CN114771513A - Braking method, system and storage medium for automatic driving vehicle - Google Patents

Braking method, system and storage medium for automatic driving vehicle Download PDF

Info

Publication number
CN114771513A
CN114771513A CN202210579848.9A CN202210579848A CN114771513A CN 114771513 A CN114771513 A CN 114771513A CN 202210579848 A CN202210579848 A CN 202210579848A CN 114771513 A CN114771513 A CN 114771513A
Authority
CN
China
Prior art keywords
vehicle
deceleration
braking
time
obstacle
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.)
Pending
Application number
CN202210579848.9A
Other languages
Chinese (zh)
Inventor
陈科星
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
New Drive Chongqing Intelligent Automobile Co ltd
Original Assignee
New Drive Chongqing Intelligent Automobile Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by New Drive Chongqing Intelligent Automobile Co ltd filed Critical New Drive Chongqing Intelligent Automobile Co ltd
Priority to CN202210579848.9A priority Critical patent/CN114771513A/en
Publication of CN114771513A publication Critical patent/CN114771513A/en
Pending legal-status Critical Current

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
    • 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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a braking method, a braking system and a storage medium for an automatic driving vehicle, which comprise the following steps of S1: acquiring data of a target to be tested, and designing a first deceleration during vehicle braking; s2: sensing the surrounding environment in real time, inputting detection parameters and first deceleration in the running process of the vehicle into a constructed deceleration optimization model when sensing the obstacle, and outputting real-time deceleration; namely ensuring that the vehicle does not collide with the obstacle and ensuring the comfort of the target to be tested as much as possible S3, namely, automatically decelerating and braking the vehicle according to the real-time deceleration in S2. The invention can calculate the braking deceleration in real time according to the actual situation, and can provide a braking scheme with the highest comfort level when no obstacle interferes; when the obstacle interferes, the braking scheme with the highest comfort level can be provided while the safety of passengers is met.

Description

Braking method, system and storage medium for automatic driving vehicle
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a braking method, a braking system and a braking storage medium for an automatic driving vehicle.
Background
In the prior art, some problems exist in the automatic driving vehicle, including perception and understanding of the surrounding environment, keeping a certain safe distance from other obstacles on the road, and meeting some established laws and unprofitable regulations. However, for an autonomous city bus, the deceleration strategy is basically consistent with the brake scheme of a small car, so that collision avoidance is the primary objective, and the riding experience of passengers in the bus is considered. The small automobile is provided with the safety belt and the safety air bag, so that the deceleration is large, the passenger cannot be damaged, and the riding experience is more comfortable than that of a city bus.
Because city passenger train seat does not be equipped with air bag and safety belt to avoid colliding as the first target and may let the interior passenger lose balance, face the risk bigger than the emergence collision, because the preceding barrier probably is an inanimate object, also can not have the personal harm even the collision takes place. Passengers standing in the vehicle can not tightly hold the handrail, and the excessive deceleration can reduce the passenger riding experience in the vehicle and even cause passenger casualty.
When no obstacle interferes with the autonomous vehicle, the deceleration strategy should be dominated by comfort; when an obstacle suddenly appears in front of an autopilot city bus, a safe braking deceleration strategy is needed, namely how to ensure that passengers in the bus can avoid collision to the greatest extent on the premise of safety and no fall.
Disclosure of Invention
Aiming at the problem that safety and comfort cannot be compatible in the braking process of an automatic driving city bus in the prior art, the invention provides a braking method, a braking system and a storage medium for an automatic driving vehicle.
In order to achieve the above object, the present invention provides the following technical solutions:
a braking method for an autonomous vehicle, comprising the steps of:
s1: acquiring data of a target to be tested, and designing a first deceleration during vehicle braking;
s2: sensing the surrounding environment in real time, and calculating real-time deceleration according to the detection parameter and the first deceleration in the running process of the vehicle when the obstacle is sensed;
and S3, performing automatic deceleration braking on the vehicle according to the real-time deceleration in the S2.
Preferably, in S1, the data of the object to be tested includes a contact length S with the ground and a centroid height h.
Preferably, in S1, the calculation formula of the first deceleration is:
Ac＝g*s/h (1)
in formula (1), Ac represents the first deceleration; g represents the gravitational acceleration; s represents the contact length of the target to be tested and the ground; h denotes the height of the centroid of the object to be tested.
Preferably, in S2, the detection parameters include a current vehicle speed and an obstacle distance.
Preferably, in S2, the formula for calculating the real-time deceleration is as follows:
Figure BDA0003661913010000021
in the formula (2), wkIndicating the distance beyond the obstacle after the vehicle is stationary; s iskA difference value representing an actual deceleration of the vehicle and the first deceleration Ac; n represents the total duration of the braking process of the automatic driving vehicle, and k is the kth moment in the braking process;
Figure BDA0003661913010000022
represent
Figure BDA0003661913010000023
The square of the difference between the speed of the autonomous vehicle at the moment and the speed before braking;
Figure BDA0003661913010000024
represents the intermediate time between the k-1 time and the k time;
Figure BDA0003661913010000025
a square of a difference representing a speed of the autonomous vehicle at time k and a speed before braking; alpha, beta and gamma are adjusting parameters.
Preferably, the vehicle actual deceleration should satisfy the following condition:
Figure BDA0003661913010000031
in the formula (3), k represents any time from 0 to N-1; n-1 represents the last time the vehicle just stopped;
Figure BDA0003661913010000032
representing the actual deceleration of the vehicle at time k.
Preferably, the vehicle actual deceleration should also satisfy the following condition:
Figure BDA0003661913010000033
in formula (3), Ac represents the first deceleration Ac;
Figure BDA0003661913010000034
representing the actual deceleration of the vehicle at time k; skIndicating the difference between the actual deceleration of the vehicle and the first deceleration Ac.
Preferably, the speed of the autonomous vehicle is limited by:
Figure BDA0003661913010000035
in the formula (4), the first and second groups,
Figure BDA0003661913010000036
a velocity representing the median of time k-1 and time k;
Figure BDA0003661913010000037
indicating the speed of the vehicle before braking.
The present invention also provides a braking system for an autonomous vehicle, comprising:
the first acquisition module is used for acquiring data of a target to be tested, and comprises a contact length s of the target to be tested and the ground and a centroid height h;
the first determining module is used for determining a first deceleration when the vehicle brakes according to the data of the target to be tested of the first obtaining module;
the second acquisition module is used for acquiring detection parameters including speed and obstacle distance in the running process of the vehicle;
the second determining module is used for determining real-time deceleration for guaranteeing comfort while guaranteeing safety when an obstacle is found according to the first deceleration of the first determining module and the detection parameter of the second acquiring module;
and the control module is used for braking and decelerating the vehicle according to the real-time deceleration of the second determination module.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the braking method.
In summary, due to the adoption of the technical scheme, compared with the prior art, the invention at least has the following beneficial effects:
the invention can calculate the braking deceleration in real time according to the actual situation, and can provide a braking scheme with the highest comfort level when no obstacle interferes; when the obstacle interferes, the braking scheme with the highest comfort level can be provided while the safety of passengers is met.
Description of the drawings:
fig. 1 is a flow chart illustrating a braking method for an autonomous vehicle according to an exemplary embodiment of the present invention.
FIG. 2 is a schematic illustration of vehicle braking versus obstacle distance in accordance with an exemplary embodiment of the present invention.
FIG. 3 is a schematic illustration of a braking system for an autonomous vehicle according to an exemplary embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
As shown in fig. 1, the present invention provides a braking method for an autonomous vehicle, which can be used for an autonomous city bus, and specifically comprises the following steps:
in this embodiment, the passenger standing on the vehicle without the gripping handle is the most prone target to fall, and the balance is determined only by the contact force of the ground, and such a target is designed as an example.
S1: and acquiring data of the target to be tested, and designing a first deceleration for ensuring the comfort of the target when the vehicle is braked.
In this embodiment, the target to be detected may be a human body model (which may be obtained by averaging big data) designed according to an adult, and includes a contact length s with the ground and a centroid height h. Preferably, s is approximately equal to 0.12m, the centroid height h is approximately equal to 1m, and the gravity acceleration g is approximately equal to 9.8m/s2Then, the first deceleration when comfort guarantee is calculated as: ac g s/h 1.23m/s2The passenger may start losing balance beyond the first deceleration, but the balance may be repaired by adjusting the attitude.
In the present embodiment, when the deceleration exceeds the second deceleration Amax, 3.70m/s2In the meantime, even if the posture of the passenger is adjusted, the passenger may fall down.
S2: and sensing the surrounding environment in real time in the running process of the vehicle, inputting detection parameters in the running process of the vehicle into the constructed deceleration optimization model when the obstacle is sensed, and outputting the real-time deceleration.
In the embodiment, during the running process of the automatically-driven vehicle, the control of each module and the information interaction with the server can be realized through the vehicle-mounted terminal, and the surrounding environment can be sensed through the sensing module (such as a laser radar, an ultrasonic radar, a millimeter wave radar, a camera and the like), so that the relative position change information of the obstacle and the automatically-driven vehicle is obtained;
the sensed parameter includes a speed at which the vehicle begins to brake
Figure BDA0003661913010000051
The obstacle distance (desired stopping distance, i.e., the distance between the current vehicle and the obstacle) is xobs；wkIndicating the distance beyond the obstacle after the vehicle is stationary; s iskA difference value representing an actual deceleration of the vehicle and the first deceleration Ac; alpha, beta and gamma are adjusting parameters, and default values are respectively set to be 5.0, 5.0 and 1.5;
in this embodiment, the expression of the deceleration optimization model f (x) is as follows:
Figure BDA0003661913010000061
in the formula (1), wkIndicating the distance beyond the obstacle after the vehicle is stationary; skA difference value representing an actual deceleration of the vehicle and the first deceleration Ac; n represents the total duration of the braking process of the automatic driving vehicle, and k is the kth moment in the braking process;
Figure BDA0003661913010000062
represent
Figure BDA0003661913010000063
The square of the difference between the speed of the autonomous vehicle at the moment and the speed before braking;
Figure BDA0003661913010000064
represents the intermediate value between the k-1 time and the k time;
Figure BDA0003661913010000065
a square of a difference representing a speed of the autonomous vehicle at time k and a speed before braking; under the constraints described laterUnder the condition, the optimal w can be obtained by minimizing the function f (x)k、skAnd
Figure BDA0003661913010000066
a curve; alpha, beta and gamma are regulating parameters which are respectively used for regulating wk、skAnd
Figure BDA0003661913010000067
the default values of (3) are respectively set as 5.0, 5.0 and 1.5;
in the embodiment, the optimal deceleration under the current vehicle condition (when the obstacle is detected) is obtained, namely, the deceleration braking distance of the vehicle is ensured to be less than xobsAnd meanwhile, the braking deceleration of the vehicle is ensured to be smaller than Ac, so that the safety and the comfort can be ensured, and the deceleration optimization model f (x) needs to be minimized.
The various parameters in the deceleration optimization model f (x) should satisfy the following conditions:
1) and limiting the maximum deceleration to prevent the passenger from falling down, wherein the vehicle deceleration limiting conditions are as follows:
Figure BDA0003661913010000068
equation (2) indicates that at any time during braking, the absolute value of the actual deceleration of the vehicle must be less than the second deceleration Amax; k represents any time from 0 to N-1; n-1 represents the last time the vehicle just stopped;
Figure BDA0003661913010000069
representing an actual deceleration of the vehicle;
2) to ensure comfort, it is necessary to make
Figure BDA00036619130100000610
I.e. it is necessary to minimize skThe limiting conditions are as follows:
Figure BDA00036619130100000611
in equation (3), s is obtained when f (x) is used to find the optimal solution (minimum value)kA value;
skand the deceleration is 0, namely the braking deceleration of the vehicle is the first deceleration, so that the passengers do not lose balance, and the comfort is ensured.
3) In order to ensure that the speed at each moment is within the interval and not overshooting, the limiting conditions of the speed are as follows:
Figure BDA0003661913010000071
in the formula (4), the first and second groups,
Figure BDA0003661913010000072
a velocity representing the median of time k-1 and time k;
Figure BDA0003661913010000073
representing the speed of the vehicle before braking;
4) as shown in FIG. 2, the vehicle runs from left to right, and when the vehicle is decelerated and braked, the deceleration and braking distance of the vehicle is less than xobsTo avoid collision between the vehicle and the obstacle, the pair w is requiredkCarrying out minimization:
Figure BDA0003661913010000074
in the formula (5), xkIndicating the vehicle deceleration braking distance, xobsIndicating the distance of the vehicle from the obstacle; the minimization function f (x) can obtain the optimal wkA value; w is akAnd 0 means that the vehicle does not collide with the obstacle, and the safety is guaranteed.
5) The vehicle speed should be equal to 0 and the acceleration should be equal to 0 after the braking deceleration process is finished.
6) In this embodiment, in order to further improve the comfort, the following conditions are also satisfied:
Figure BDA0003661913010000075
in the formula (6), the first and second groups of the compound,
Figure BDA0003661913010000076
representing the velocity at time k;
Figure BDA0003661913010000077
representing the speed of the vehicle before braking;
Figure BDA0003661913010000078
representing the speed at time k and the speed before braking
Figure BDA0003661913010000079
Minimizing the difference, which improves comfort, the minimization function f (x) is optimized
Figure BDA00036619130100000710
The value is obtained. The smaller k is, γN-kThe larger, the slower the speed change, at time k
Figure BDA00036619130100000711
The smaller the size of the tube is,
Figure BDA00036619130100000712
the smaller.
Figure BDA00036619130100000713
In the formula (7), the first and second groups of the compound,
Figure BDA00036619130100000714
a velocity representing the median of time k-1 and time k; t represents a calculation cycle of a calculation unit (second determination module);
Figure BDA00036619130100000715
represents the deceleration of the vehicle at time k;
Figure BDA00036619130100000716
represents the deceleration at time k + 1;
in this embodiment, after the deceleration optimization model f (x) is subject to the condition limitation, w in the whole braking process can be obtainedk、skAnd
Figure BDA0003661913010000081
(the value at each time in {0.. N-1 }), and then outputs a real-time deceleration value.
And S3, braking the vehicle according to the real-time deceleration in the S2.
Based on the above method, as shown in fig. 3, the present invention also provides a brake system for an autonomous vehicle, comprising:
the first acquisition module is used for acquiring data of the target to be tested, wherein the data comprises a contact length s of the target to be tested and the ground, a centroid height h and the like;
the first determining module is used for determining a first deceleration for guaranteeing the comfort of the target when the vehicle is braked according to the data of the target to be tested of the first obtaining module;
the second acquisition module is used for acquiring detection parameters in the running process of the vehicle, such as speed, obstacle distance and the like;
and the second determining module is used for determining the optimal deceleration of the vehicle when the obstacle is found according to the first deceleration of the first determining module and the detection parameters of the second acquiring module, namely ensuring that the vehicle does not collide with the obstacle and simultaneously ensuring the comfort of the target to be tested as much as possible (the vehicle does not lose balance, namely the deceleration does not exceed the first deceleration) or ensuring that the passenger can not fall down through adjustment, namely the deceleration does not exceed the second deceleration.
And the control module is used for braking and decelerating the vehicle according to the optimal deceleration of the second determination module.
The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the braking method in the above embodiment when executing the computer program.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the braking method described in the above embodiments.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims (10)

1. A braking method for an autonomous vehicle, characterized in that it comprises in particular the following steps:
s1: acquiring data of a target to be tested, and designing a first deceleration during vehicle braking;
s2: sensing the surrounding environment in real time, and calculating real-time deceleration according to the detection parameter and the first deceleration in the running process of the vehicle when the obstacle is sensed;
and S3, performing automatic deceleration braking on the vehicle according to the real-time deceleration in the S2.
2. The braking method for an autonomous vehicle as set forth in claim 1, wherein the data of the object to be tested includes a contact length with the ground S, a centroid height h in S1.
3. The braking method for an autonomous vehicle as set forth in claim 1, wherein in S1, the first deceleration is calculated by the formula:
Ac＝g*s/h (1)
in formula (1), Ac represents the first deceleration; g represents the gravitational acceleration; s represents the contact length of the target to be tested and the ground; h denotes the height of the centroid of the object to be tested.
4. The braking method for an autonomous vehicle as claimed in claim 1, wherein in said S2, the detected parameters include a current vehicle speed and an obstacle distance.
5. The braking method for an autonomous vehicle as claimed in claim 1, wherein in S2, the calculation formula of the real-time deceleration is as follows:
Figure FDA0003661913000000011
in the formula (2), wkIndicating the distance beyond the obstacle after the vehicle is stationary; skA difference value representing an actual deceleration of the vehicle and the first deceleration Ac; n represents the total duration of the braking process of the automatic driving vehicle, and k is the kth moment in the braking process;
Figure FDA0003661913000000012
represent
Figure FDA0003661913000000013
The square of the difference between the speed of the autonomous vehicle at the moment and the speed before braking;
Figure FDA0003661913000000014
represents the intermediate time between the k-1 time and the k time;
Figure FDA0003661913000000015
represents the square of the difference between the speed of the autonomous vehicle and the speed before braking at time k; alpha, beta and gamma are adjusting parameters.
6. The braking method for an autonomous vehicle as set forth in claim 5, characterized in that the vehicle actual deceleration should satisfy the following condition:
Figure FDA0003661913000000021
in the formula (3), k represents any time from 0 to N-1; n-1 tableShowing the last moment when the vehicle just stopped;
Figure FDA0003661913000000022
representing the actual deceleration of the vehicle at time k.
7. The braking method for an autonomous vehicle as set forth in claim 6, characterized in that the vehicle actual deceleration should further satisfy the following condition:
Figure FDA0003661913000000023
in formula (3), Ac represents the first deceleration Ac;
Figure FDA0003661913000000024
representing the actual deceleration of the vehicle at time k; skRepresenting the difference between the actual deceleration of the vehicle and the first deceleration Ac.
8. The braking method for an autonomous vehicle as claimed in claim 5, characterized in that the speed of the autonomous vehicle is limited by:
Figure FDA0003661913000000025
in the formula (4), the first and second groups of the chemical reaction are shown in the specification,
Figure FDA0003661913000000026
a velocity representing the median of time k-1 and time k;
Figure FDA0003661913000000027
indicating the speed of the vehicle before braking.
9. A braking system for autonomous vehicles according to the method of any of claims 1 to 8, characterized in that it comprises:
the first acquisition module is used for acquiring data of the target to be tested, and comprises a contact length s of the target to be tested and the ground and a centroid height h;
the first determining module is used for determining a first deceleration when the vehicle brakes according to the data of the target to be tested of the first obtaining module;
the second acquisition module is used for acquiring detection parameters in the running process of the vehicle, including speed and obstacle distance;
the second determining module is used for determining real-time deceleration for guaranteeing comfort while guaranteeing safety when an obstacle is found according to the first deceleration of the first determining module and the detection parameter of the second acquiring module;
and the control module is used for braking and decelerating the vehicle according to the real-time deceleration of the second determination module.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the braking method according to any one of claims 1 to 8.
CN202210579848.9A 2022-05-25 2022-05-25 Braking method, system and storage medium for automatic driving vehicle Pending CN114771513A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210579848.9A CN114771513A (en) 2022-05-25 2022-05-25 Braking method, system and storage medium for automatic driving vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210579848.9A CN114771513A (en) 2022-05-25 2022-05-25 Braking method, system and storage medium for automatic driving vehicle

Publications (1)

Publication Number Publication Date
CN114771513A true CN114771513A (en) 2022-07-22

Family

ID=82407941

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210579848.9A Pending CN114771513A (en) 2022-05-25 2022-05-25 Braking method, system and storage medium for automatic driving vehicle

Country Status (1)

Country Link
CN (1) CN114771513A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117141473A (en) * 2023-10-31 2023-12-01 广州市德赛西威智慧交通技术有限公司 Intelligent obstacle avoidance method and device for vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117141473A (en) * 2023-10-31 2023-12-01 广州市德赛西威智慧交通技术有限公司 Intelligent obstacle avoidance method and device for vehicle
CN117141473B (en) * 2023-10-31 2024-01-19 广州市德赛西威智慧交通技术有限公司 Intelligent obstacle avoidance method and device for vehicle

Similar Documents

Publication Publication Date Title
JP4937656B2 (en) Vehicle collision control device
JP6848533B2 (en) Vehicle driving control system
US8825292B2 (en) Suspension control system to facilitate wheel motions during parking
TWI436911B (en) Autonomous seat system of automotive vehicle and performing method thereof
US10399563B2 (en) Driving support apparatus, driving support method, and computer program product
KR101516439B1 (en) Vehicle Driving Assistance
US10843711B2 (en) Method and device for generating target path for autonomous vehicle
JP2017021651A (en) Vehicle control device
US9120377B2 (en) Method, system and computer readable medium embodying a computer program product for determining a vehicle operator's expectation of a state of an object
CN114771513A (en) Braking method, system and storage medium for automatic driving vehicle
EP4136003A1 (en) Cut-in-safe adaptive cruise control system for vehicles
US11639175B2 (en) Method of controlling vehicle when vehicle passes over speed bump
KR20200144175A (en) Vehicle and control method thereof
CN113788016A (en) False triggering prevention automatic emergency braking control method, system, server and storage medium
JP2020032786A (en) Vehicle stop support apparatus
CN111497837B (en) Vehicle control method and system based on forward sensing
CN112406870B (en) Vehicle and method of controlling vehicle
GB2615425A (en) Vehicle active suspension control system and method
CN114084089B (en) Safety device for vehicle
US20240034428A1 (en) Controller and control method for rider assistance system
US20230294473A1 (en) Vehicle active suspension control system and method
WO2023145170A1 (en) Vehicle integrated control device and vehicle integrated control method
WO2023166777A1 (en) Vehicle control device and vehicle control method
GB2614987A (en) Vehicle active suspension control system and method
GB2614988A (en) Vehicle active suspension control system and method

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