CN113291301B - Automobile low-speed emergency braking function control method, electronic equipment and storage medium - Google Patents
Automobile low-speed emergency braking function control method, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN113291301B CN113291301B CN202110593179.6A CN202110593179A CN113291301B CN 113291301 B CN113291301 B CN 113291301B CN 202110593179 A CN202110593179 A CN 202110593179A CN 113291301 B CN113291301 B CN 113291301B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- low
- gradient
- emergency braking
- speed emergency
- 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
- 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
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a control method for a low-speed emergency braking function of an automobile, electronic equipment and a storage medium. The method comprises the following steps: acquiring a detection gradient of a vehicle; if the detected gradient is greater than or equal to a preset first gradient threshold value, inhibiting the low-speed emergency braking function, otherwise; if the detected gradient is less than or equal to a preset second gradient threshold value, normally operating a low-speed emergency braking function; wherein: and when the low-speed emergency braking function is started, detecting the distance between obstacles around the vehicle and the vehicle through a distance sensor, and calculating the predicted collision time according to the distance between the obstacles and the vehicle to control the braking of the vehicle. According to the invention, the low-speed emergency braking function is inhibited under the slope and the complex environment, so that the condition that the flat ground/road surface is mistakenly triggered as an obstacle when a vehicle is in the slope and the complex environment is avoided, the low-speed emergency braking function starts braking, and the use experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method for controlling a low-speed emergency braking function of an automobile, electronic equipment and a storage medium.
Background
Along with the deep development of the field of intelligent networking, more and more automobiles carry advanced driving auxiliary functions. In actual development, the low-speed emergency braking function has high embarkation rate and is closely related to the daily use scene of a client. The low-speed Emergency braking function, namely, the accelerator mis-stepping prevention/automatic Emergency braking function (EAPM), will monitor the obstacles in front and rear of the vehicle in real time. The system automatically brakes to avoid collision with obstacles if necessary.
The system for preventing the accelerator from being stepped on by mistake mainly comprises an intelligent low-speed Brake Support (SCBS) function: when the vehicle is in the process of low-speed forward running or reverse running, automatic braking can be realized to avoid collision when collision with an obstacle is detected.
Specifically, as shown in fig. 1 to 3, a sensor 2 'is mounted on a vehicle 1'. The sensor detection range of the sensor 2' covers a preset height and a preset distance in front of the vehicle. The predicted Time To Collision (TTC) is calculated from the distance between an obstacle (other vehicle, wall surface, square pillar, etc.) and the vehicle and from the vehicle speed, and the vehicle braking is controlled from the predicted time to collision.
However, during actual use, under certain complex scene conditions, EAPM may malfunction, leading to customer complaints. Particularly, in the case of an underground parking lot, when a vehicle is turned from a slope to a level road during a downhill, a distance sensor in front of the vehicle may misjudge the ground as an obstacle, thereby performing emergency braking, causing a complaint from users.
Disclosure of Invention
Accordingly, it is desirable to provide a method for controlling a low-speed emergency braking function of an automobile, an electronic device and a storage medium, which solve the technical problem that the low-speed emergency braking function of the prior art is prone to cause erroneous judgment when facing a slope.
The invention provides a control method for a low-speed emergency braking function of an automobile, which comprises the following steps:
acquiring a detection gradient of a vehicle;
if the detected gradient is greater than or equal to a preset first gradient threshold value, inhibiting the low-speed emergency braking function, otherwise;
if the detected gradient is less than or equal to a preset second gradient threshold value, normally operating a low-speed emergency braking function; wherein:
and when the low-speed emergency braking function is started, the distance between an obstacle around the vehicle and the vehicle is detected through a distance sensor, and the vehicle is controlled to brake according to the distance between the obstacle and the vehicle.
Further, the obtaining of the detected gradient of the vehicle specifically includes:
if the vehicle is in a downhill state, a downhill gradient of the vehicle is detected as a detected gradient of the vehicle.
Further, when the low-speed emergency braking function is started, the distance between obstacles around the vehicle and the vehicle is detected through an ultrasonic sensor, and the height between the ultrasonic sensor and the ground is 40-60 cm.
Further, when the low-speed emergency braking function is started, the distance between obstacles around the vehicle and the vehicle is detected through an ultrasonic sensor, and the pitch angle of the ultrasonic sensor is 4-8 degrees inclined upwards.
Further, the function of suppressing the low-speed emergency braking specifically includes: the low speed emergency braking function is disabled.
Further, the function of suppressing the low-speed emergency braking specifically includes:
determining a specific gradient value of the environment in which the vehicle is located based on the detected gradient;
controlling the pitch angle of the distance sensor to be the sensor angle;
and detecting the distance between the obstacle around the vehicle and the vehicle based on the adjusted distance sensor, and controlling the vehicle to brake according to the distance between the obstacle and the vehicle.
Further, the sensor angle corresponding to the larger detection gradient is equal to or greater than the sensor angle corresponding to the smaller detection gradient.
Further, the function of suppressing the low-speed emergency braking specifically includes:
determining a sensor height with respect to a detected gradient based on the detected gradient;
controlling the height of the distance sensor to be the sensor height;
and detecting the distance between the obstacle around the vehicle and the vehicle based on the adjusted distance sensor, and controlling the vehicle to brake according to the distance between the obstacle and the vehicle.
Further, the sensor height corresponding to a larger detection gradient is equal to or greater than the sensor height corresponding to a smaller detection gradient.
Still further, after obtaining the detected grade of the vehicle, the method further comprises:
acquiring the road surface type of a slope where a vehicle is located;
and determining a corresponding first gradient threshold value and a corresponding second gradient threshold value according to the road surface type.
The present invention provides an electronic device including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for controlling a low-speed emergency braking function of a vehicle as described above.
The present invention provides a storage medium storing computer instructions which, when executed by a computer, are used to perform all the steps of the vehicle low speed emergency brake function control method as described above.
According to the invention, the low-speed emergency braking function is inhibited when the vehicle is on a slope, so that the flat ground is prevented from being mistakenly triggered as an obstacle when the vehicle is on the slope, and the use experience of a user is improved.
Drawings
FIG. 1 is a schematic view of an installation of a conventional accelerator stepping misoperation prevention system;
FIG. 2 is a schematic diagram of a detection area in the X and Z directions of a conventional accelerator stepping misoperation prevention system;
FIG. 3 is a schematic diagram of a detection area in X and Y directions of a conventional accelerator stepping misoperation prevention system;
FIG. 4 is a flowchart illustrating a method for controlling a low-speed emergency braking function of a vehicle according to the present invention;
FIG. 5 is a schematic diagram of the operation of the present invention;
FIG. 6 is a flowchart illustrating a method for controlling a low-speed emergency braking function of a vehicle according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a method for controlling a low-speed emergency braking function of a vehicle according to a preferred embodiment of the present invention;
fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Example one
Fig. 4 is a flowchart illustrating a method for controlling a low-speed emergency braking function of an automobile according to the present invention, which includes:
step S401, acquiring the detection gradient of the vehicle;
step S402, if the detected gradient is greater than or equal to a preset first gradient threshold value, the low-speed emergency braking function is inhibited, otherwise;
step S403, if the detected gradient is less than or equal to a preset second gradient threshold value, normally operating a low-speed emergency braking function; wherein:
and when the low-speed emergency braking function is started, the distance between obstacles around the vehicle and the vehicle is detected through a distance sensor, and the vehicle is controlled to brake according to the distance between the obstacles and the vehicle.
Specifically, the present invention can be applied to an Electronic Control Unit (ECU) of a vehicle. The detected gradient of the vehicle is acquired by step S401.
In one embodiment, the obtaining of the detected gradient of the vehicle specifically includes:
if the vehicle is in a downhill state, a downhill gradient of the vehicle is detected as a detected gradient of the vehicle.
When the vehicle is detected to incline downwards, the vehicle can be judged to be in a downhill state, the inclination of the vehicle can be obtained through the inclination sensor of the vehicle, and the inclination of the vehicle is the detection gradient of the vehicle in the downhill process.
The invention adjusts the low speed emergency braking function based on the detected grade. When the detected gradient is greater than the first gradient threshold, step S402 is executed to inhibit the low-speed emergency braking function and avoid that a slope with a large gradient is mistakenly considered as an obstacle to trigger braking of the vehicle. When the detected gradient is smaller than the second gradient threshold, step S403 is executed, and the low-speed emergency braking function is normally operated without being inhibited. The second grade threshold may be equal to or less than the first grade threshold. Preferably, the first slope threshold is 8 ° and the second slope threshold is 6 °. If the second gradient threshold is less than the first gradient threshold, when the detected gradient is greater than the first gradient threshold, step S402 is executed to enter the gradient mode and suppress the low-speed emergency braking function. When the detected grade is between the first grade threshold and the second grade threshold, the current mode of the vehicle is not changed. When the detected gradient is less than the second gradient threshold, step S403 is performed to resume the normal mode.
According to the invention, the low-speed emergency braking function is inhibited when the vehicle is on the slope, so that the low-speed emergency braking function is prevented from starting braking due to the fact that the flat ground is mistakenly triggered as an obstacle when the vehicle is on the slope, and the use experience of a user is improved.
Example two
Fig. 6 is a flowchart illustrating a method for controlling a low-speed emergency braking function of a vehicle according to an embodiment of the present invention, including:
step S601, acquiring the detection gradient of the vehicle;
step S602, if the detected gradient is greater than or equal to a preset first gradient threshold, suppressing a low-speed emergency braking function, where the suppressing the low-speed emergency braking function specifically includes: forbidding the low-speed emergency braking function, otherwise;
step S603, if the detected gradient is less than or equal to a preset second gradient threshold value, normally operating a low-speed emergency braking function; wherein:
the second gradient threshold value is smaller than or equal to the first gradient threshold value, when the low-speed emergency braking function is started, the distance between obstacles around the vehicle and the vehicle is detected through an ultrasonic sensor, the vehicle is controlled to brake according to the distance between the obstacles and the vehicle, the height between the ultrasonic sensor and the ground is 40 cm-60 cm, and the pitch angle of the ultrasonic sensor is 4-8 degrees of upward inclination.
Preferably, the height of the ultrasonic sensor from the ground is 50 to 55 cm, and the pitch angle of the ultrasonic sensor is 6 degrees.
The height between the ultrasonic sensor and the ground is increased or the pitch angle of the ultrasonic sensor is raised upwards. The height between the ultrasonic sensor and the ground is increased, so that the detection range of the ultrasonic sensor is increased, and the ground is prevented from being triggered as an obstacle by mistake when the slope goes downhill. And the pitch angle of the ultrasonic sensor is raised upwards, so that the detection direction of the ultrasonic sensor is inclined upwards, and the ground is prevented from being triggered as an obstacle by mistake when the slope goes downhill.
The low-speed emergency braking prohibition function is to completely stop the use of the low-speed emergency braking function. However, in addition to completely disabling the low-speed emergency braking function, various parameter thresholds of the low-speed emergency braking function may be adjusted to accommodate the slope conditions.
In one embodiment, the suppressing the low-speed emergency braking function specifically includes:
determining a sensor angle with respect to a detected gradient based on the detected gradient;
controlling the pitch angle of the distance sensor to be the sensor angle;
and detecting the distance between the obstacle around the vehicle and the vehicle based on the adjusted distance sensor, and controlling the vehicle to brake according to the distance between the obstacle and the vehicle.
This embodiment selects the sensor angle that corresponds to different detection slopes to make distance sensor's the pitch angle correspond different detection slopes, adapt to different slope slopes through adjustment distance sensor's pitch angle, in order to avoid the spurious triggering. The specific correspondence may be calibrated by actual measurement. The distance sensor may be provided on a rotatable rotary base, and the rotation of the rotary base is driven by a motor to change the pitch angle of the distance sensor.
In one embodiment, the sensor angle corresponding to a larger detection slope is greater than or equal to the sensor angle corresponding to a smaller detection slope.
In one embodiment, the suppressing the low-speed emergency braking function specifically includes:
determining a sensor height with respect to a detected gradient based on the detected gradient;
controlling the height of the distance sensor to be the sensor height;
and detecting the distance between the obstacle around the vehicle and the vehicle based on the adjusted distance sensor, and controlling the vehicle to brake according to the distance between the obstacle and the vehicle.
Specifically, the slope on which the vehicle is located is calculated based on the vehicle speed and the longitudinal acceleration of the vehicle.
This embodiment selects corresponding sensor height to different detection slopes to make distance sensor's height correspond different detection slopes, adapt to different slope slopes through adjustment distance sensor height, in order to avoid the spurious triggering. The specific correspondence may be calibrated by actual measurement. The distance sensor can be arranged on a lifting base capable of ascending and descending, and the motor drives the lifting base to ascend and descend so as to change the height of the distance sensor.
In one embodiment, the sensor height corresponding to a larger detection slope is greater than or equal to the sensor height corresponding to a smaller detection slope.
In one embodiment, the suppressing the low-speed emergency braking function specifically includes:
determining a distance threshold for the detected grade based on the detected grade;
and detecting the distance between an obstacle around the vehicle and the vehicle through a distance sensor, and controlling the vehicle to brake when the distance between the vehicle and the obstacle is smaller than or equal to the distance threshold value.
This embodiment selects corresponding distance threshold to different detection slopes to make and to have different distance thresholds at different detection slopes, adapt to different slope slopes through adjustment distance threshold, in order to avoid the false triggering. The specific correspondence may be calibrated by actual measurement.
In one embodiment, the distance threshold corresponding to a larger detected grade is less than or equal to the distance threshold corresponding to a smaller detected grade.
In one embodiment, after obtaining the detected grade of the vehicle, the method further comprises:
acquiring the road surface type of a slope where a vehicle is located;
and determining a corresponding first gradient threshold value and a corresponding second gradient threshold value according to the road surface type.
Specifically, the vehicle photographs the road surface condition of the slope by a camera, and then determines the road surface type of the slope. Pavement types include, but are not limited to: drainage channel type, iron plate road type, projected road type, masonry road type, etc.
Then, according to different road surface types, a corresponding first gradient threshold value and a corresponding second gradient threshold value are selected.
According to the embodiment, the corresponding first gradient threshold value and the corresponding second gradient threshold value are selected according to different road surface types, so that different slope road surfaces can be better adapted.
EXAMPLE III
As shown in fig. 7, a flowchart of a method for controlling a low-speed emergency braking function of a vehicle according to a preferred embodiment of the present invention includes:
step S701, judging the detected gradient, if the gradient is more than 8 degrees, executing step S702, otherwise executing step S703;
step S702, entering a ramp mode, and inhibiting the EAPM from operating in a gradient mode;
step S704, enter the normal mode, in which EAPM operates normally.
In the present embodiment, in the EAPM determination condition, the ramp signal is increased, and if the ramp signal is greater than 8 °, the ramp mode is determined to be performed, so as to inhibit EAPM operation.
Example four
Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:
at least one processor 801; and the number of the first and second groups,
a memory 802 communicatively coupled to at least one of the processors 801; wherein, the first and the second end of the pipe are connected with each other,
the memory 802 stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the method for controlling a low-speed emergency braking function of a vehicle as described above.
Fig. 8 illustrates an example of a processor 801.
The Electronic device is preferably an Electronic Control Unit (ECU) of the vehicle. The electronic device may further include: an input device 803 and a display device 804.
The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 802 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method for controlling the low-speed emergency braking function of the vehicle in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 801 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 802, so as to implement the control method for the low-speed emergency braking function of the vehicle in the above-described embodiment.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle low-speed emergency brake function control method, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 802 optionally includes memory located remotely from processor 801, which may be connected via a network to a device that performs the method for controlling the low speed emergency braking function of a vehicle. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 803 may receive an input of a user click and generate signal inputs related to user settings and function control of the vehicle low speed emergency brake function control method. The display device 804 may include a display screen or the like.
When the one or more modules are stored in the memory 802, the method for controlling the low-speed emergency braking function of the vehicle in any of the above-described method embodiments is performed when executed by the one or more processors 801.
According to the invention, the low-speed emergency braking function is inhibited when the vehicle is on the slope, so that the flat ground is prevented from being mistakenly triggered as an obstacle when the vehicle is on the slope, and the use experience of a user is improved.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A control method for a low-speed emergency braking function of an automobile is characterized by comprising the following steps:
acquiring a detection gradient of a vehicle;
if the detected gradient is greater than or equal to a preset first gradient threshold value, inhibiting the low-speed emergency braking function, otherwise;
if the detected gradient is less than or equal to a preset second gradient threshold value, normally operating a low-speed emergency braking function; wherein:
when the low-speed emergency braking function is started, detecting the distance between obstacles around the vehicle and the vehicle through a distance sensor, and controlling the vehicle to brake according to the distance between the obstacles and the vehicle;
the method for acquiring the detected gradient of the vehicle specifically comprises the following steps:
if the vehicle is in a downhill state, detecting a downhill gradient of the vehicle as a detected gradient of the vehicle;
the function of restraining the low-speed emergency braking specifically comprises the following steps:
determining a sensor angle related to the detection gradient based on the detection gradient, wherein the sensor angle corresponding to the larger detection gradient is larger than or equal to the sensor angle corresponding to the smaller detection gradient;
controlling the pitch angle of the distance sensor to be the sensor angle;
detecting the distance between an obstacle around the vehicle and the vehicle based on the adjusted distance sensor, and controlling the vehicle to brake according to the distance between the obstacle and the vehicle; or
The function of restraining the low-speed emergency braking specifically comprises the following steps:
determining a sensor height for the detected gradient based on the detected gradient, the sensor height corresponding to a larger detected gradient being greater than or equal to the sensor height corresponding to a smaller detected gradient;
controlling the height of the distance sensor to be the sensor height;
and detecting the distance between the obstacle around the vehicle and the vehicle based on the adjusted distance sensor, and controlling the vehicle to brake according to the distance between the obstacle and the vehicle.
2. The method as claimed in claim 1, wherein the distance between the obstacle around the vehicle and the vehicle is detected by an ultrasonic sensor when the low-speed emergency braking function is activated, and the height between the ultrasonic sensor and the ground is 40 cm-60 cm.
3. The method as claimed in claim 1, wherein the distance between the obstacle around the vehicle and the vehicle is detected by an ultrasonic sensor when the low-speed emergency braking function is activated, and the pitch angle of the ultrasonic sensor is 4-8 degrees.
4. The method for controlling the low-speed emergency braking function of the automobile according to claim 1, wherein the step of suppressing the low-speed emergency braking function specifically comprises the steps of: the low speed emergency braking function is disabled.
5. The control method for a low-speed emergency brake function of an automobile according to any one of claims 1 to 4, wherein after the step of obtaining the detected gradient of the vehicle, the method further comprises:
acquiring the road surface type of a slope where a vehicle is located;
and determining a corresponding first gradient threshold value and a corresponding second gradient threshold value according to the road surface type.
6. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of controlling a low-speed emergency braking function of a vehicle according to any one of claims 1 to 5.
7. A storage medium storing computer instructions for performing all the steps of the control method for a low speed emergency brake function of a vehicle according to any one of claims 1 to 5 when the computer instructions are executed by a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593179.6A CN113291301B (en) | 2021-05-28 | 2021-05-28 | Automobile low-speed emergency braking function control method, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593179.6A CN113291301B (en) | 2021-05-28 | 2021-05-28 | Automobile low-speed emergency braking function control method, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113291301A CN113291301A (en) | 2021-08-24 |
| CN113291301B true CN113291301B (en) | 2023-03-31 |
Family
ID=77325960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110593179.6A Active CN113291301B (en) | 2021-05-28 | 2021-05-28 | Automobile low-speed emergency braking function control method, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113291301B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5635922A (en) * | 1993-12-27 | 1997-06-03 | Hyundai Electronics Industries Co., Ltd. | Apparatus for and method of preventing car collision utilizing laser |
| JP2007210595A (en) * | 2006-01-10 | 2007-08-23 | Hino Motors Ltd | Automatic braking control device |
| CN105835754A (en) * | 2016-02-22 | 2016-08-10 | 北京工业大学 | Control device for actively adjusting pitch angle of headlamps by sensing road surface fluctuation through infrared |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011112422A1 (en) * | 2011-09-03 | 2013-03-07 | Volkswagen Aktiengesellschaft | Method for a vehicle safety system and corresponding device |
| JP6060647B2 (en) * | 2012-11-27 | 2017-01-18 | 日産自動車株式会社 | Vehicular speed control device and vehicular speed control method |
| US20200209391A1 (en) * | 2018-12-26 | 2020-07-02 | Industrial Technology Research Institute | Automatic vehicular sensor adjustment method and system thereof |
| JP7077973B2 (en) * | 2019-01-17 | 2022-05-31 | トヨタ自動車株式会社 | Driving support device |
| CN110751127B (en) * | 2019-10-30 | 2022-07-12 | 芜湖汽车前瞻技术研究院有限公司 | Distance determination method, device and storage medium |
| CN112298170A (en) * | 2020-09-28 | 2021-02-02 | 南京泓凯动力系统科技有限公司 | Ramp auxiliary braking method based on forward early warning |
| CN112721806A (en) * | 2021-02-07 | 2021-04-30 | 戴姆勒股份公司 | Method and device for assisting blind zone of gradient road section |
-
2021
- 2021-05-28 CN CN202110593179.6A patent/CN113291301B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5635922A (en) * | 1993-12-27 | 1997-06-03 | Hyundai Electronics Industries Co., Ltd. | Apparatus for and method of preventing car collision utilizing laser |
| JP2007210595A (en) * | 2006-01-10 | 2007-08-23 | Hino Motors Ltd | Automatic braking control device |
| CN105835754A (en) * | 2016-02-22 | 2016-08-10 | 北京工业大学 | Control device for actively adjusting pitch angle of headlamps by sensing road surface fluctuation through infrared |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113291301A (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2018395066B2 (en) | Method and device for controlling vehicle | |
| CN110203196B (en) | Slope automatic parking method, electronic equipment and automobile | |
| US7206673B2 (en) | Driver assisting system | |
| EP2802496B1 (en) | Method and control unit for monitoring traffic | |
| CN112009470B (en) | Vehicle running control method, device, equipment and storage medium | |
| CN110884423B (en) | Automatic control system and method for steering lamp under automatic lane change of vehicle | |
| CN113291301B (en) | Automobile low-speed emergency braking function control method, electronic equipment and storage medium | |
| CN113104045B (en) | Vehicle collision early warning method, device, equipment and storage medium | |
| JP7191973B2 (en) | Garage mode control unit, control system and control method | |
| JP2007230327A (en) | Travel control device | |
| KR102294158B1 (en) | Regenerative braking control method based on driving perception of xEV vehicles | |
| CN113135186B (en) | Method and device for controlling vehicle to run and vehicle | |
| CN107862869A (en) | Intelligent garage control method for stopping, device and storage medium | |
| KR101716835B1 (en) | Apparatus and method for estimating friction coefficient of road surface | |
| CN112744193A (en) | Automatic braking system and method and vehicle | |
| CN112109701A (en) | Parking control method and device, electronic equipment and storage medium | |
| CN111483458A (en) | Power system control method and device | |
| CN116331207A (en) | Intelligent lane changing method for automatic driving scene, related device, medium and program | |
| CN114801989A (en) | Vehicle wading early warning method and system and readable storage medium | |
| CN111986488B (en) | Fatigue driving detection method and device, electronic equipment and storage medium | |
| CN115973143A (en) | Control method and device for preventing accelerator from being stepped on mistakenly, electronic equipment and storage medium | |
| CN113119958A (en) | Automatic parking method and device | |
| KR101446537B1 (en) | Apparatas and method for controlling of moving a vehicle | |
| CN114155705B (en) | Method, device and equipment for evaluating traffic barrier behavior of vehicle and storage medium | |
| CN112654537A (en) | Method for operating a motor vehicle, computer program, electrical storage medium and control and regulation device |
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 |