CN114312764A - Automatic emergency braking method, device and system for vehicle and readable storage medium - Google Patents
Automatic emergency braking method, device and system for vehicle and readable storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle automatic emergency braking method, a device and a system and a readable storage medium, wherein the braking method comprises the following steps: determining an emergency braking stage number of the vehicle, wherein the emergency braking stage number of the vehicle comprises a plurality of stages; obtaining the deceleration of each stage of braking according to the emergency braking stage number of the vehicle; acquiring surrounding environment information of a vehicle, and acquiring a relative distance and a relative speed between the vehicle and an effective barrier when the effective barrier is determined according to the surrounding environment information; and finally, controlling the vehicle to perform emergency braking according to the current emergency braking stage number of the vehicle. Therefore, the automatic emergency braking method for the vehicle can fully utilize the braking characteristics of the vehicle to brake the vehicle better, improves the braking effect of the vehicle, and simultaneously improves the driving safety and the user experience.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method for automatically braking a vehicle in an emergency, a computer-readable storage medium, a system for automatically braking a vehicle in an emergency, and an apparatus for automatically braking a vehicle in an emergency.
Background
With the rapid development of the car networking technology, the automatic driving technology is gradually mature and applied, so the driving safety performance of automatic driving is more important, and the Automatic Emergency Braking (AEB) technology is an important active safety technology in an automatic driving system.
In the related art, automatic emergency braking generally detects an obstacle in front of a vehicle through a millimeter wave radar or a camera, and takes a braking measure actively in an emergency to avoid collision or reduce the speed during collision, so as to improve the driving safety performance. In the related art, most of automatic emergency braking system control strategies adopt fixed collision time, the control method cannot embody the advantages of the automatic emergency braking system, and sometimes the automatic emergency braking system brakes too early, so that the experience of a driver is influenced; sometimes, too late braking is performed, collision occurs, driver experience is still reduced, and the value of automatic emergency braking cannot be reflected.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide an automatic emergency braking method for a vehicle, which can brake the vehicle by fully utilizing the braking characteristics of the vehicle, thereby improving the braking effect of the vehicle, and simultaneously improving the driving safety and the user experience.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide an automatic emergency braking system for a vehicle.
A fourth object of the present invention is to provide an automatic emergency braking device for a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an automatic emergency braking method for a vehicle, including: determining an emergency braking progression of a vehicle, wherein the emergency braking progression of the vehicle comprises a plurality of levels; obtaining the deceleration of each stage of braking according to the emergency braking stage number of the vehicle; acquiring surrounding environment information of the vehicle, and acquiring a relative distance and a relative speed between the vehicle and an effective obstacle when the effective obstacle is determined according to the surrounding environment information of the vehicle; calculating the braking distance of each stage according to the relative speed between the vehicle and the effective obstacle and the braking deceleration of each stage, determining the current emergency braking stage number of the vehicle according to the relative distance between the vehicle and the effective obstacle and the braking distance of each stage, and controlling the vehicle to perform emergency braking according to the current emergency braking stage number of the vehicle.
The automatic emergency braking method for the vehicle comprises the steps of firstly determining the emergency braking stages of the vehicle, wherein the emergency braking stages of the vehicle comprise multiple stages, and then obtaining the braking deceleration of each stage according to the emergency braking stages of the vehicle; then when the effective obstacles exist around the vehicle is determined according to the surrounding environment information of the vehicle, the relative distance and the relative speed between the vehicle and the effective obstacles are obtained; and then, calculating the braking distance of each stage according to the relative speed and the braking deceleration of each stage, determining the current stage number of emergency braking of the vehicle according to the relative distance between the vehicle and the effective barrier and the braking distance of each stage, and controlling the vehicle to perform emergency braking according to the current stage number of emergency braking of the vehicle. Therefore, the automatic emergency braking method for the vehicle can fully utilize the braking characteristics of the vehicle to brake the vehicle better, improves the braking effect of the vehicle, and simultaneously improves the driving safety and the user experience.
In some examples of the invention, when the vehicle is controlled to perform emergency braking according to the current emergency braking level of the vehicle, whether the vehicle enters the next-stage braking is further determined according to the relative distance between the vehicle and the effective obstacle and the next-stage braking distance.
In some examples of the invention, when the vehicle is controlled to perform emergency braking according to the current emergency braking level of the vehicle, if the relative distance between the vehicle and the effective obstacle is greater than the braking distance corresponding to the current emergency braking level, the vehicle is controlled to exit the current emergency braking.
In some examples of the invention, when the emergency braking progression of the vehicle is two, the secondary braking distance is calculated according to the following formula:
wherein x is2Is a secondary braking distance, v is the relative speed between the vehicle and the effective obstacle at any time, v4To initiate secondary braking, the relative speed between the vehicle and the effective obstacle, v5For passing vehicle hydraulic system delay time t4The relative speed, v, between the vehicle and the effective obstacle6Relative speed, t, between the vehicle and the active obstacle at the time of secondary braking deceleration output for the vehicle hydraulic system4、t5As a braking performance parameter, x, of the hydraulic systemsafeFor a predetermined safety distance, a2Is the secondary braking deceleration.
In some examples of the invention, the primary braking distance is calculated according to the following formula:
wherein x is1Is a primary braking distance, v1Is the relative speed between the vehicle and the effective barrier when the vehicle is in a normal running state, v2For passing vehicle hydraulic system delay time t1The relative speed, v, between the vehicle and the effective obstacle3Relative speed, t, between the vehicle and the effective obstacle at the time of primary braking deceleration output for the vehicle hydraulic system1、t2As a braking performance parameter of the hydraulic system, v4For the vehicle to pass t3Relative speed after time, t, with respect to the effective obstacle3Is set as a system setting value.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium having a vehicle automatic emergency braking program stored thereon, where the vehicle automatic emergency braking program is executed by a processor to implement the vehicle automatic emergency braking method according to the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, the processor executes the vehicle automatic emergency braking program stored on the storage medium, so that the vehicle automatic emergency braking method in the embodiment is realized, the vehicle can be braked by fully utilizing the braking characteristics of the vehicle, the braking effect of the vehicle is improved, and the driving safety and the user experience are improved.
In order to achieve the above object, a third embodiment of the present invention provides a vehicle automatic emergency braking system, which includes a memory, a processor and a vehicle automatic emergency braking program stored in the memory and operable on the processor, wherein the processor implements the vehicle automatic emergency braking method according to the above embodiment when executing the vehicle automatic emergency braking program.
According to the automatic emergency braking system for the vehicle, when the processor executes the automatic emergency braking program stored in the memory, the vehicle can be braked better by fully utilizing the braking characteristics of the vehicle, the braking effect of the vehicle is improved, and meanwhile, the driving safety and the user experience are improved.
In order to achieve the above object, a fourth aspect of the present invention provides an automatic emergency braking device for a vehicle, the braking device including a first determining module for determining an emergency braking stage number of the vehicle, wherein the emergency braking stage number of the vehicle includes multiple stages; the first acquisition module is used for acquiring braking deceleration of each stage according to the emergency braking stage number of the vehicle; the second acquisition module is used for acquiring the surrounding environment information of the vehicle and acquiring the relative distance and the relative speed between the vehicle and the effective barrier when the effective barrier is determined according to the surrounding environment information of the vehicle; and the second determining module is used for calculating the braking distance of each stage according to the relative speed between the vehicle and the effective obstacle and the braking deceleration of each stage, determining the current emergency braking stage number of the vehicle according to the relative distance between the vehicle and the effective obstacle and the braking distance of each stage, and controlling the vehicle to perform emergency braking according to the current emergency braking stage number of the vehicle.
The automatic emergency braking device for the vehicle comprises a first determining module, a first obtaining module, a second obtaining module and a second determining module, wherein the first determining module is used for determining the emergency braking series of the vehicle, and the emergency braking series of the vehicle comprises multiple stages; the first acquisition module acquires the deceleration of each stage of braking according to the emergency braking stage number of the vehicle; the second acquisition module is used for acquiring the surrounding environment information of the vehicle and then acquiring the relative distance and the relative speed between the vehicle and the effective barrier when the effective barrier is determined according to the surrounding environment information of the vehicle; the second determining module calculates the braking distance of each stage according to the relative speed and the braking deceleration of each stage acquired by the second acquiring module, determines the current emergency braking stage number of the vehicle according to the relative distance between the vehicle and the effective barrier and the braking distance of each stage, and finally controls the vehicle to perform emergency braking according to the current emergency braking stage number of the vehicle. Therefore, the automatic emergency braking device for the vehicle can fully utilize the braking characteristic of the vehicle to brake the vehicle better, the braking effect of the vehicle is improved, and the driving safety and the user experience are improved simultaneously.
In some examples of the invention, the second determination module is further configured to determine whether the vehicle enters a next-stage brake according to a relative distance between the vehicle and the effective obstacle and a next-stage brake distance when the vehicle is controlled to perform emergency braking according to a current stage number of the vehicle performing emergency braking.
In some examples of the invention, the second determination module is further configured to, when the vehicle is controlled to perform emergency braking according to the current emergency braking progression of the vehicle, control the vehicle to exit the current emergency braking if the relative distance between the vehicle and the effective obstacle is greater than a braking distance corresponding to the current emergency braking progression.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for automatic emergency braking of a vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of the relationship between time at which automatic emergency braking of the vehicle is performed and vehicle deceleration in accordance with one embodiment of the present invention;
fig. 3 is a block diagram showing the construction of the automatic emergency braking apparatus for a vehicle according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle automatic emergency braking method, apparatus and system, readable storage medium according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for automatic emergency braking of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the automatic emergency braking method of a vehicle includes the steps of:
and S10, determining the emergency braking level of the vehicle, wherein the emergency braking level of the vehicle comprises multiple levels.
Specifically, in order to be able to control the vehicle, the vehicle may be provided with a plurality of emergency braking steps to brake the vehicle in a step-like manner. Although the braking control of the vehicle can be performed better as the number of emergency braking stages provided to the vehicle increases, the vehicle cost increases because a processor of the vehicle is required to have higher processing speed and processing capability. Therefore, the balance can be carried out according to the actual use condition, so as to determine the emergency braking stage number of the vehicle. In this embodiment, the emergency braking technique of the vehicle is selected in two stages.
And S20, obtaining the braking deceleration of each stage according to the emergency braking stage number of the vehicle.
It is understood that the braking capacities of different emergency braking stages of the vehicle are different, and optionally, in this embodiment, the braking force is larger as the stage number is higher, for example, the braking force of the stage number of the first emergency braking stage is smaller than that of the stage number of the second emergency braking stage, that is, the braking deceleration corresponding to the stage number of the first emergency braking stage is smaller than that corresponding to the stage number of the second emergency braking stage. After the number of emergency braking steps of the vehicle is determined, each step of braking deceleration may be obtained according to the number of emergency braking steps of the vehicle. Specifically, the braking deceleration corresponding to the first-stage emergency braking stage is a1, the braking deceleration corresponding to the second-stage emergency braking stage is a2, and so on, and the braking deceleration corresponding to the n-stage emergency braking stage is an.
It should be noted that the braking deceleration corresponding to the emergency braking level is the maximum braking deceleration that is stably maintained by the vehicle at the last time of the emergency braking level, that is, when the emergency braking level of the vehicle is one level, there is a certain delay time of the vehicle when the vehicle starts braking, and the braking deceleration is a process that changes slowly, and as time goes on, the last braking deceleration of the vehicle is a 1; similarly, when the emergency braking stage of the vehicle is two stages, the final braking deceleration of the vehicle is a 2.
And S30, acquiring surrounding environment information of the vehicle, and acquiring the relative distance and the relative speed between the vehicle and the effective obstacle when the effective obstacle is determined according to the surrounding environment information of the vehicle.
Specifically, in this embodiment, a millimeter wave radar and a forward-looking multifunctional camera may be mounted on the vehicle body to jointly detect lane information in front of the vehicle and obstacle information on the own lane and the left and right lanes, and the automatic emergency braking system may be able to screen out effective obstacle information based on the acquired obstacle information. The effective obstacle is an obstacle that may affect normal driving of the vehicle. When the effective obstacle is determined to be stored in the surrounding environment information of the vehicle, the relative distance and the relative speed between the vehicle and the effective obstacle are obtained, and it can be understood that the effective obstacle can be an obstacle in a moving state or an obstacle in a static state, so that the relative speed and the relative distance between the effective obstacle and the vehicle can be obtained through radar.
And S40, calculating the braking distance of each stage according to the relative speed between the vehicle and the effective obstacle and the braking deceleration of each stage, determining the current stage number of emergency braking of the vehicle according to the relative distance between the vehicle and the effective obstacle and the braking distance of each stage, and controlling the vehicle to perform emergency braking according to the current stage number of emergency braking of the vehicle.
Specifically, after the relative speed and the preceding distance between the vehicle and the effective obstacle are acquired, the braking distance of each stage may be calculated from the relative speed and the braking deceleration of each stage, it being understood that, in this embodiment, the braking deceleration and the braking distance are in an inverse proportional relationship, that is, the larger the braking deceleration, the smaller the braking distance; and the smaller the braking deceleration, the larger the braking distance. It should be noted that the magnitude of the braking deceleration is also related to the current running environment of the vehicle, and optionally, the braking deceleration of each stage is obtained by installing a vehicle body sensor on the vehicle for detecting the friction force between the tire and the road surface under the current environment. After the braking distance of each stage is calculated, the stage number of emergency braking can be determined according to the braking distance of each stage and the relative distance between the vehicle and the effective barrier, and then the vehicle is controlled to perform emergency braking according to the emergency braking operation corresponding to the determined emergency braking stage number.
In some examples of the invention, when the emergency braking of the vehicle is controlled according to the current emergency braking level of the vehicle, whether the vehicle enters the next-stage braking is also determined according to the relative distance between the vehicle and the effective barrier and the next-stage braking distance.
Specifically, after the current emergency braking stage number is determined, the train can be controlled to perform emergency braking according to the vehicle emergency braking technology, and it can be understood that the relative distance between the vehicle and the effective obstacle changes in the braking process of the vehicle, so that if the current emergency braking stage number of the vehicle is higher, the vehicle can be controlled to enter the next stage of braking when the relative distance between the vehicle and the effective obstacle does not accord with the braking distance corresponding to the current emergency braking stage number and enters the range of the next stage of braking distance. For example, when the vehicle is currently in secondary emergency braking, after the vehicle is braked for a period of time, it is determined that the vehicle can enter the primary emergency braking to brake according to the relative distance between the vehicle and the effective barrier and the primary braking distance, and then the vehicle is controlled to enter the primary emergency braking to brake the vehicle.
It should be noted that, if the current stage number of the vehicle for emergency braking is the lowest stage number, it is not necessary to determine whether the vehicle enters the next stage of emergency braking.
In some examples of the present invention, when the emergency braking of the vehicle is controlled according to the current emergency braking progression of the vehicle, the vehicle is controlled to exit the current emergency braking if the relative distance between the vehicle and the effective obstacle is greater than the braking distance corresponding to the current emergency braking progression.
Specifically, when the vehicle is controlled to perform emergency braking through the current emergency braking stage number of the vehicle, the relative distance between the vehicle and the effective obstacle changes, and it can be understood that the vehicle can continuously detect the relative distance through the vehicle body sensor, and if the relative distance between the vehicle and the effective obstacle is greater than the braking distance corresponding to the current emergency braking stage number, it indicates that the distance between the current vehicle and the effective obstacle is a distance which does not need to perform emergency braking, and the vehicle can be controlled to exit the current emergency braking.
In some embodiments of the present invention, when the emergency braking progression of the vehicle is two, the secondary braking distance is calculated according to the following formula:
wherein x is2Is the secondary braking distance, v is the relative speed between the vehicle and the effective obstacle at any time, v4To initiate secondary braking, the relative speed between the vehicle and the active obstacle, v5For passing vehicle hydraulic system delay time t4Relative speed between rear vehicle and effective obstacle, v6Relative speed between vehicle and effective obstacle at the time of secondary braking deceleration output for vehicle hydraulic system, t4、t5As a braking performance parameter, x, of the hydraulic systemsafeFor a predetermined safety distance, a2Is the secondary braking deceleration.
It should be noted that fig. 2 is a schematic diagram of the relationship between time and acceleration during automatic emergency braking of the vehicle according to an embodiment of the present invention, as shown in fig. 2, where a line 2 is an ideal braking deceleration and a line 1 is an actual braking deceleration, and in an ideal state, as shown by a line 2 in fig. 2, when the vehicle needs to be braked, the braking deceleration can be instantly increased to the corresponding deceleration; in actual braking, however, there is a certain time delay, and the braking deceleration cannot change instantaneously, and the change of the braking deceleration is processed with a change law that increases approximately linearly in fig. 2.
In this embodiment, it is noted that the vehicle is in primary emergency braking before the vehicle enters secondary emergency braking, and the secondary braking distance is calculated in real time, it being understood that in this embodiment, the vehicle can finally stop in the secondary emergency braking, i.e. ideally, the vehicle is stopped in the secondary emergency braking
Where v can be vehicle stopped since the secondary emergency braking00, so the ideal secondary braking distance is: x is the number of2＝v2/(2a2). However, in practical situations, the actual implementation effect of the hydraulic brake system of the automobile is that after the braking deceleration command is issued, the actual braking deceleration will have a certain delay waiting for t4Followed by a gradual rise in brake deceleration (t)5The process is seen as a linear rise). The actual secondary emergency braking distance needs to be added to the distance traveled by this process. I.e. calculating the distance x of the secondary braking in real time2The calculation can be made according to the following formula:
in this embodiment, if the vehicle is first-order emergency braking, the first-order braking distance may be calculated according to the following formula:
wherein x is1Is a primary braking distance, v1For the vehicle in normal operationRelative speed of vehicle with respect to active obstacle in state v2For passing vehicle hydraulic system delay time t1Relative speed between rear vehicle and effective obstacle, v3Relative speed between vehicle and effective obstacle at primary braking deceleration output for vehicle hydraulic system, t1、t2As a braking performance parameter of the hydraulic system, v4For the vehicle to pass t3Relative speed after time with effective obstacle, t3Is set as a system setting value.
Specifically, under the condition that the vehicle normally runs, a primary braking distance and a secondary braking distance need to be calculated in real time, wherein the primary braking distance is calculated after the secondary braking distance is obtained. The hydraulic brake performs braking by entering the brake at any moment, the braking effect of the hydraulic brake is delayed for a period of time, then the braking deceleration gradually rises, and the primary braking distance is x1The calculation can be made according to the following formula:
it can be understood that the user can select the number of the emergency braking grades according to the user, and the braking distance of each grade can be calculated according to the method.
In conclusion, the automatic emergency braking method for the vehicle provided by the embodiment of the invention can be used for braking the vehicle by fully utilizing the braking characteristic of the vehicle, so that the braking effect of the vehicle is improved, and meanwhile, the driving safety and the user experience are improved.
Further, the present invention proposes a computer-readable storage medium having stored thereon a vehicle automatic emergency braking program which, when executed by a processor, implements the vehicle automatic emergency braking method as in the above embodiments.
When the vehicle automatic emergency braking program corresponding to the vehicle automatic emergency braking method in the above embodiment is executed, the computer readable storage medium of the embodiment of the present invention can brake the vehicle by fully utilizing the braking characteristics of the vehicle, thereby improving the braking effect of the vehicle, and improving the driving safety and the user experience.
Further, the present invention provides a vehicle automatic emergency braking system, which includes a memory, a processor and a vehicle automatic emergency braking program stored in the memory and operable on the processor, wherein when the processor executes the vehicle automatic emergency braking program, the vehicle automatic emergency braking method in the above embodiment is implemented.
In the automatic emergency braking system for the vehicle in the embodiment of the invention, when the automatic emergency braking program, which is stored in the memory and corresponds to the automatic emergency braking method for the vehicle in the embodiment, is executed, the vehicle can be braked by fully utilizing the braking characteristics of the vehicle, so that the braking effect of the vehicle is improved, and meanwhile, the driving safety and the user experience are improved.
Fig. 3 is a block diagram showing the construction of the automatic emergency braking apparatus for a vehicle according to the embodiment of the present invention.
Further, as shown in fig. 3, the present invention proposes a vehicle automatic emergency braking device 100 including a first determining module 101, a first obtaining module 102, a second obtaining module 103, and a second determining module 104.
The first determining module 101 is configured to determine an emergency braking number of the vehicle, where the emergency braking number of the vehicle includes multiple stages; the first obtaining module 102 is configured to obtain braking deceleration of each stage according to the emergency braking stage number of the vehicle; the second obtaining module 103 is configured to obtain surrounding environment information of the vehicle, and obtain a relative distance and a relative speed between the vehicle and an effective obstacle when the effective obstacle is determined according to the surrounding environment information of the vehicle; the second determining module 104 is configured to calculate a braking distance of each stage according to the relative speed between the vehicle and the effective obstacle and the braking deceleration of each stage, determine a current stage number of emergency braking of the vehicle according to the relative distance between the vehicle and the effective obstacle and the braking distance of each stage, and control the vehicle to perform emergency braking according to the current stage number of emergency braking of the vehicle.
Specifically, in order to be able to control the vehicle, the vehicle may be provided with a plurality of emergency braking steps to brake the vehicle in a step-like manner. Although the braking control of the vehicle can be performed better as the number of emergency braking stages provided to the vehicle increases, the vehicle cost increases because a processor of the vehicle is required to have higher processing speed and processing capability. Therefore, the emergency braking level of the vehicle can be determined by balancing according to the actual use condition, and then the emergency braking level of the vehicle can be determined by the first determining module 101. In this embodiment, the emergency braking technique of the vehicle is selected in two stages.
It is understood that the braking capacities of different emergency braking stages of the vehicle are different, and optionally, in this embodiment, the braking force is larger as the stage number is higher, for example, the braking force of the stage number of the first emergency braking stage is smaller than that of the stage number of the second emergency braking stage, that is, the braking deceleration corresponding to the stage number of the first emergency braking stage is smaller than that corresponding to the stage number of the second emergency braking stage. After the first determination module 101 determines the emergency braking progression of the vehicle, the first obtaining module 102 may be utilized to obtain the braking deceleration of each step according to the emergency braking progression of the vehicle. Specifically, the braking deceleration corresponding to the first-stage emergency braking stage is a1, the braking deceleration corresponding to the second-stage emergency braking stage is a2, and so on, and the braking deceleration corresponding to the n-stage emergency braking stage is an.
It should be noted that the braking deceleration corresponding to the emergency braking level is the maximum braking deceleration that is stably maintained by the vehicle at the last time of the emergency braking level, that is, when the emergency braking level of the vehicle is one level, there is a certain delay time of the vehicle when the vehicle starts braking, and the braking deceleration is a process that changes slowly, and as time goes on, the last braking deceleration of the vehicle is a 1; similarly, when the emergency braking stage of the vehicle is two stages, the final braking deceleration of the vehicle is a 2.
Specifically, in this embodiment, the second obtaining module 103 may be a millimeter wave radar, a camera, or the like, a millimeter wave radar and a forward-looking multifunctional camera may be mounted on the vehicle body to jointly detect lane information in front of the vehicle and obstacle information on the lane and the left and right lanes, and the automatic emergency braking system may be configured to screen out effective obstacle information according to the obtained obstacle information. The effective obstacle is an obstacle that may affect normal driving of the vehicle. When determining that the effective obstacle is stored in the surrounding environment information of the vehicle, the second obtaining module 103 obtains a relative distance and a relative speed between the vehicle and the effective obstacle, and it can be understood that the effective obstacle may be an obstacle in a moving state or an obstacle in a stationary state, so that the relative speed and the relative distance between the effective obstacle and the vehicle can be obtained by radar.
Specifically, after the second obtaining module 103 obtains the relative speed and the preceding distance between the vehicle and the effective obstacle, the second determining module 104 may calculate the braking distance of each stage according to the relative speed and the braking deceleration of each stage, and it is understood that, in this embodiment, the braking deceleration and the braking distance are in an inverse proportional relationship, that is, the larger the braking deceleration, the smaller the braking distance; and the smaller the braking deceleration, the larger the braking distance. It should be noted that the magnitude of the braking deceleration is also related to the current running environment of the vehicle, and optionally, the braking deceleration of each stage is obtained by installing a vehicle body sensor on the vehicle for detecting the friction force between the tire and the road surface under the current environment. After the braking distance of each stage is calculated, the stage number of emergency braking can be determined according to the braking distance of each stage and the relative distance between the vehicle and the effective barrier, and then the vehicle is controlled to perform emergency braking according to the emergency braking operation corresponding to the determined emergency braking stage number.
In some embodiments of the invention, the second determination module is further configured to determine whether the vehicle enters the next-stage braking according to the relative distance between the vehicle and the effective obstacle and the next-stage braking distance when the vehicle is controlled to perform the emergency braking according to the current stage number of the emergency braking performed by the vehicle.
In some embodiments of the invention, the second determination module is further configured to, when the vehicle is controlled to perform emergency braking according to the current emergency braking progression of the vehicle, control the vehicle to exit the current emergency braking if the relative distance between the vehicle and the effective obstacle is greater than the braking distance corresponding to the current emergency braking progression.
In some embodiments of the invention, when the emergency braking progression of the vehicle is two-step, the second determination module calculates the two-step braking distance according to the following formula:
wherein x is2Is the secondary braking distance, v is the relative speed between the vehicle and the effective obstacle at any time, v4To initiate secondary braking, the relative speed between the vehicle and the active obstacle, v5For passing vehicle hydraulic system delay time t4Relative speed between rear vehicle and effective obstacle, v6Relative speed between vehicle and effective obstacle at the time of secondary braking deceleration output for vehicle hydraulic system, t4、t5As a braking performance parameter, x, of the hydraulic systemsafeFor a predetermined safety distance, a2Is the secondary braking deceleration.
In some embodiments of the invention, the second determination module calculates the primary braking distance according to the following formula:
wherein x is1Is a primary braking distance, v1Is the relative speed between the vehicle and the effective barrier when the vehicle is in the normal running state, v2For passing vehicle hydraulic system delay time t1Relative speed between rear vehicle and effective obstacle, v3Relative speed between vehicle and effective obstacle at primary braking deceleration output for vehicle hydraulic system, t1、t2As a braking performance parameter of the hydraulic system, v4For the vehicle to pass t3Relative speed after time with effective obstacle, t3Is set as a system setting value.
In conclusion, the automatic emergency braking device for the vehicle, provided by the embodiment of the invention, can be used for braking the vehicle by fully utilizing the braking characteristic of the vehicle, so that the braking effect of the vehicle is improved, and meanwhile, the driving safety and the user experience are improved.
It should be noted that, other specific embodiments of the automatic emergency braking device for a vehicle according to the embodiment of the present invention may refer to the specific embodiments of the automatic emergency braking method for a vehicle in the above embodiments.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An automatic emergency braking method for a vehicle, comprising:
determining an emergency braking progression of a vehicle, wherein the emergency braking progression of the vehicle comprises a plurality of levels;
obtaining the deceleration of each stage of braking according to the emergency braking stage number of the vehicle;
acquiring surrounding environment information of the vehicle, and acquiring a relative distance and a relative speed between the vehicle and an effective obstacle when the effective obstacle is determined according to the surrounding environment information of the vehicle;
calculating the braking distance of each stage according to the relative speed between the vehicle and the effective obstacle and the braking deceleration of each stage, determining the current emergency braking stage number of the vehicle according to the relative distance between the vehicle and the effective obstacle and the braking distance of each stage, and controlling the vehicle to perform emergency braking according to the current emergency braking stage number of the vehicle.
2. The automatic emergency braking method for vehicle according to claim 1, wherein when the vehicle is controlled to perform emergency braking according to the current number of stages of emergency braking performed by the vehicle, it is further determined whether the vehicle enters the next stage of braking according to the relative distance between the vehicle and the effective obstacle and the next stage braking distance.
3. The automatic emergency braking method for vehicle according to claim 1, wherein in controlling the vehicle to perform emergency braking according to the current emergency braking progression of the vehicle, if the relative distance between the vehicle and the effective obstacle is greater than the braking distance corresponding to the current emergency braking progression, the vehicle is controlled to exit the current emergency braking.
4. The automatic emergency braking method for vehicle according to any one of claims 1 to 3, wherein when the emergency braking progression of the vehicle is two steps, the secondary braking distance is calculated according to the following formula:
wherein x is2Is a secondary braking distance, v is the relative speed between the vehicle and the effective obstacle at any time, v4To initiate secondary braking relative between the vehicle and the active obstacleVelocity, v5For passing vehicle hydraulic system delay time t4The relative speed, v, between the vehicle and the effective obstacle6Relative speed, t, between the vehicle and the active obstacle at the time of secondary braking deceleration output for the vehicle hydraulic system4、t5As a braking performance parameter, x, of the hydraulic systemsafeFor a predetermined safety distance, a2Is the secondary braking deceleration.
5. The automatic emergency braking method for vehicle according to claim 4, wherein the primary braking distance is calculated according to the following formula:
wherein x is1Is a primary braking distance, v1Is the relative speed between the vehicle and the effective barrier when the vehicle is in a normal running state, v2For passing vehicle hydraulic system delay time t1The relative speed, v, between the vehicle and the effective obstacle3Relative speed, t, between the vehicle and the effective obstacle at the time of primary braking deceleration output for the vehicle hydraulic system1、t2As a braking performance parameter of the hydraulic system, v4For the vehicle to pass t3Relative speed after time, t, with respect to the effective obstacle3Is set as a system setting value.
6. A computer-readable storage medium, having stored thereon a vehicle automatic emergency braking program which, when executed by a processor, implements a vehicle automatic emergency braking method according to any one of claims 1 to 5.
7. An automatic emergency braking system for a vehicle, comprising a memory, a processor, and an automatic emergency braking program stored on the memory and executable on the processor, wherein the processor, when executing the automatic emergency braking program, implements the automatic emergency braking method for a vehicle according to any one of claims 1-5.
8. An automatic emergency braking device for a vehicle, comprising:
the emergency braking control system comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining the emergency braking progression of a vehicle, and the emergency braking progression of the vehicle comprises multiple stages;
the first acquisition module is used for acquiring braking deceleration of each stage according to the emergency braking stage number of the vehicle;
the second acquisition module is used for acquiring the surrounding environment information of the vehicle and acquiring the relative distance and the relative speed between the vehicle and the effective barrier when the effective barrier is determined according to the surrounding environment information of the vehicle;
and the second determining module is used for calculating the braking distance of each stage according to the relative speed between the vehicle and the effective obstacle and the braking deceleration of each stage, determining the current emergency braking stage number of the vehicle according to the relative distance between the vehicle and the effective obstacle and the braking distance of each stage, and controlling the vehicle to perform emergency braking according to the current emergency braking stage number of the vehicle.
9. The automatic emergency braking device for vehicle as claimed in claim 8, wherein the second determining module is further configured to determine whether the vehicle enters the next level of braking according to the relative distance between the vehicle and the effective obstacle and the next level of braking distance when the vehicle is controlled to perform emergency braking according to the current level of emergency braking performed by the vehicle.
10. The automatic emergency braking device for vehicle according to claim 8, wherein the second determining module is further configured to, when controlling the vehicle to perform emergency braking according to the current emergency braking progression of the vehicle, control the vehicle to exit the current emergency braking if the relative distance between the vehicle and the effective obstacle is greater than the braking distance corresponding to the current emergency braking progression.
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| CN202011053961.0A CN114312764A (en) | 2020-09-29 | 2020-09-29 | Automatic emergency braking method, device and system for vehicle and readable storage medium |
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| CN202011053961.0A CN114312764A (en) | 2020-09-29 | 2020-09-29 | Automatic emergency braking method, device and system for vehicle and readable storage medium |
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