CN114987412A - Automatic emergency braking control method, device, equipment and storage medium - Google Patents

Automatic emergency braking control method, device, equipment and storage medium Download PDF

Info

Publication number
CN114987412A
CN114987412A CN202210763126.9A CN202210763126A CN114987412A CN 114987412 A CN114987412 A CN 114987412A CN 202210763126 A CN202210763126 A CN 202210763126A CN 114987412 A CN114987412 A CN 114987412A
Authority
CN
China
Prior art keywords
braking
vehicle
acceleration
distance threshold
partial
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.)
Granted
Application number
CN202210763126.9A
Other languages
Chinese (zh)
Other versions
CN114987412B (en
Inventor
李迎弟
刘晓楠
刘杰
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.)
Dongfeng Nissan Passenger Vehicle Co
Original Assignee
Dongfeng Nissan Passenger Vehicle Co
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 Dongfeng Nissan Passenger Vehicle Co filed Critical Dongfeng Nissan Passenger Vehicle Co
Priority to CN202210763126.9A priority Critical patent/CN114987412B/en
Publication of CN114987412A publication Critical patent/CN114987412A/en
Application granted granted Critical
Publication of CN114987412B publication Critical patent/CN114987412B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/3205—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration acceleration
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration

Abstract

The invention relates to the technical field of automatic emergency braking, and discloses an automatic emergency braking control method, device, equipment and a storage medium, wherein the acceleration of a front vehicle is obtained; judging whether a front vehicle is in a CCRb scene; when the front vehicle is in a CCRb scene, determining braking scenes of the front vehicle and the self vehicle; determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the preceding vehicle and the following vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy; comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively; and determining the corresponding braking time and the expected acceleration according to the comparison result to brake, so that the coverage scene of the AEB is improved, and the effective avoidance or reduction of collision is realized.

Description

Automatic emergency braking control method, device, equipment and storage medium
Technical Field
The present invention relates to the field of automatic emergency braking control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for automatic emergency braking control.
Background
The implementation of the Automatic Emergency Braking (AEB) function depends mainly on the control strategy and the sensing & fusion algorithm, wherein the core of the control strategy is to identify the "Braking timing" and the "Braking intensity". The 'braking opportunity' is the braking intervention time; the "braking strength" is the magnitude and braking form of the braking deceleration. To date, various methods and theories have been developed.
The following algorithm ideas are mainly adopted in the industry:
1) time To Collision (TTC) based algorithm
And comparing the real-time ratio of the relative distance between the two vehicles and the relative speed between the two vehicles detected by the sensor with a set TTC threshold, and when the calculated value is smaller than the TTC threshold, braking by the AEB, wherein the concept of distance and speed is still essential. At present, most host plants adopt TTC algorithm, the algorithm is simple in concept, but the algorithm is difficult to cover the deceleration scene of a front vehicle, the TTC algorithm is required to cope with the complex and changeable actual driving environment, the precision is not high enough, and the parameter calibration is difficult to carry out.
2) Braking distance algorithm
The "relative distance between the two vehicles" detected by the sensor is compared with a distance threshold determined by the algorithm, and when the distance threshold is less than the distance threshold, the AEB brakes. The algorithm form is not unique, the algorithm is more accurate compared with a TTC algorithm, the physical significance of each parameter is clear, but the algorithm which considers the motion state of a front vehicle in real time does not exist at present, and the algorithm coverage is not high enough.
Therefore, there are problems: 1. inadequate braking timing results in low customer acceptance of AEB functionality. The braking time is too early, and the AEB system is too sensitive, so that the driving experience of customers is poor; the braking time is too late, the system is too conservative and cannot effectively guarantee the driving safety or effectively avoid/reduce collision, and 2. the control algorithm cannot cover a large number of complex driving scenes, so that potential safety hazards exist, and clients cannot trust the AEB function.
Disclosure of Invention
The invention mainly aims to provide an automatic emergency braking control method, device, equipment and storage medium, and aims to solve the technical problem of improving the coverage scene of AEB.
In order to achieve the above object, the present invention provides an automatic emergency braking control method, including the steps of:
acquiring the acceleration of a front vehicle;
comparing the acceleration of the front vehicle with a preset deceleration threshold value, and judging whether the front vehicle is in a CCRb scene;
when the front vehicle is in a CCRb scene, comparing the time required for braking and stopping the front vehicle with the time required for braking and stopping the self vehicle, and determining the braking and stopping scenes of the front vehicle and the self vehicle;
determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the preceding vehicle and the following vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy;
comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively;
and determining the corresponding braking time and the expected acceleration according to the comparison result to brake.
Optionally, the comparing the acceleration of the preceding vehicle with a preset deceleration threshold to determine whether the preceding vehicle is in a CCRb scenario includes:
when the acceleration of the front vehicle is larger than or equal to a preset deceleration threshold, determining that a vehicle-to-vehicle scene is a CCRm scene or a CCRs scene;
and when the acceleration of the front vehicle is smaller than a preset deceleration threshold value, determining that the vehicle-to-vehicle scene is a CCRb scene.
Optionally, the determining the braking scenes of the preceding vehicle and the following vehicle includes:
when the time required by the braking of the front vehicle is more than or equal to the time required by the braking of the self vehicle, determining the braking scene of the front vehicle and the self vehicle as a first braking scene of the self vehicle;
and when the time required by the braking of the front vehicle is less than the time required by the braking of the self vehicle, determining the braking scene of the front vehicle and the self vehicle as a first braking scene of the front vehicle.
Optionally, the determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scenario and the braking scenarios of the preceding vehicle and the following vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy includes:
when the front vehicle is in a CCRb scene and the braking scene is a self-vehicle early braking scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration;
obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle;
obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration;
obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference;
obtaining a first distance according to the first speed difference, the partial braking target speed and the partial braking acceleration;
obtaining a second acceleration difference according to the partial braking acceleration and the acceleration of the front vehicle;
obtaining a second distance according to the second acceleration difference, the partial braking target speed and the partial braking acceleration;
obtaining a third distance according to the first speed difference, the second acceleration difference, the partial braking target speed, the partial braking acceleration and the first acceleration difference;
and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
Optionally, the determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scenario and the braking scenarios of the preceding vehicle and the following vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy includes:
when the front vehicle is in a CCRb scene and the braking scene is a first braking scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration;
obtaining a first distance according to the speed of the self-vehicle and the full braking acceleration;
obtaining a second distance according to the speed and the acceleration of the front vehicle;
obtaining a full braking distance threshold value according to the first distance and the second distance;
obtaining a first speed difference according to the speed of the self-vehicle and the partial braking target speed;
obtaining a third distance according to the first speed difference and the full braking acceleration;
obtaining a fourth distance according to the speed of the front vehicle, the partial braking target speed and the partial braking acceleration;
obtaining a fifth distance according to the partial braking target speed and the partial braking acceleration;
obtaining a sixth distance according to the speed and the acceleration of the front vehicle;
and obtaining a partial braking distance threshold value according to the third distance, the fourth distance, the fifth distance and the sixth distance.
Optionally, after the comparing the acceleration of the preceding vehicle with a preset deceleration threshold and determining whether the preceding vehicle is in a CCRb scenario, the method further includes:
when the front vehicle is in a CCRm or CCRs scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration;
obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle;
obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration;
obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference;
obtaining a first distance according to the first speed difference, the partial braking target speed and the full braking acceleration;
obtaining a second distance according to the first speed difference, the partial braking target speed and the partial braking acceleration;
obtaining a third distance according to the partial braking target speed and the partial braking acceleration;
and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
Optionally, before comparing the current distance between the leading vehicle and the trailing vehicle with the full braking distance threshold and the partial braking distance threshold, respectively, the method further includes:
obtaining a safe parking distance;
correcting the full braking distance threshold and the partial braking distance threshold according to the safe parking distance to obtain a corrected full braking distance threshold and a corrected partial braking distance threshold;
the comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively comprises the following steps:
and comparing the current distance between the front vehicle and the self vehicle with the corrected full braking distance threshold value and the corrected partial braking distance threshold value respectively.
Optionally, after comparing the current distance between the front vehicle and the self vehicle with the corrected full braking distance threshold and the corrected partial braking distance threshold, the method further includes:
when the distance between the current self vehicle and the front vehicle is smaller than or equal to a corrected full braking distance threshold value, starting full braking, and taking full braking acceleration corresponding to the full braking as expected acceleration to perform braking, wherein the corrected partial braking distance threshold value is larger than the corrected full braking distance threshold value;
when the distance between the current self vehicle and the front vehicle is larger than the corrected full braking distance threshold value and is smaller than or equal to the corrected partial braking distance threshold value, starting partial braking, and taking partial braking acceleration corresponding to the partial braking as expected acceleration to brake;
and when the distance between the current vehicle and the front vehicle is larger than the corrected partial braking distance threshold value, adopting a preset acceleration as the expected acceleration.
In addition, in order to achieve the above object, the present invention also provides an automatic emergency braking control apparatus including:
and the acquisition module is used for acquiring the acceleration of the front vehicle.
And the comparison module is used for comparing the acceleration of the front vehicle with a preset deceleration threshold value and judging whether the front vehicle is in a CCRb scene.
The comparison module is further used for comparing the time required for braking and stopping the front vehicle with the time required for braking and stopping the self vehicle when the front vehicle is in a CCRb scene, and determining the braking and stopping scenes of the front vehicle and the self vehicle.
The acquisition module is further configured to determine a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scenario and the braking scenarios of the preceding vehicle and the following vehicle, and determine the partial braking distance threshold and the full braking distance threshold according to the target calculation strategy.
The comparison module is further used for comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively.
And the braking module is used for determining the corresponding braking time and the expected acceleration according to the comparison result to brake.
Further, to achieve the above object, the present invention also proposes an automatic emergency brake control apparatus including: a memory, a processor, and an automatic emergency braking control program stored on the memory and executable on the processor, the automatic emergency braking control program configured to implement an automatic emergency braking control method as described above.
Furthermore, to achieve the above object, the present invention further provides a storage medium having an automatic emergency braking control program stored thereon, which when executed by a processor implements the automatic emergency braking control method as described above.
The automatic emergency braking control method provided by the invention comprises the steps of obtaining the acceleration of a front vehicle; comparing the acceleration of the front vehicle with a preset deceleration threshold value, and judging whether the front vehicle is in a CCRb scene; when the front vehicle is in a CCRb scene, comparing the time required by braking and stopping the front vehicle with the time required by braking and stopping the self vehicle, and determining the braking and stopping scenes of the front vehicle and the self vehicle; determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the front vehicle and the rear vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy; comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively; and determining the corresponding braking time and the expected acceleration to brake according to the comparison result, so that the motion scene of the front vehicle is covered according to the vehicle-to-vehicle scene and the braking scene, matching the corresponding full braking distance threshold and partial braking distance threshold calculation strategy according to the motion scene, and braking according to the braking time and the expected acceleration corresponding to the actual driving environment.
Drawings
FIG. 1 is a schematic diagram of an automatic emergency braking control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of an automatic emergency braking control method according to the present invention;
FIG. 3 is a schematic view of an embodiment of an automatic emergency braking control method according to the present invention;
FIG. 4 is a flowchart illustrating a second embodiment of an automatic emergency braking control method according to the present invention;
FIG. 5 is a flowchart illustrating a third exemplary embodiment of an automatic emergency braking control method according to the present invention;
fig. 6 is a functional block diagram of the automatic emergency braking control device according to the first embodiment of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Noun explanation
a 2 : acceleration of front vehicle, m/s 2 ；
a 1 : acceleration of vehicle, m/s 2 ；
V 2 : front vehicle speed, m/s;
V 1 : the speed of the vehicle, m/s;
Δ V: partial braking target speed, m/s;
CCRs (Car to Car Stationary): the GVT is static, and is a scene of rear-end collision between a rear vehicle and a front vehicle, and the GVT represents a target vehicle, namely the front vehicle;
ccrm (Car to Car moving): GVT slowly moves at a constant speed, and a rear vehicle and a front vehicle collide with each other;
ccrb (Car to Car braiking): GVT uniform deceleration movement and rear-end collision between a rear vehicle and a front vehicle;
the CCRs, the CCRm and the CCRb are all AEB related test scenes specified in 'China New vehicle evaluation procedure' (C-NCAP, China-New Car Assessment Program), and the 3 types of test scenes are collectively called 'vehicle-to-vehicle scenes' (CCR, Car to Car reader);
s1: the distance traveled by the vehicle during a partial braking phase;
s2: the distance the vehicle travels before the partial braking stage;
s3: the distance traveled by the self-vehicle in the full braking stage;
s4: the distance the vehicle travels before the full braking stage;
d' 11 : a partial braking start time distance threshold;
d' 12 : a full braking start time distance threshold;
d 11 : after correctionA partial braking start time distance threshold;
d 12 : the distance threshold value of the corrected full braking starting moment;
d: representing the real-time distance between the two vehicles detected by the sensor;
d_ safe : the parking safety distance can be calibrated according to expected values within a reasonable range;
t 2 : the time required by braking of the front vehicle;
t 1 : the time required by the brake of the bicycle;
a T : the AEB system desired output acceleration;
a 11 : partial brake acceleration set by the AEB system;
a 12 : full brake acceleration set by the AEB system.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a driver interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The driver interface 1003 may include a Display screen (Display), an input unit such as a key, and the optional driver interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the automatic emergency brake control device illustrated in fig. 1 does not constitute a limitation of the automatic emergency brake control device and may include more or fewer components than illustrated, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a driver interface module, and an automatic emergency braking control program.
In the automatic emergency brake control apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a server and performing data communication with the server; the driver interface 1003 is mainly used for connecting a driver terminal and performing data communication with the terminal; the automatic emergency braking control apparatus of the present invention calls the automatic emergency braking control program stored in the memory 1005 through the processor 1001 and executes the automatic emergency braking control method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the automatic emergency braking control method is provided.
Referring to fig. 2, fig. 2 is a flow chart illustrating a first embodiment of the automatic emergency braking control method according to the present invention.
In a first embodiment, the automatic emergency braking control method comprises the steps of:
in step S10, the preceding vehicle acceleration is acquired.
It should be noted that the execution subject of this embodiment is an automatic emergency braking control device, the automatic emergency braking control device may be a vehicle, an automatic emergency braking control program is installed on the vehicle, automatic emergency braking control is performed through the automatic emergency braking control program, an acceleration sensor is installed on the vehicle, acceleration of the front vehicle is collected through the acceleration sensor, and the acceleration a of the front vehicle is determined according to the acceleration a of the front vehicle 2 Distinguishing the current scenario is a CCRb scenario or a CCRm scenario, which can be generalized to a special case of CCRm.
And step S20, comparing the acceleration of the front vehicle with a preset deceleration threshold value, and judging whether the front vehicle is in a CCRb scene.
In specific implementation, when the acceleration of the front vehicle is greater than or equal to a preset deceleration threshold, determining that a vehicle-to-vehicle scene is a CCRm scene or a CCRs scene; and when the acceleration of the front vehicle is smaller than a preset deceleration threshold value, determining that the vehicle-to-vehicle scene is a CCRb scene.
In this embodiment, the preset deceleration threshold may be 0.5, and other parameters may also be used, which are not limited in this embodiment, and may be flexibly adjusted according to actual requirements, and only the preset deceleration threshold is usedThe value is 0.5, for example, the front vehicle acceleration a 2 0.4m/s2, then a 2 If the current scene is not more than 0.5, determining that the current scene is a CCRb scene and the acceleration a of the front vehicle is 2 0.9m/s2, then a 2 And if the current scene is more than 0.5, determining that the current scene is a CCRm scene or a CCRs scene.
And step S30, when the preceding vehicle is in a CCRb scene, comparing the time required by the braking of the preceding vehicle with the time required by the braking of the self vehicle, and determining the braking scenes of the preceding vehicle and the self vehicle.
In this embodiment, if it is determined that the scenario is the CCRb scenario, the braking and stopping sequence of the preceding vehicle and the own vehicle, and the time t required for braking and stopping the preceding vehicle need to be determined 2 ＝V 2 /a 2 Time t required for braking 1 ＝ΔV/a 11 +(V 1 -ΔV)/a 12 If t is 2 ≥t 1 If so, the bicycle is braked and stopped firstly; otherwise, the front vehicle is braked and stopped first.
Step S40, determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scenario and the braking scenarios of the preceding vehicle and the own vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy.
And aiming at different test scenes of the C-NCAP, a dynamic matching algorithm is adopted, and an appropriate algorithm is selected to calculate the braking distance threshold value aiming at different front vehicle motion states, so that the C-NCAP CCR test scene is covered as much as possible.
In a specific implementation, the relation between the distance threshold value d' and the distance traveled by the self-vehicle and the front-vehicle in the partial braking/full braking stage is known, so that the distance traveled by the self-vehicle and the front-vehicle in the partial braking/full braking stage can be obtained through V-t diagram integration, and the partial braking distance threshold value and the full braking distance threshold value are obtained according to the distance traveled by the self-vehicle and the front-vehicle in the partial braking/full braking stage.
In this embodiment, the AEB control strategy employs two-stage braking: partial braking and full braking. First, assuming that the Safe parking distance d _ Safe is 0, the "partial braking distance threshold value" and the "full braking distance threshold value" are respectively confirmed by the "back-stepping method", as shown in fig. 3Scene schematic diagram, setting d' 12 ＝S3-S4，d' 11 And (S1 + S3-S2-S4) (S1-S2) + (S3-S4), and according to the corresponding relation between the set partial braking distance threshold and the full braking distance threshold and the distance traveled by the vehicle before and the vehicle in the partial braking/full braking stage, calculating the partial braking distance threshold and the full braking distance threshold covering the C-NCAP CCR test scene according to the corresponding relation.
In a specific implementation, in order to realize the calculation of the dynamic partial braking distance threshold and the full braking distance threshold, the safe parking distance is defined as a preset safe distance; establishing a full braking corresponding relation between the distance traveled by the self vehicle in the full braking stage and the distance traveled by the front vehicle in the full braking stage and the distance threshold value of the full braking starting moment, namely d' 12 S3-S4; establishing a partial braking corresponding relation, namely d ', of a distance traveled by the partial braking self-vehicle, a distance traveled by a partial braking front-vehicle, a distance traveled by the self-vehicle in a full braking stage, a distance traveled by the front-vehicle in the full braking stage and a distance threshold value at the starting moment of the partial braking' 11 And (S1-S2) + (S3-S4), calculating a partial braking distance threshold value and a full braking distance threshold value according to the full braking corresponding relation and the partial braking corresponding relation, and accordingly covering the C-NCAP CCR test scene.
In this embodiment, the multiple full-braking-distance threshold and partial-braking-distance threshold calculation strategies include a full-braking-distance threshold calculation strategy in a self-vehicle first-brake-stop scene in a CCRb scene, a CCRm scene, and a CCRs scene, a full-braking-distance threshold calculation strategy in a front-vehicle first-brake-stop scene in a CCRb scene, a partial-braking-distance threshold calculation strategy in a CCRm scene and a CCRs scene, a partial-braking-distance threshold calculation strategy in a self-vehicle first-brake-stop scene in a CCRb scene, a partial-braking-distance threshold calculation strategy in a front-vehicle first-brake-stop scene in a CCRb scene, and the like, so that the corresponding full-braking-distance threshold and partial-braking-distance threshold are determined according to the motion scene matching of the front vehicle and the corresponding full-braking-distance threshold calculation strategy, and full-braking-distance threshold calculation strategy is implemented to realize full coverage of the C-NCAP CCR test scene.
And step S50, comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively.
It should be noted that, the full braking distance threshold is smaller than the partial braking distance threshold, the current distance between the leading vehicle and the self vehicle is compared with the full braking distance threshold and the partial braking distance threshold, when the current distance between the leading vehicle and the self vehicle is smaller than or equal to the full braking distance threshold, the full braking acceleration is adopted for braking, and when the current distance between the leading vehicle and the self vehicle is larger than the full braking distance threshold and smaller than or equal to the partial braking distance threshold, the partial braking acceleration is adopted for braking.
And step S60, determining the corresponding braking time and the expected acceleration according to the comparison result to brake.
It is understood that the braking occasions include a full brake intervention and a partial brake intervention, the desired acceleration includes a partial brake acceleration, a full brake acceleration, and a preset acceleration, which may be 0.
In the embodiment, the acceleration of the front vehicle is obtained; comparing the acceleration of the front vehicle with a preset deceleration threshold value, and judging whether the front vehicle is in a CCRb scene; when the front vehicle is in a CCRb scene, comparing the time required by braking and stopping the front vehicle with the time required by braking and stopping the self vehicle, and determining the braking and stopping scenes of the front vehicle and the self vehicle; determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the front vehicle and the rear vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy; comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively; and determining the corresponding braking time and the expected acceleration to brake according to the comparison result, so that the motion scene of the front vehicle is covered according to the vehicle-to-vehicle scene and the braking scene, matching the corresponding full braking distance threshold and partial braking distance threshold calculation strategy according to the motion scene, and braking according to the braking time and the expected acceleration corresponding to the actual driving environment.
Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of the automatic emergency braking control method according to the present invention, which is proposed based on the first embodiment, and in the second embodiment, the step S30 includes:
step S301, when the time required by the brake of the front vehicle is greater than or equal to the time required by the brake of the self vehicle, determining that the brake scene of the front vehicle and the brake scene of the self vehicle are the scene of the brake of the self vehicle firstly.
Step S302, when the time required for the brake of the front vehicle is less than the time required for the brake of the self vehicle, determining the brake scene of the front vehicle and the self vehicle as a first brake scene of the front vehicle.
Time t required for braking of front vehicle 2 ＝V 2 /a 2 Time t required for braking 1 ＝ΔV/a 11 +(V 1 -ΔV)/a 12 If t is 2 ≥t 1 If so, the bicycle is braked and stopped firstly; otherwise, the front vehicle is braked and stopped first.
In one embodiment, the step S40 includes:
when the front vehicle is in a CCRb scene and the braking scene is a first braking scene of the self vehicle, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, partial braking acceleration and full braking acceleration; obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle; obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration; obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference; obtaining a first distance according to the first speed difference, the partial braking target speed and the partial braking acceleration; obtaining a second acceleration difference according to the partial braking acceleration and the acceleration of the front vehicle; obtaining a second distance according to the second acceleration difference, the partial braking target speed and the partial braking acceleration; obtaining a third distance according to the first speed difference, the second acceleration difference, the partial braking target speed, the partial braking acceleration and the first acceleration difference; and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
Specifically, a formula 1 is adopted to obtain a full braking distance threshold value under a CCRb scene, a CCRm scene and a self-braking first-stopping scene under the CCRs scene:
Figure BDA0003724697440000121
wherein, V 2 -V 1 Represents the first speed difference, | a 12 |-|a 2 | represents a first acceleration difference.
Specifically, a partial braking distance threshold value under a self-braking first-stopping scene under a CCRb scene is obtained by adopting a formula 2:
Figure BDA0003724697440000122
wherein the content of the first and second substances,
Figure BDA0003724697440000123
denotes a first distance, | a 11 |-|a 2 L represents a second acceleration difference,
Figure BDA0003724697440000124
it is indicated that the second distance is,
Figure BDA0003724697440000125
indicating a third distance.
It should be noted that the braking strength of the partial braking and the full braking are fixed values, i.e. the braking acceleration is a 11 And a 12 The speed of the partial braking is reduced to a fixed value av, i.e. the partial braking target speed.
In another embodiment, the step S40 includes:
when the front vehicle is in a CCRb scene and the braking scene is a first braking scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration; obtaining a first distance according to the speed of the self-vehicle and the full braking acceleration; obtaining a second distance according to the speed and the acceleration of the front vehicle; obtaining a full braking distance threshold value according to the first distance and the second distance; obtaining a first speed difference according to the speed of the self-vehicle and the partial braking target speed; obtaining a third distance according to the first speed difference and the full braking acceleration; obtaining a fourth distance according to the speed of the front vehicle, the partial braking target speed and the partial braking acceleration; obtaining a fifth distance according to the partial braking target speed and the partial braking acceleration; obtaining a sixth distance according to the speed and the acceleration of the front vehicle; and obtaining a partial braking distance threshold value according to the third distance, the fourth distance, the fifth distance and the sixth distance.
Specifically, a full braking distance threshold value in a preceding vehicle braking-first parking scene in a CCRb scene is obtained by adopting a formula 3:
Figure BDA0003724697440000131
wherein the content of the first and second substances,
Figure BDA0003724697440000132
the first distance is represented as a function of,
Figure BDA0003724697440000133
representing the second distance.
Specifically, a partial braking distance threshold value in a preceding vehicle braking-first parking scene in a CCRb scene is obtained by adopting a formula 4:
Figure BDA0003724697440000134
wherein, V 1 - Δ V represents a speed difference,
Figure BDA0003724697440000135
it is indicated that the third distance is,
Figure BDA0003724697440000136
denotes the fourthThe distance between the first and second electrodes,
Figure BDA0003724697440000137
a fifth distance is indicated which is the distance,
Figure BDA0003724697440000138
indicating a sixth distance.
Further, after the step S20, the method further includes:
when the front vehicle is in a CCRm or CCRs scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration; obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle; obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration; obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference; obtaining a first distance according to the first speed difference, the partial braking target speed and the full braking acceleration; obtaining a second distance according to the first speed difference, the partial braking target speed and the partial braking acceleration; obtaining a third distance according to the partial braking target speed and the partial braking acceleration; and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
Specifically, a formula 5 is adopted to obtain a full braking distance threshold value under a CCRm or CCRs scene:
Figure BDA0003724697440000139
wherein, V 2 -V 1 Indicates the first speed difference, | a 12 |-|a 2 | represents the first acceleration difference.
Specifically, a partial braking distance threshold value under a CCRm or CCRs scene is obtained by adopting a formula 6:
Figure BDA00037246974400001310
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00037246974400001311
the first distance is represented as a function of,
Figure BDA00037246974400001312
it is indicated that the second distance is,
Figure BDA00037246974400001313
indicating a third distance.
And when the front vehicle is in a CCRm or CCRs scene, acquiring a safe parking distance, and correcting the full braking distance threshold value and the partial braking distance threshold value according to the safe parking distance to obtain a corrected full braking distance threshold value and a corrected partial braking distance threshold value. Comparing the distance between the current front vehicle and the current self vehicle with a corrected full braking distance threshold value and a corrected partial braking distance threshold value respectively, starting full braking when the distance between the current self vehicle and the front vehicle is smaller than or equal to the corrected full braking distance threshold value, and taking full braking acceleration corresponding to the full braking as expected acceleration to brake, wherein the corrected partial braking distance threshold value is larger than the corrected full braking distance threshold value; when the distance between the current self vehicle and the front vehicle is larger than the corrected full braking distance threshold value and is smaller than or equal to the corrected partial braking distance threshold value, starting partial braking, and taking partial braking acceleration corresponding to the partial braking as expected acceleration to brake; and when the distance between the current self vehicle and the front vehicle is larger than the corrected partial braking distance threshold value, adopting a preset acceleration as the expected acceleration, wherein the preset acceleration is 0.
In the embodiment, the automatic emergency braking control strategy based on the braking distance algorithm is characterized in that the braking distance threshold is calculated by finely processing the motion parameters of the front vehicle and adopting a dynamic matching algorithm according to different motion states of the front vehicle, so that the C-NCAP CCR test scene is covered as much as possible.
Referring to fig. 5, fig. 5 is a flowchart illustrating a third embodiment of the automatic emergency braking control method according to the present invention, which is proposed based on the first embodiment, and in the third embodiment, before the step S50, the method further includes:
step S501, obtaining a safe parking distance.
Step S502, the full braking distance threshold value and the partial braking distance threshold value are corrected according to the safe parking distance, and the corrected full braking distance threshold value and the corrected partial braking distance threshold value are obtained. And comparing the current distance between the front vehicle and the current self vehicle with the corrected full braking distance threshold value and the corrected partial braking distance threshold value respectively.
In this embodiment, the "Safe parking distance d _ Safe" is determined by real vehicle calibration, and the "distance threshold d'" is corrected by adding the d _ Safe to obtain the final "distance threshold d", that is, d 12 ＝d' 12 +d_ Safe ，d 11 ＝d' 11 +d_ Safe The strategy optimizes the calibration parameters and can control the safe parking distance within an expected range.
Further, after step S503, the method further includes:
when the distance between the current self vehicle and the front vehicle is smaller than or equal to a corrected full braking distance threshold value, starting full braking, and taking full braking acceleration corresponding to the full braking as expected acceleration to perform braking, wherein the corrected partial braking distance threshold value is larger than the corrected full braking distance threshold value;
when the distance between the current self vehicle and the front vehicle is larger than the corrected full braking distance threshold value and is smaller than or equal to the corrected partial braking distance threshold value, starting partial braking, and taking partial braking acceleration corresponding to the partial braking as expected acceleration to brake;
and when the distance between the current vehicle and the front vehicle is larger than the corrected partial braking distance threshold, adopting a preset acceleration as the expected acceleration, wherein the preset acceleration is 0.
In a specific implementation, the AEB actuation timing is confirmed: when the real-time distance d between the two vehicles detected by the sensor is less than or equal to the corrected partial braking distance threshold valued 11 When the AEB part is in brake intervention, the expected acceleration a is output T ＝a 11 Then, as the danger continues to increase, when the real-time distance d between two vehicles detected by the radar is less than or equal to the corrected full braking distance threshold value d 12 "time, AEB full brake intervenes, a T ＝a 12 Otherwise output a T ＝0。
In the embodiment, a proper algorithm is selected to calculate the braking distance threshold value aiming at different front vehicle motion states, so that a C-NCAP CCR test scene is covered as much as possible, calibration parameters are optimized, the safe parking distance can be controlled within an expected range, and the control precision of AEB is improved.
The invention further provides an automatic emergency braking control device.
Referring to fig. 6, fig. 6 is a functional block diagram of the automatic emergency braking control device according to the first embodiment of the present invention.
In a first embodiment of the automatic emergency brake control apparatus according to the present invention, the automatic emergency brake control apparatus includes:
and the acquisition module 10 is used for acquiring the acceleration of the front vehicle.
And the comparison module 20 is configured to compare the acceleration of the preceding vehicle with a preset deceleration threshold, and determine whether the preceding vehicle is in a CCRb scene.
The comparison module 20 is further configured to compare the time required for braking and stopping the preceding vehicle with the time required for braking and stopping the own vehicle when the preceding vehicle is in the CCRb scene, and determine the braking and stopping scenes of the preceding vehicle and the own vehicle.
The obtaining module 10 is further configured to determine a target calculation strategy of a full-braking distance threshold and a partial-braking distance threshold from multiple full-braking distance threshold and partial-braking distance threshold calculation strategies according to the CCRb scenario and the braking and stopping scenarios of the preceding vehicle and the own vehicle, and determine the partial-braking distance threshold and the full-braking distance threshold according to the target calculation strategy.
The comparing module 20 is further configured to compare the current distance between the preceding vehicle and the current own vehicle with the full braking distance threshold and the partial braking distance threshold, respectively.
And the braking module 30 is used for determining the corresponding braking time and the expected acceleration according to the comparison result to perform braking.
In the embodiment, the acceleration of the front vehicle is obtained; comparing the acceleration of the front vehicle with a preset deceleration threshold value, and judging whether the front vehicle is in a CCRb scene; when the front vehicle is in a CCRb scene, comparing the time required by braking and stopping the front vehicle with the time required by braking and stopping the self vehicle, and determining the braking and stopping scenes of the front vehicle and the self vehicle; determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the preceding vehicle and the following vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy; comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively; and determining the corresponding braking time and the expected acceleration to brake according to the comparison result, so that the motion scene of the front vehicle is covered according to the vehicle-to-vehicle scene and the braking scene, matching the corresponding full braking distance threshold and partial braking distance threshold calculation strategy according to the motion scene, and braking according to the braking time and the expected acceleration corresponding to the actual driving environment.
Optionally, the comparison module 20 is further configured to determine that the vehicle-to-vehicle scene is a CCRm scene or a CCRs scene when the leading vehicle acceleration is greater than or equal to a preset deceleration threshold;
and when the acceleration of the front vehicle is smaller than a preset deceleration threshold value, determining that the vehicle-to-vehicle scene is a CCRb scene.
Optionally, the comparing module 20 is further configured to determine that a braking scene of the preceding vehicle and the current vehicle is a vehicle-first braking scene when the time required for the braking of the preceding vehicle is greater than or equal to the time required for the braking of the current vehicle;
and when the time required by the braking of the front vehicle is less than the time required by the braking of the self vehicle, determining the braking scene of the front vehicle and the self vehicle as a first braking scene of the front vehicle.
Optionally, the obtaining module 10 is further configured to obtain a vehicle speed of the preceding vehicle, a partial braking target speed, a preceding vehicle acceleration, a partial braking acceleration, and a full braking acceleration when the preceding vehicle is in a CCRb scenario and the braking scenario is a vehicle-to-brake scenario;
obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle;
obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration;
obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference;
obtaining a first distance according to the first speed difference, the partial braking target speed and the partial braking acceleration;
obtaining a second acceleration difference according to the partial braking acceleration and the acceleration of the front vehicle;
obtaining a second distance according to the second acceleration difference, the partial braking target speed and the partial braking acceleration;
obtaining a third distance according to the first speed difference, the second acceleration difference, the partial braking target speed, the partial braking acceleration and the first acceleration difference;
and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
Optionally, the obtaining module 10 is further configured to obtain a vehicle speed of the preceding vehicle, a partial braking target speed, a vehicle acceleration of the preceding vehicle, a partial braking acceleration, and a full braking acceleration when the preceding vehicle is a CCRb scene and the braking scene is a braking scene of the preceding vehicle;
obtaining a first distance according to the speed of the self-vehicle and the full braking acceleration;
obtaining a second distance according to the speed and the acceleration of the front vehicle;
obtaining a full braking distance threshold value according to the first distance and the second distance;
obtaining a first speed difference according to the speed of the self-vehicle and the partial braking target speed;
obtaining a third distance according to the first speed difference and the full braking acceleration;
obtaining a fourth distance according to the speed of the front vehicle, the partial braking target speed and the partial braking acceleration;
obtaining a fifth distance according to the partial braking target speed and the partial braking acceleration;
obtaining a sixth distance according to the speed and the acceleration of the front vehicle;
and obtaining a partial braking distance threshold value according to the third distance, the fourth distance, the fifth distance and the sixth distance.
Optionally, the obtaining module 10 is further configured to obtain a vehicle speed of the preceding vehicle, a partial braking target speed, a vehicle acceleration of the preceding vehicle, a partial braking acceleration, and a full braking acceleration when the preceding vehicle is in a CCRm or CCRs scenario;
obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle;
obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration;
obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference;
obtaining a first distance according to the first speed difference, the partial braking target speed and the full braking acceleration;
obtaining a second distance according to the first speed difference, the partial braking target speed and the partial braking acceleration;
obtaining a third distance according to the partial braking target speed and the partial braking acceleration;
and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
Optionally, the obtaining module 10 is further configured to obtain a safe parking distance;
correcting the full braking distance threshold and the partial braking distance threshold according to the safe parking distance to obtain a corrected full braking distance threshold and a corrected partial braking distance threshold;
optionally, the braking module 30 is further configured to, when the distance between the current vehicle and the preceding vehicle is less than or equal to a corrected full braking distance threshold, start full braking, and brake with a full braking acceleration corresponding to the full braking as an expected acceleration, where the corrected partial braking distance threshold is greater than the corrected full braking distance threshold;
when the distance between the current self vehicle and the front vehicle is larger than the corrected full braking distance threshold value and smaller than or equal to the corrected partial braking distance threshold value, starting partial braking, and taking partial braking acceleration corresponding to the partial braking as expected acceleration to brake;
and when the distance between the current vehicle and the front vehicle is larger than the corrected partial braking distance threshold value, adopting a preset acceleration as the expected acceleration.
Further, to achieve the above object, the present invention also proposes an automatic emergency brake control apparatus including: a memory, a processor, and an automatic emergency braking control program stored on the memory and executable on the processor, the automatic emergency braking control program configured to implement an automatic emergency braking control method as described above.
Since the automatic emergency braking control device adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Furthermore, an embodiment of the present invention further provides a storage medium, where an automatic emergency braking control program is stored, and the automatic emergency braking control program, when executed by a processor, implements the automatic emergency braking control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be substantially or partially embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling an intelligent terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (11)

1. An automatic emergency braking control method, characterized by comprising:
acquiring the acceleration of a front vehicle;
comparing the acceleration of the front vehicle with a preset deceleration threshold value, and judging whether the front vehicle is in a CCRb scene;
when the front vehicle is in a CCRb scene, comparing the time required for braking and stopping the front vehicle with the time required for braking and stopping the self vehicle, and determining the braking and stopping scenes of the front vehicle and the self vehicle;
determining a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the front vehicle and the rear vehicle, and determining a partial braking distance threshold and a full braking distance threshold according to the target calculation strategy;
comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively;
and determining the corresponding braking time and the expected acceleration according to the comparison result to brake.
2. The automatic emergency braking control method of claim 1 wherein said comparing said preceding vehicle acceleration to a preset deceleration threshold to determine whether the preceding vehicle is in a CCRb scenario comprises:
when the acceleration of the front vehicle is greater than or equal to a preset deceleration threshold value, determining that the front vehicle is a CCRm scene or a CCRs scene;
and when the acceleration of the front vehicle is smaller than a preset deceleration threshold value, determining that the front vehicle is in a CCRb scene.
3. The automatic emergency brake control method according to claim 1, wherein the determining the brake-off scenes of the preceding vehicle and the following vehicle includes:
when the time required by the braking of the front vehicle is more than or equal to the time required by the braking of the self vehicle, determining the braking scene of the front vehicle and the self vehicle as a first braking scene of the self vehicle;
and when the time required by the braking of the front vehicle is less than the time required by the braking of the self vehicle, determining the braking scene of the front vehicle and the self vehicle as a first braking scene of the front vehicle.
4. The automatic emergency brake control method of claim 3, wherein said determining a target calculation strategy for a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies based on said CCRb scenario and said preceding and following vehicle braking scenarios, and determining a partial braking distance threshold and a full braking distance threshold based on said target calculation strategy comprises:
when the front vehicle is in a CCRb scene and the braking scene is a first braking scene of the self vehicle, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, partial braking acceleration and full braking acceleration;
obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle;
obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration;
obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference;
obtaining a first distance according to the first speed difference, the partial braking target speed and the partial braking acceleration;
obtaining a second acceleration difference according to the partial braking acceleration and the acceleration of the front vehicle;
obtaining a second distance according to the second acceleration difference, the partial braking target speed and the partial braking acceleration;
obtaining a third distance according to the first speed difference, the second acceleration difference, the partial braking target speed, the partial braking acceleration and the first acceleration difference;
and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
5. The automated emergency braking control method of claim 3, wherein the determining a target calculation strategy for a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies based on the CCRb scenario and the braking scenarios for the leading and trailing vehicles, and determining a partial braking distance threshold and a full braking distance threshold based on the target calculation strategy comprises:
when the front vehicle is in a CCRb scene and the braking scene is a first braking scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration;
obtaining a first distance according to the speed of the self-vehicle and the full braking acceleration;
obtaining a second distance according to the speed and the acceleration of the front vehicle;
obtaining a full braking distance threshold value according to the first distance and the second distance;
obtaining a first speed difference according to the vehicle speed and the partial braking target speed;
obtaining a third distance according to the first speed difference and the full braking acceleration;
obtaining a fourth distance according to the speed of the front vehicle, the partial braking target speed and the partial braking acceleration;
obtaining a fifth distance according to the partial braking target speed and the partial braking acceleration;
obtaining a sixth distance according to the speed and the acceleration of the front vehicle;
and obtaining a partial braking distance threshold value according to the third distance, the fourth distance, the fifth distance and the sixth distance.
6. The automatic emergency braking control method of claim 1, wherein said comparing said preceding vehicle acceleration to a preset deceleration threshold to determine whether the preceding vehicle is following a CCRb scenario further comprises:
when the front vehicle is in a CCRm or CCRs scene, acquiring the speed of the front vehicle, the speed of the self vehicle, a partial braking target speed, the acceleration of the front vehicle, a partial braking acceleration and a full braking acceleration;
obtaining a first speed difference according to the speed of the front vehicle and the speed of the self vehicle;
obtaining a first acceleration difference according to the full braking acceleration and the front vehicle acceleration;
obtaining a full braking distance threshold value according to the first speed difference and the first acceleration difference;
obtaining a first distance according to the first speed difference, the partial braking target speed and the full braking acceleration;
obtaining a second distance according to the first speed difference, the partial braking target speed and the partial braking acceleration;
obtaining a third distance according to the partial braking target speed and the partial braking acceleration;
and obtaining a partial braking distance threshold value according to the first distance, the second distance and the third distance.
7. The automatic emergency braking control method of claim 1, wherein prior to comparing the current distance between the leading vehicle and the trailing vehicle to the full braking distance threshold and the partial braking distance threshold, respectively, further comprising:
obtaining a safe parking distance;
correcting the full braking distance threshold and the partial braking distance threshold according to the safe parking distance to obtain a corrected full braking distance threshold and a corrected partial braking distance threshold;
the comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively comprises the following steps:
and comparing the current distance between the front vehicle and the self vehicle with the corrected full braking distance threshold value and the corrected partial braking distance threshold value respectively.
8. The automatic emergency braking control method of claim 7, wherein after comparing the current distance between the leading vehicle and the trailing vehicle to the modified full braking distance threshold and the modified partial braking distance threshold, respectively, further comprising:
when the distance between the current self vehicle and the front vehicle is smaller than or equal to a corrected full braking distance threshold value, starting full braking, and taking full braking acceleration corresponding to the full braking as expected acceleration to perform braking, wherein the corrected partial braking distance threshold value is larger than the corrected full braking distance threshold value;
when the distance between the current self vehicle and the front vehicle is larger than the corrected full braking distance threshold value and smaller than or equal to the corrected partial braking distance threshold value, starting partial braking, and taking partial braking acceleration corresponding to the partial braking as expected acceleration to brake;
and when the distance between the current vehicle and the front vehicle is larger than the corrected partial braking distance threshold value, adopting a preset acceleration as the expected acceleration.
9. An automatic emergency brake control apparatus, characterized by comprising:
the acquisition module is used for acquiring the acceleration of the front vehicle;
the comparison module is used for comparing the acceleration of the front vehicle with a preset deceleration threshold value and judging whether the front vehicle is in a CCRb scene or not;
the comparison module is further configured to compare the time required for braking and stopping the front vehicle with the time required for braking and stopping the self vehicle when the front vehicle is in the CCRb scene, and determine braking and stopping scenes of the front vehicle and the self vehicle;
the acquisition module is further configured to determine a target calculation strategy of a full braking distance threshold and a partial braking distance threshold from a plurality of full braking distance threshold and partial braking distance threshold calculation strategies according to the CCRb scene and the braking scenes of the preceding vehicle and the following vehicle, and determine the partial braking distance threshold and the full braking distance threshold according to the target calculation strategy;
the comparison module is further used for comparing the current distance between the front vehicle and the self vehicle with the full braking distance threshold value and the partial braking distance threshold value respectively;
and the braking module is used for determining the corresponding braking time and the expected acceleration according to the comparison result to brake.
10. An automatic emergency brake control apparatus, characterized by comprising: a memory, a processor, and an automatic emergency braking control program stored on the memory and executable on the processor, the automatic emergency braking control program configured to implement the automatic emergency braking control method of any of claims 1-8.
11. A storage medium having an automatic emergency brake control program stored thereon, the automatic emergency brake control program when executed by a processor implementing an automatic emergency brake control method according to any one of claims 1 to 8.
CN202210763126.9A 2022-06-30 2022-06-30 Automatic emergency braking control method, device, equipment and storage medium Active CN114987412B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210763126.9A CN114987412B (en) 2022-06-30 2022-06-30 Automatic emergency braking control method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210763126.9A CN114987412B (en) 2022-06-30 2022-06-30 Automatic emergency braking control method, device, equipment and storage medium

Publications (2)

Publication Number Publication Date
CN114987412A true CN114987412A (en) 2022-09-02
CN114987412B CN114987412B (en) 2023-03-31

Family

ID=83020328

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210763126.9A Active CN114987412B (en) 2022-06-30 2022-06-30 Automatic emergency braking control method, device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN114987412B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015085798A (en) * 2013-10-30 2015-05-07 日野自動車株式会社 Automatic braking device
WO2019114604A1 (en) * 2017-12-15 2019-06-20 蔚来汽车有限公司 Method and apparatus for generating vehicle control command, and vehicle controller and storage medium
CN111086513A (en) * 2019-12-24 2020-05-01 泰牛汽车技术(苏州)有限公司 Control method for automatic driving
CN111506087A (en) * 2020-05-21 2020-08-07 安徽江淮汽车集团股份有限公司 Self-adaptive car following method, device, equipment and storage medium for automatic driving car
CN113044012A (en) * 2021-04-12 2021-06-29 东风商用车有限公司 Brake control method, device, equipment and storage medium for semi-trailer train
CN113928284A (en) * 2021-08-27 2022-01-14 北京工业大学 Self-adaptive multistage braking control method for automatic emergency braking system
CN114148322A (en) * 2022-01-04 2022-03-08 吉林大学 Pavement adhesion self-adaptive commercial vehicle air pressure automatic emergency braking control method
WO2022049428A1 (en) * 2020-09-03 2022-03-10 Vie Technology (Europe) Kft. Method and arrangement to timely trigger automatic emergency braking operation and to control the longitudinal movement of a vehicle

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015085798A (en) * 2013-10-30 2015-05-07 日野自動車株式会社 Automatic braking device
WO2019114604A1 (en) * 2017-12-15 2019-06-20 蔚来汽车有限公司 Method and apparatus for generating vehicle control command, and vehicle controller and storage medium
CN111086513A (en) * 2019-12-24 2020-05-01 泰牛汽车技术(苏州)有限公司 Control method for automatic driving
CN111506087A (en) * 2020-05-21 2020-08-07 安徽江淮汽车集团股份有限公司 Self-adaptive car following method, device, equipment and storage medium for automatic driving car
WO2022049428A1 (en) * 2020-09-03 2022-03-10 Vie Technology (Europe) Kft. Method and arrangement to timely trigger automatic emergency braking operation and to control the longitudinal movement of a vehicle
CN113044012A (en) * 2021-04-12 2021-06-29 东风商用车有限公司 Brake control method, device, equipment and storage medium for semi-trailer train
CN113928284A (en) * 2021-08-27 2022-01-14 北京工业大学 Self-adaptive multistage braking control method for automatic emergency braking system
CN114148322A (en) * 2022-01-04 2022-03-08 吉林大学 Pavement adhesion self-adaptive commercial vehicle air pressure automatic emergency braking control method

Also Published As

Publication number Publication date
CN114987412B (en) 2023-03-31

Similar Documents

Publication Publication Date Title
CN110673590B (en) Method, device and equipment for judging reliability of automatic driving system and storage medium
CN109760678B (en) Speed limiting method of automobile adaptive cruise system
CN112937520B (en) Emergency braking method and device for vehicle, commercial vehicle and storage medium
CN111506087A (en) Self-adaptive car following method, device, equipment and storage medium for automatic driving car
CN103507808A (en) System and method for preventing collision
EP3401172B1 (en) A method and a vehicle control system for controlling an autonomous vehicle
CN112776809B (en) Driver hill start assisting method, device, equipment and storage medium
CN112109703A (en) Vehicle control method, vehicle control system, vehicle, and storage medium
EP3570214A2 (en) Automobile image processing method and apparatus, and readable storage medium
CN113092127A (en) Test method, device, storage medium and device for front collision early warning
CN112959988A (en) Automatic parking function activation method, automobile and computer-readable storage medium
CN110834646B (en) Lane change auxiliary early warning method, device, equipment and storage medium
CN114987412B (en) Automatic emergency braking control method, device, equipment and storage medium
CN112590749A (en) Vehicle brake control method, device, equipment and storage medium
CN112112959B (en) Transmission control method, device, storage medium and apparatus
CN115195680A (en) Vehicle braking parameter determination method, device, equipment and storage medium
CN113997911A (en) Automatic emergency braking control method and device
CN110834582B (en) Automatic turn-off method and device for steering lamp, hydrogen energy automobile and storage medium
CN112381966A (en) Method for acquiring driving data signal and related device thereof
CN110588641A (en) Forward target crossing warning method and system
CN116729336B (en) Method, device, equipment and medium for determining braking time
CN112776807B (en) Multi-gradient starting accelerator control method, device, equipment and storage medium
CN114506322B (en) Car following control method, device, equipment and readable storage medium
CN117284252B (en) Vehicle self-adaptive braking method and device, electronic equipment and storage medium
CN114148301B (en) Vehicle brake control method, device, equipment and readable storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant