloud controller upper plate; the radar, the camera, the brake mechanism and the cloud controller upper plate are all connected with the cloud controller lower plate; the radar is used for detecting first distance information, first relative speed information and first relative acceleration information between an object in front of the vehicle and the vehicle; the camera is used for acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, the type of the object in front of the vehicle and acquiring first day information; the braking mechanism is used for braking the vehicle under the control of the lower plate of the cloud controller; the alarm unit is used for carrying out alarm prompt under the control of the lower plate of the cloud controller; the cloud controller upper plate comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for realizing network communication connection between the cloud controller upper plate and the cloud server, and the cloud controller upper plate is used for acquiring second weather information corresponding to the real-time positioning information through network communication connection; the cloud controller lower plate is used for calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to first relative acceleration information first distance information, first relative acceleration information first relative speed information, first relative acceleration information, first relative acceleration information second distance information, first relative acceleration information second relative speed information and first relative acceleration information second relative acceleration information; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to the first weather information provided by the camera and the second weather information provided by the upper plate of the cloud controller, and determining a response condition according to the actual weather information and the braking strategy; and controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition. The method and the device realize accurate acquisition of the actual weather information, determine the response condition of the automatic emergency braking system according to the actual weather information, execute corresponding response, and ensure the safety and effectiveness of the operation of the automatic emergency braking system under different weather conditions.
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other embodiments that depart from the specific details disclosed herein, and it will be recognized by those skilled in the art that the present invention may be practiced without these specific details.
Next, the present invention is described in detail with reference to the schematic drawings, and in the detailed description of the embodiments of the present invention, the schematic drawings showing the structure of the device are not partially enlarged in general scale for convenience of description, and the schematic drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and height should be included in the actual fabrication.
Fig. 1 is a schematic structural diagram of an automatic emergency braking system according to an embodiment of the present invention. The automatic emergency braking system is applied to vehicles, is typically applied to large vehicles, is used for determining braking conditions according to weather information, and performs active braking when the vehicles are about to collide with front objects and a driver does not intervene in braking operation, so that the probability of collision accidents is reduced.
Specifically, as shown in fig. 1, the automatic emergency braking system includes a radar 101, a camera 102, a braking mechanism 103, an alarm unit 104, a cloud controller lower board 105, and a cloud controller upper board 106, where the radar 101, the camera 102, the braking mechanism 103, and the cloud controller upper board 106 are all connected to the cloud controller lower board 105.
The radar 101 is configured to detect first distance information, first relative velocity information, and first relative acceleration information between an object ahead of the vehicle and the vehicle. The camera 102 is configured to acquire second distance information, second relative speed information, and second relative acceleration information between the object in front of the vehicle and the vehicle, and the type of the object in front of the vehicle, and acquire the first day information. The brake mechanism 103 is used to brake the vehicle under the control of the cloud controller lower plate 105. The alarm unit 104 is used for giving alarm prompt under the control of the cloud controller lower plate 105.
The cloud controller upper plate 106 comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for achieving network communication connection between the cloud controller upper plate and the cloud server, and the cloud controller upper plate 106 is used for acquiring second weather information corresponding to the real-time positioning information through the network communication connection.
The cloud controller lower board 105 is configured to calculate and obtain a predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information, and the second relative acceleration information; the cloud controller is further configured to store a preset weather-related braking strategy, determine actual weather information according to the first weather information provided by the camera 102 and the second weather information provided by the cloud controller upper board 106, determine a response condition according to the actual weather information and the braking strategy, and control the braking mechanism 103 and the alarm unit 104 to perform corresponding response according to the type, the predicted collision time, and the response condition.
Among them, the types of objects ahead of the vehicle include a person, a vehicle, a trash can, a building, and the like, wherein the person and the vehicle are main targets of attention of the automatic emergency braking system, i.e., preset targets. It will be appreciated that the automatic emergency braking system is normally responsive only to preset targets.
Illustratively, the communication module may be, for example, a 4G communication module or a 5G communication module. The cloud controller upper board and the cloud server are communicated through the communication module, the cloud server has weather forecast information, specifically, the cloud controller lower board 105 can generate a request signal carrying real-time positioning information of a vehicle, the cloud server receives the request signal, inquires and acquires weather information of an area where the position is located according to the real-time positioning information of the vehicle in the request signal, and returns the weather information to the cloud controller lower board 105.
In addition, the radar can be a millimeter wave radar, for example, and the millimeter wave radar has good anti-interference capability and higher detection accuracy.
The camera 102 adopted in the embodiment may determine the current weather information of the environment where the vehicle is located, for example, the camera 102 may capture an image in real time, and may determine whether rain, snow, fog or haze appears in the camera viewing range by analyzing the image, so as to determine the weather information. However, the accuracy of the camera 102 cannot reach 100%, and it is difficult to determine information such as rainfall and visibility, and the information is different, and the degree of influence of the automatic emergency braking system is different, so that it is found that the regulation of the braking scheme by only using the weather information determined by the camera 102 is inaccurate. On the other hand, the accuracy of the weather forecast cannot reach 100%, and is lower particularly for determining the weather information in a small area where the vehicle is located, and therefore, the adjustment of the braking method using only the weather information determined by the cloud controller upper board 106 is also inaccurate. For the above problem, in the present embodiment, the weather information obtained by both the camera 102 and the cloud controller upper board 106 is integrated to obtain the actual weather information, so that the accuracy of the actual weather information is improved. It can be understood that the camera 102 can accurately judge the current weather of the environment where the vehicle is located, the weather forecast can provide weather information of a larger area where the vehicle is located, if the output results of the two are the same, the same output result is determined to be actual weather information, and the two are mutually proved, so that the accuracy of the output result is higher. Illustratively, the weather information in the weather forecast includes rainfall information, and when the camera 102 determines that the weather information is rainy and the weather forecast information is light rain, it is determined that the actual weather information is light rain.
It should be noted that, when the radar and the camera measure the same object in front of the vehicle, the difference between the same parameter in the first distance information, the first relative velocity information, and the first relative acceleration information between the object in front of the vehicle and the vehicle detected by the radar, and the second distance information, the second relative velocity information, and the second relative acceleration information between the object in front of the vehicle and the vehicle acquired by the camera is within the corresponding preset error range. Accordingly, whether the target objects concerned by the radar and the camera are the same target object or not can be determined according to the first distance information, the first relative speed information and the first relative acceleration information between the object in front of the vehicle and the vehicle, which are detected by the radar, and the second distance information, the second relative speed information and the second relative acceleration information between the object in front of the vehicle and the vehicle, which are acquired by the camera, and the type of the target object can be determined by the camera, so that whether the target object in the view range is the preset type of target object or not can be determined. Therefore, at least one preset type of target object can be determined through camera data and radar data fusion. And comprehensively determining the most dangerous target object in at least one preset type of target object through the information such as the advancing direction of the vehicle, the lane line information and the like, and calculating the corresponding predicted collision time by adopting more accurate radar data.
The automatic emergency braking system provided by the embodiment of the invention comprises a radar, a camera, a braking mechanism, an alarm unit, a cloud controller lower plate and a cloud controller upper plate; the radar, the camera, the brake mechanism and the cloud controller upper plate are all connected with the cloud controller lower plate; the radar is used for detecting first distance information, first relative speed information and first relative acceleration information between an object in front of the vehicle and the vehicle; the camera is used for acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, the type of the object in front of the vehicle and acquiring first day information; the braking mechanism is used for braking the vehicle under the control of the lower plate of the cloud controller; the alarm unit is used for carrying out alarm prompt under the control of the lower plate of the cloud controller; the cloud controller upper plate comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for realizing network communication connection between the cloud controller upper plate and the cloud server, and the cloud controller upper plate is used for acquiring second weather information corresponding to the real-time positioning information through network communication connection; the cloud controller lower plate is used for calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to first relative acceleration information first distance information, first relative acceleration information first relative speed information, first relative acceleration information, first relative acceleration information second distance information, first relative acceleration information second relative speed information and first relative acceleration information second relative acceleration information; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to the first weather information provided by the camera and the second weather information provided by the upper plate of the cloud controller, and determining a response condition according to the actual weather information and the braking strategy; and controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition. The method and the device realize accurate acquisition of the actual weather information, determine the response condition of the automatic emergency braking system according to the actual weather information, execute corresponding response, and ensure the safety and effectiveness of the operation of the automatic emergency braking system under different weather conditions.
Illustratively, the alarm unit may include an alarm display screen for simultaneously performing an alarm prompt of sound and display contents on the display screen.
Specifically, the alarm prompt of the display content may include, for example, a real-time picture taken by weather information and a camera, which helps a driver to know the current condition and the current weather information in front of the vehicle, and helps the driver to know the currently determined braking condition based on the weather information, and further after a braking error occurs, it is judged by integrating various information whether the cause of the error is inaccurate weather information determination or a braking mechanism fault, etc., so as to find out the problem in time, and provide improvement information for improvement of an automatic emergency braking system, for example, after a braking error is found, the fault information is uploaded to an APP provided by an automatic emergency braking research and development unit, etc.
For example, the weather information displayed on the display screen may be displayed in a manner of a weather icon, for example, a snow icon corresponding to a snow day is a snowflake. Or may be prompted in a corresponding weather information picture or text manner, which is not specifically limited in this embodiment.
In addition, for more obvious prompting of the driver, a screen flashing mode can be adopted for prompting. According to different emergency situations, the volume and the interval of sound and the frequency of screen flashing are set to be different levels for alarming and prompting.
Illustratively, the real-time positioning module may be a global satellite positioning system.
It should be noted that the gps has high positioning accuracy and low price, and is a preferred choice of real-time positioning module.
It is to be understood that, in other real-time manners of this embodiment, the real-time positioning module may also have other structures, and this embodiment is not particularly limited to this.
Fig. 2 is a schematic structural diagram of a lower cloud controller board and an upper cloud controller board according to an embodiment of the present invention. As shown in fig. 2, the cloud controller lower plate 105 and the cloud controller upper plate 106 are stacked, and the first element 115 in the cloud controller lower plate 105 is mounted on a side surface of the circuit board thereof facing the cloud controller upper plate 106, the second element 116 in the cloud controller upper plate 106 is mounted on a side surface of the circuit board thereof facing away from the cloud controller lower plate 105, and the first element 115 in the cloud controller lower plate 105 is disposed near an edge thereof.
It should be noted that the stacking arrangement of the cloud controller lower board 105 and the cloud controller upper board 106 can reduce the lateral space occupation of the two boards, and for example, the circuit boards of the two boards may be connected and isolated by a support member, so that the two boards can be stacked without affecting each other. In addition, locating the elements of the cloud controller lower plate 105 on the underside and near the edges thereof facilitates replacement of the damaged first element 115 in the cloud controller lower plate 105.
Fig. 3 is a schematic flow chart of an automatic emergency braking method according to an embodiment of the present invention. The automatic emergency braking method is implemented by adopting the automatic emergency braking system provided by any embodiment of the invention. As shown in fig. 3, the automatic emergency braking method provided in this embodiment may specifically include the following steps:
and 11, acquiring first weather information provided by the camera.
The camera is provided with a control unit, and can analyze and process a real-time image acquired by the camera to obtain corresponding first weather information.
And step 12, obtaining second weather information provided by the upper plate of the cloud controller.
And step 13, determining actual weather information according to the first weather information and the second weather information.
The actual weather information is the weather information applied to the determination process in the determination response condition. The first weather information determined by the camera and the weather forecast information inquired by the cloud controller upper board from the cloud server side are combined to determine the weather information more accurately.
And step 14, determining a response condition according to the actual weather information and a preset weather-related braking strategy.
In the preset weather-related braking strategy, the response condition of the automatic emergency braking system under different weather information is specifically set, and the response condition includes two aspects of alarm prompt and braking response, and the response condition is substantially a response adjustment mode relative to the original response condition, and is specifically described in the following content. Specifically, the original response condition is a response condition of the automatic emergency braking system which is set without considering the influence of weather information.
And step 15, acquiring second distance information, second relative speed information and second relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by the camera, and the type of the object in front of the vehicle, and acquiring first distance information, first relative speed information and first relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by the radar.
The vehicle is a vehicle provided with the automatic emergency braking system provided by any embodiment of the invention, and the front object is a vehicle or a pedestrian object positioned in front of the vehicle.
And step 16, obtaining second distance information between the object in front of the vehicle and the vehicle according to the image.
Specifically, the cloud controller lower plate analyzes and processes an image shot by the camera, and then second distance information is obtained.
And step 17, calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information.
And step 18, controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition.
It should be noted that, in a normal driving scene, focusing on the predicted collision time between the front preset target object and the vehicle, the radar data can determine the predicted collision time, and the type of the front object cannot be determined, while the camera can accurately determine the type of the front object. It is worth noting that the influence of the fog or haze on the camera is large, so that the camera cannot shoot clear images, and the front object type cannot be obtained or cannot be accurately obtained, therefore, in the fog or haze, the judgment of the front object type is not performed any more, and the response is performed only based on the predicted collision time determined by radar data, namely, in a conventional driving scene, the response target of the automatic emergency braking is a preset target meeting the response condition, and in the fog or haze, the response target of the automatic emergency braking is any target meeting the response condition.
According to the technical scheme provided by the embodiment of the invention, through acquiring first weather information provided by a camera, acquiring second weather information provided by an upper plate of a cloud controller, determining actual weather information according to the first weather information and the second weather information, determining response conditions according to the actual weather information and a preset weather-related braking strategy, acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of a vehicle and the vehicle, which are provided by the camera, and the type of the object in front of the vehicle, acquiring first distance information, first relative speed information and first relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by a radar, according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information, and calculating to obtain the predicted collision time between the object in front of the vehicle and the vehicle, and controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition. The method and the device realize accurate acquisition of the actual weather information, determine the response condition of the automatic emergency braking system according to the actual weather information, execute corresponding response, and ensure the safety and effectiveness of the operation of the automatic emergency braking system under different weather conditions.
Optionally, the preset weather-related braking strategy may include: and if the actual weather information is heavy rain or snow, only giving an alarm when the object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value. And if the actual weather information is medium rain or light rain, giving an alarm when the object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value. And when the object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to a braking threshold value, performing automatic braking, wherein the braking force of the automatic braking is less than the preset braking force. And if the actual weather information is fog or haze, giving an alarm prompt when the predicted collision time is less than or equal to the early warning threshold value. And when the predicted collision time is less than or equal to a braking threshold value, performing automatic braking, wherein the braking force of the automatic braking is equal to the preset braking force.
Correspondingly, the response conditions include: and only giving an alarm prompt when the object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value. When an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value, giving an alarm; and when the object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to a braking threshold value, performing automatic braking, wherein the braking force of the automatic braking is less than the preset braking force. When the predicted collision time is less than or equal to the early warning threshold value, giving an alarm for prompting; and when the predicted collision time is less than or equal to a braking threshold value, performing automatic braking, wherein the braking force of the automatic braking is equal to the preset braking force.
The preset braking force is a braking force for automatic emergency braking that is set according to an empirical value when the influence of weather information is not considered. The early warning threshold value is the predicted collision time for triggering the alarm prompt, and the braking threshold value is the predicted collision time for triggering the automatic braking.
It should be further noted that, a large amount of rainfall and snow can cause the ground friction coefficient to decrease, the probability of skidding or even overturning caused by emergency braking is high, and the possibility of additional damage is increased, therefore, in the embodiment, when the determined actual weather information is heavy rain or snow, the emergency braking function is turned off, and only the alarm prompt is given.
In addition, when the rainfall is small, the degree of the ground friction coefficient reduction is relatively small in heavy rain and snow days, and the braking force of emergency braking is reduced by considering the change of the ground friction coefficient so as to reduce the probability of sideslip or rollover under the emergency braking.
On the other hand, in the foggy days or the haze days, the visibility is reduced, the range in which the camera can clearly shoot is small, the radar ranging is hardly influenced by the visibility, and the measurement data is accurate.
Optionally, on the basis of the foregoing embodiment, the preset weather-related braking strategy may further include: and if the actual weather information is heavy rain or snow, setting the early warning threshold value to be larger than the preset early warning threshold value. And if the actual weather information is medium rain or light rain, setting the early warning threshold value to be larger than the preset early warning threshold value, and setting the braking threshold value to be larger than the preset braking threshold value.
And when the influence of weather information is not considered, the preset early warning threshold value and the preset braking threshold value are parameters for braking according to the empirical value.
It should be noted that the road surface friction coefficient is smaller in heavy rain or snow, the distance from the start of braking to the stop of the vehicle is increased under the same braking force, and when the automatic emergency braking function is turned off, the early warning threshold value is increased to allow the reaction time for the driver, and allow a longer distance for the braking process, so as to reduce the risk of collision.
It should be noted that the friction coefficient of a medium or low rain road surface is also reduced, and the following problems are also caused: with the same braking force, the distance of the vehicle from the start of braking to the stop increases. In order to ensure that the automatic emergency braking can still effectively reduce the occurrence of the collision accident, the braking threshold value is increased on the basis of increasing the early warning threshold value, so that the vehicle can start early warning and braking when the predicted collision time is relatively long, and the response is ensured to effectively avoid the occurrence of the collision accident.
On the basis of the above embodiments, the present embodiment further optimizes the step of determining the actual weather information. Specifically, determining the actual weather information according to the first weather information and the second weather information may include: and if the first weather information is rainy, the second weather information is rainy, and the rainfall information included in the second weather information is that the rainfall is greater than or equal to the first preset value, determining that the actual weather information is heavy rain. And if the first weather information is rainy, the second weather information is rainy, and the rainfall information included in the second weather information is that the rainfall is smaller than the first preset value and is larger than or equal to the second preset value, determining that the actual weather is medium rain. And if the first weather information is rainy, the second weather information is rainy, and the rainfall information included in the second weather information is that the rainfall is smaller than a second preset value, determining that the actual weather is light rain. And if the first weather information is snow and the second weather information is snow, determining that the actual weather is snow. And if the first weather information is fog or haze and the second weather information is fog or haze, determining that the actual weather is the fog or haze.
It should be noted that the rainfall cannot be determined by the first weather information, the rainfall information is carried in the second weather information, and when both the first weather information and the second weather information are rainy days, the specific rainy weather type is determined according to the rainfall information carried in the second weather information. The first preset value and the second preset value are empirical values.
The present embodiment is further optimized on the basis of the above embodiment, and specifically, on the basis of the automatic emergency braking method shown in fig. 1, after controlling the braking mechanism and the alarm unit to perform corresponding responses, the method may further include: during emergency braking, if a turning signal is detected, the output braking force is reduced. Correspondingly, fig. 4 is a schematic flow chart of another automatic emergency braking method according to an embodiment of the present invention. As shown in fig. 4, the automatic emergency braking method provided in this embodiment may specifically include:
and 11, acquiring first weather information provided by the camera.
And step 12, obtaining second weather information provided by the upper plate of the cloud controller.
And step 13, determining actual weather information according to the first weather information and the second weather information.
And step 14, determining a response condition according to the actual weather information and a preset weather-related braking strategy.
And step 15, acquiring second distance information, second relative speed information and second relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by the camera, and the type of the object in front of the vehicle, and acquiring first distance information, first relative speed information and first relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by the radar.
And step 16, obtaining second distance information between the object in front of the vehicle and the vehicle according to the image.
And step 17, calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information.
And step 18, controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition.
And step 19, in the emergency braking process, if the turning signal is detected, reducing the output braking force.
It should be noted that, during the turning of the vehicle, especially during the turning of the large-sized vehicle, the emergency braking easily causes the vehicle to slip or roll over, so when the turning signal is detected at the same time as the emergency braking, the probability of an accident is reduced by reducing the braking force to be output. It should be noted that the reduction is performed on the basis of the braking force that has been determined in step 18, rather than on the basis of the preset braking force.
On the basis of the foregoing embodiment, this embodiment further optimizes the foregoing step 19, and specifically, fig. 5 is a flowchart illustrating a method for reducing output braking force according to an embodiment of the present invention. As shown in fig. 5, if the turning signal is detected, the reducing of the output braking force may specifically include the following:
and 21, acquiring the turning radius of the vehicle when the turning signal is detected.
For example, the turn signal may be determined by an attitude angle obtained by an inertial measurement unit test in the vehicle, or by a steering wheel angle.
And step 22, determining the reduction ratio of the braking force according to the turning radius and the corresponding relation between the preset turning radius and the reduction ratio of the braking force.
It should be noted that the larger the turning radius is, the smaller the probability of occurrence of a slip or a rollover at the same braking force is, and for this reason, the proportion of the reduction in braking force is set to be reduced as the turning radius increases, and the reduction proportion is determined based on the braking force determined in the above-described step 18, instead of the preset braking force.
It should be further noted that the preset corresponding relationship between the turning radius and the braking force reduction ratio is empirical data and is determined according to actual experiments.
And 23, reducing the braking force according to the reduction ratio, and outputting the reduced braking force.
The present embodiment is further optimized on the basis of the above embodiment, and specifically, on the basis of the automatic emergency braking method shown in fig. 1, after controlling the braking mechanism and the alarm unit to perform corresponding responses, the method may further include: during automatic emergency braking, if a vehicle slip is detected, the braking force is removed. Correspondingly, fig. 6 is a schematic flow chart of another automatic emergency braking method according to an embodiment of the present invention. As shown in fig. 6, the automatic emergency braking method provided in this embodiment may specifically include:
and 11, acquiring first weather information provided by the camera.
And step 12, obtaining second weather information provided by the upper plate of the cloud controller.
And step 13, determining actual weather information according to the first weather information and the second weather information.
And step 14, determining a response condition according to the actual weather information and a preset weather-related braking strategy.
And step 15, acquiring second distance information, second relative speed information and second relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by the camera, and the type of the object in front of the vehicle, and acquiring first distance information, first relative speed information and first relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by the radar.
And step 16, obtaining second distance information between the object in front of the vehicle and the vehicle according to the image.
And step 17, calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information.
And step 18, controlling a brake mechanism and an alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition.
And 20, in the automatic emergency braking process, if the vehicle is detected to slip, removing the braking force.
The embodiment is not limited to the specific manner of detecting the vehicle slip, and for example, the wheel speed sensor may detect the abnormal rotation speed of the front axle or the rear axle. It should be noted that, the vehicle slip may cause a traffic accident, and the removal of the braking force at the first moment when the vehicle slip is detected can avoid the vehicle from continuing to slip or reduce the duration of the vehicle slip state, so the embodiment sets the braking force of the automatic emergency braking to be removed when the vehicle slip is detected.
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 modifications, rearrangements, combinations 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 automatic emergency braking system, comprising:
the system comprises a radar, a camera, a braking mechanism, an alarm unit, a cloud controller lower plate and a cloud controller upper plate;
the radar, the camera, the brake mechanism and the cloud controller upper plate are all connected with the cloud controller lower plate;
the radar is used for detecting first distance information, first relative speed information and first relative acceleration information between an object in front of the vehicle and the vehicle;
the camera is used for acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, the type of the object in front of the vehicle and acquiring first day information;
the brake mechanism is used for braking a vehicle under the control of the cloud controller lower plate;
the alarm unit is used for carrying out alarm prompt under the control of the cloud controller lower plate;
the cloud controller upper plate comprises a real-time positioning module and a communication module, the real-time positioning module is used for acquiring real-time positioning information of a vehicle, the communication module is used for realizing network communication connection between the cloud controller upper plate and a cloud server, and the cloud controller upper plate is used for acquiring second weather information corresponding to the real-time positioning information through the network communication connection;
the cloud controller lower plate is used for calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information; the cloud controller is also used for storing a preset weather-related braking strategy, determining actual weather information according to first weather information provided by the camera and second weather information provided by the cloud controller upper plate, and determining a response condition according to the actual weather information and the braking strategy; controlling the brake mechanism and the alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition;
determining actual weather information according to the first weather information provided by the camera and the second weather information provided by the cloud controller upper plate, wherein the determining actual weather information comprises:
if the first weather information is rainy days, the second weather information is rainy days, and the rainfall information included in the second weather information is that the rainfall is greater than or equal to a first preset value, determining that the actual weather information is heavy rain;
if the first weather information is rainy days, the second weather information is rainy days, and the rainfall information included in the second weather information is that the rainfall is smaller than the first preset value and is larger than or equal to a second preset value, determining that the actual weather is medium rain;
if the first weather information is rainy days, the second weather information is rainy days, and the rainfall information included in the second weather information is that the rainfall is smaller than the second preset value, the actual weather is determined to be light rain;
if the first weather information is snow and the second weather information is snow, determining that the actual weather is snow;
if the first weather information is fog or haze and the second weather information is fog or haze, determining that the actual weather is the fog or haze;
the camera shoots images in real time, whether rain, snow, fog or haze appears in a camera view finding range can be determined through analyzing the images, and then the first weather information is determined;
in a conventional driving scene, judging the type of a front object by using a camera, and responding according to predicted collision time determined based on radar data after determining that the front object is a preset target object; in fog or haze days, the response is made based only on the estimated time to collision determined from the radar data.
2. The automatic emergency braking system of claim 1, wherein the alarm unit comprises an alarm display screen for simultaneously audible and visual alarm prompting.
3. The automatic emergency braking system of claim 1, wherein the real-time location module is a global satellite positioning system.
4. The automatic emergency braking system of claim 1, wherein the cloud controller lower board and the cloud controller upper board are stacked, and the components in the cloud controller lower board are mounted on a side surface of the circuit board thereof facing the cloud controller upper board, and the components in the cloud controller upper board are mounted on a side surface of the circuit board thereof facing away from the cloud controller lower board;
elements in the cloud controller lower plate are disposed proximate to edges thereof.
5. An automatic emergency braking method implemented with an automatic emergency braking system according to any one of claims 1 to 4, characterized by comprising:
acquiring first weather information provided by a camera;
acquiring second weather information provided by an upper plate of the cloud controller;
determining actual weather information according to the first weather information and the second weather information;
determining a response condition according to the actual weather information and a preset weather-related braking strategy;
acquiring second distance information, second relative speed information and second relative acceleration information between an object in front of the vehicle and the vehicle, which are provided by a camera, and the type of the object in front of the vehicle, and acquiring first distance information, first relative speed information and first relative acceleration information between the object in front of the vehicle and the vehicle, which are provided by a radar;
calculating and obtaining the predicted collision time between the object in front of the vehicle and the vehicle according to the first distance information, the first relative speed information, the first relative acceleration information, the second distance information, the second relative speed information and the second relative acceleration information;
controlling the brake mechanism and the alarm unit to perform corresponding response according to the type, the predicted collision time and the response condition;
determining actual weather information according to the first weather information and the second weather information comprises:
if the first weather information is rainy days, the second weather information is rainy days, and the rainfall information included in the second weather information is that the rainfall is greater than or equal to a first preset value, determining that the actual weather information is heavy rain;
if the first weather information is rainy days, the second weather information is rainy days, and the rainfall information included in the second weather information is that the rainfall is smaller than the first preset value and is larger than or equal to a second preset value, determining that the actual weather is medium rain;
if the first weather information is rainy days, the second weather information is rainy days, and the rainfall information included in the second weather information is that the rainfall is smaller than the second preset value, the actual weather is determined to be light rain;
if the first weather information is snow and the second weather information is snow, determining that the actual weather is snow;
if the first weather information is fog or haze and the second weather information is fog or haze, determining that the actual weather is the fog or haze;
the camera shoots images in real time, whether rain, snow, fog or haze appears in a camera view finding range can be determined through analyzing the images, and then the first weather information is determined;
in a conventional driving scene, judging the type of a front object by using a camera, and responding according to predicted collision time determined based on radar data after determining that the front object is a preset target object; in fog or haze days, the response is made based only on the estimated time to collision determined from the radar data.
6. The automatic emergency braking method of claim 5, the preset weather-related braking strategy comprising:
if the actual weather information is heavy rain or snow, only giving an alarm when an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value;
if the actual weather information is medium rain or light rain, giving an alarm prompt when an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to an early warning threshold value; when an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to a braking threshold value, automatic braking is carried out, wherein the braking force of the automatic braking is less than the preset braking force;
if the actual weather information is fog or haze, giving an alarm prompt when the predicted collision time is less than or equal to the early warning threshold value; when the predicted collision time is less than or equal to a braking threshold value, automatic braking is carried out, wherein the braking force of the automatic braking is equal to the preset braking force;
correspondingly, the response condition comprises:
when an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value, only giving an alarm prompt;
when an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to the early warning threshold value, giving an alarm; when an object in front of the vehicle is a preset target object and the predicted collision time is less than or equal to a braking threshold value, automatic braking is carried out, wherein the braking force of the automatic braking is less than the preset braking force;
when the predicted collision time is less than or equal to the early warning threshold value, giving an alarm for prompting; and when the predicted collision time is less than or equal to a braking threshold value, performing automatic braking, wherein the braking force of the automatic braking is equal to the preset braking force.
7. The automated emergency braking method of claim 6, wherein the preset weather-related braking strategy further comprises:
if the actual weather information is heavy rain or snow, setting the early warning threshold value to be larger than a preset early warning threshold value;
and if the actual weather information is medium rain or light rain, setting the early warning threshold value to be larger than a preset early warning threshold value, and setting the braking threshold value to be larger than a preset braking threshold value.
8. The automated emergency braking method of claim 5, further comprising, after controlling the braking mechanism and the alarm unit to respond accordingly:
during emergency braking, if a turning signal is detected, the braking force to be output is reduced.
9. The automatic emergency braking method of claim 8, wherein reducing the braking force output if a turn signal is detected comprises:
when the turning signal is detected, the turning radius of the vehicle is obtained;
determining the reduction proportion of the braking force according to the turning radius and the corresponding relation between the preset turning radius and the reduction proportion of the braking force;
and reducing the braking force according to the reduction proportion, and outputting the reduced braking force.
10. The automated emergency braking method of claim 5, further comprising, after controlling the braking mechanism and the alarm unit to respond accordingly:
during automatic emergency braking, if a vehicle slip is detected, the braking force is removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110445918.7A CN112977370B (en) | 2021-04-25 | 2021-04-25 | Automatic emergency braking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110445918.7A CN112977370B (en) | 2021-04-25 | 2021-04-25 | Automatic emergency braking system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112977370A CN112977370A (en) | 2021-06-18 |
| CN112977370B true CN112977370B (en) | 2021-08-06 |
Family
ID=76340022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110445918.7A Active CN112977370B (en) | 2021-04-25 | 2021-04-25 | Automatic emergency braking system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112977370B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114426019B (en) * | 2022-01-30 | 2023-10-20 | 重庆长安汽车股份有限公司 | Target vehicle cut-in control method and system and vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101045449A (en) * | 2007-03-12 | 2007-10-03 | 北京航空航天大学 | Inertia measuring and control method for preventing vehicle rollover |
| CN104870293A (en) * | 2012-12-11 | 2015-08-26 | 丰田自动车株式会社 | Drive assistance device and drive assistance method |
| CN105628047A (en) * | 2016-02-04 | 2016-06-01 | 智车优行科技（北京）有限公司 | Intelligent vehicle navigation system, navigation method and intelligent vehicle |
| CN107364435A (en) * | 2016-05-13 | 2017-11-21 | 富士施乐株式会社 | Operation model constructing system and operation model construction method |
| CN107472253A (en) * | 2017-08-09 | 2017-12-15 | 厦门纵目实业有限公司 | The safe driving control method and its system of a kind of image identification detection road surface slippery situation |
| CN109334564A (en) * | 2018-09-11 | 2019-02-15 | 南京航空航天大学 | A kind of automobile active safety early warning system of anticollision |
| CN110304054A (en) * | 2019-07-03 | 2019-10-08 | 国唐汽车有限公司 | A kind of automatic emergency brake method based on Multi-sensor Fusion |
| CN110422151A (en) * | 2019-07-18 | 2019-11-08 | 浙江吉利新能源商用车集团有限公司 | A kind of vehicle auxiliary braking method, device, system and terminal |
| CN210591844U (en) * | 2019-08-29 | 2020-05-22 | 泰远时代(北京)技术研究院 | Vehicle collision-preventing device |
| CN111231827A (en) * | 2020-02-27 | 2020-06-05 | 江苏大学 | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather |
-
2021
- 2021-04-25 CN CN202110445918.7A patent/CN112977370B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101045449A (en) * | 2007-03-12 | 2007-10-03 | 北京航空航天大学 | Inertia measuring and control method for preventing vehicle rollover |
| CN104870293A (en) * | 2012-12-11 | 2015-08-26 | 丰田自动车株式会社 | Drive assistance device and drive assistance method |
| CN105628047A (en) * | 2016-02-04 | 2016-06-01 | 智车优行科技（北京）有限公司 | Intelligent vehicle navigation system, navigation method and intelligent vehicle |
| CN107364435A (en) * | 2016-05-13 | 2017-11-21 | 富士施乐株式会社 | Operation model constructing system and operation model construction method |
| CN107472253A (en) * | 2017-08-09 | 2017-12-15 | 厦门纵目实业有限公司 | The safe driving control method and its system of a kind of image identification detection road surface slippery situation |
| CN109334564A (en) * | 2018-09-11 | 2019-02-15 | 南京航空航天大学 | A kind of automobile active safety early warning system of anticollision |
| CN110304054A (en) * | 2019-07-03 | 2019-10-08 | 国唐汽车有限公司 | A kind of automatic emergency brake method based on Multi-sensor Fusion |
| CN110422151A (en) * | 2019-07-18 | 2019-11-08 | 浙江吉利新能源商用车集团有限公司 | A kind of vehicle auxiliary braking method, device, system and terminal |
| CN210591844U (en) * | 2019-08-29 | 2020-05-22 | 泰远时代(北京)技术研究院 | Vehicle collision-preventing device |
| CN111231827A (en) * | 2020-02-27 | 2020-06-05 | 江苏大学 | Device and method for displaying front collision risk area of vehicle in rainy and foggy weather |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112977370A (en) | 2021-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10140531B2 (en) | Detection of brake lights of preceding vehicles for adaptation of an initiation of active safety mechanisms | |
| CN106985780B (en) | Vehicle safety auxiliary system | |
| CN104925064B (en) | Increase vehicle, Vehicular system and the method for autonomous driving safety and/or comfort | |
| CN104925053B (en) | Increase vehicle, Vehicular system and the method for autonomous driving safety and/or comfort | |
| CN106233159B (en) | False alarm reduction using location data | |
| US8301344B2 (en) | Device for classifying at least one object in the surrounding field of a vehicle | |
| US9978277B2 (en) | Vehicle control device and vehicle control method | |
| US20070112516A1 (en) | Apparatus for reducing impact of vehicle crash | |
| US20080015743A1 (en) | Method and system for assisting the driver of a motor vehicle in identifying road bumps | |
| CN110775028A (en) | System and method for detecting automobile windshield shelters and assisting in driving | |
| US20150046015A1 (en) | Method and Device for Assisting in Returning a Vehicle After Leaving a Roadway | |
| CN112977370B (en) | Automatic emergency braking system and method | |
| JP2008186384A (en) | Controller for vehicle | |
| CN114312794A (en) | System and method for identifying severe weather environment of vehicle running | |
| US11640172B2 (en) | Vehicle controls based on reliability values calculated from infrastructure information | |
| CN111856510A (en) | Vehicle front collision prediction method based on laser radar | |
| JP2021187367A (en) | Vehicle control method, vehicle control program and vehicle control system | |
| KR101511864B1 (en) | An Active Cruise Control Apparatus and A Method for the same | |
| KR101602021B1 (en) | An Active Cruise Control Apparatus and A Method for the same | |
| CN114994686A (en) | Vehicle radar early warning method, device and system and vehicle | |
| KR101535723B1 (en) | An Active Cruise Control Apparatus and A Method for the same | |
| EP3020609B1 (en) | A vehicle safety system | |
| CN116133920A (en) | Method for operating a dangerous parking warning system for a vehicle | |
| CN112026757B (en) | Self-adaptive active anti-collision brake system with autonomous training and learning function | |
| CN114312838B (en) | Control method and device for vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |