CN115158304A - Automatic emergency braking control system and method - Google Patents

Automatic emergency braking control system and method Download PDF

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Publication number
CN115158304A
CN115158304A CN202210842646.9A CN202210842646A CN115158304A CN 115158304 A CN115158304 A CN 115158304A CN 202210842646 A CN202210842646 A CN 202210842646A CN 115158304 A CN115158304 A CN 115158304A
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China
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vehicle
automatic emergency
emergency braking
collision time
brake
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CN202210842646.9A
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CN115158304B (en
Inventor
囤金军
陈振国
赵红光
侯进森
朱岩朋
李振洋
杨政栋
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Zhongtong Bus Holding Co Ltd
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Zhongtong Bus Holding Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/804—Relative longitudinal speed

Abstract

The invention discloses an automatic emergency braking control system, which comprises: the system comprises a front road information sensing module, a vehicle information sensing module, an automatic emergency brake controller, an alarm module and a brake actuating mechanism module; the automatic emergency braking controller receives road information and vehicle information in front of the vehicle sent by the sensing module in the running process of the vehicle, calculates collision time, determines a preset collision time threshold value according to the speed of the vehicle, compares the collision time with the preset collision time threshold value, sends an emergency braking execution instruction according to a comparison result, and the braking execution mechanism module receives the instruction and executes corresponding automatic emergency braking operation. According to the invention, the logic judgment is carried out by comparing the collision time with the preset collision time threshold value, the graded brake control of different vehicle speeds is realized, and the riding comfort of passengers is greatly improved while the driving safety is ensured.

Description

Automatic emergency braking control system and method
Technical Field
The invention relates to the technical field of traffic safety, in particular to an automatic emergency braking control system and method.
Background
With the gradual increase of the quantity of vehicles in China, the automobile auxiliary driving technology, in particular to the Automatic Emergency Braking (AEB) technology relating to active safety, is rapidly developed. The automatic emergency braking AEB is an active safety technology for avoiding or relieving collision through automatic emergency braking, acquires running signals of a target in front of a vehicle, such as relative speed and relative distance between the vehicle and an obstacle, through environment sensors such as a radar and a camera, and simultaneously judges the risk of front collision by combining the motion state of the vehicle, and gives an early warning or executes emergency braking, so that the occurrence of accidents caused by unconscious and no operation of a driver is reduced.
In the existing AEB technology, a control strategy generally includes acquiring road condition information through external sensing devices such as an environmental sensor including a millimeter wave radar, a laser radar, a forward-looking camera, and the like, screening out a main target object, calculating Time To Collision (TTC) between the vehicle and the target object, comparing the TTC with a preset collision Time threshold, and when the calculated collision Time is less than the preset collision Time threshold, turning on AEB early warning and emergency braking functions to achieve the purpose of active safety.
However, in the automatic emergency braking control technology, the preset collision time threshold is generally set to a minimum value that can ensure no collision, when the vehicle is braked emergently, the brake-by-wire actuating mechanism of the automatic emergency braking control technology often outputs the maximum braking deceleration to brake, and the maximum deceleration is realized in a short time, so that the passenger experience in the vehicle is poor, and the comfort is poor.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an automatic emergency braking control system and method, which are used for calculating the collision time between a vehicle and a road obstacle according to vehicle information and road information, determining a preset collision time threshold value according to the vehicle speed, outputting a braking deceleration value for braking, realizing graded braking control of different vehicle speeds, ensuring the driving safety and greatly improving the riding comfort of passengers.
In a first aspect, the present disclosure provides an automatic emergency braking control system:
an automatic emergency brake control system comprising: the system comprises a front road information sensing module, a vehicle information sensing module, an automatic emergency brake controller, an alarm module and a brake actuating mechanism module;
the front road information sensing module is used for acquiring front road information of a vehicle in the driving process of the vehicle and sending the front road information to the automatic emergency brake controller; the front road information comprises the relative distance between a front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle;
the vehicle information sensing module is used for acquiring vehicle information in the running process of a vehicle and sending the vehicle information to the automatic emergency brake controller; the vehicle information comprises a vehicle gear, a vehicle speed and an actual steering angle of a steering wheel;
the automatic emergency brake controller is used for receiving road information in front of a vehicle and vehicle information in the running process of the vehicle, performing logic judgment according to the road information in front and the vehicle information, outputting brake deceleration corresponding to the vehicle, sending an emergency brake execution command containing the brake deceleration to the brake execution mechanism module, and sending an alarm signal to the alarm module;
the alarm module is used for sending out an alarm according to the alarm signal;
and the brake executing mechanism module is used for receiving the emergency brake executing instruction and executing brake deceleration of corresponding deceleration according to the brake deceleration in the emergency brake executing instruction.
According to the technical scheme, the front road information sensing module comprises a front-looking camera and a millimeter wave radar, the front-looking camera takes the position of a lens as an origin of coordinates, the driving direction of a vehicle is taken as the positive direction of an X axis, the anticlockwise direction perpendicular to the X axis is taken as the positive direction of a Y axis, and a rectangular coordinate system is established;
on the basis of the rectangular coordinate system, the relative distance between a front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle are respectively calculated according to a road image in front of the vehicle, which is acquired by a front-view camera in real time, and by combining ranging information output by the millimeter wave radar.
According to the further technical scheme, the relative distance between the front obstacle and the vehicle is the distance in the X direction with the front obstacle relative to the front-view camera as the origin;
the relative speed of the front obstacle and the vehicle is a speed of the front obstacle in the X direction with respect to the front-view camera as an origin.
In a further technical scheme, the automatic emergency brake controller performs logic judgment, specifically:
judging whether to start automatic emergency braking control according to the vehicle information: when the gear of the vehicle is D gear, the speed of the vehicle is more than 0 and the actual turning angle of the steering wheel is less than 30 degrees, starting automatic emergency braking control, otherwise, not starting the automatic emergency braking control;
if the automatic emergency braking control is started, calculating the time required by the collision between the vehicle and the front obstacle according to the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle;
determining a preset collision time threshold according to the current speed of the vehicle; the preset collision time threshold value is in direct proportion to the vehicle speed;
comparing the collision time with a preset collision time threshold, and when the collision time is larger than the preset collision time threshold, not performing braking operation; and when the collision time is less than or equal to the preset collision time threshold value, performing braking operation.
According to the further technical scheme, when the collision time is detected to be less than or equal to a preset collision time threshold value, alarm information is sent, timing is started at the same time, and if the collision time is detected to be less than or equal to the preset collision time threshold value all the time in a set time period, an emergency braking execution instruction is sent; the emergency braking execution instruction includes executing an emergency braking preset braking deceleration.
In the further technical scheme, in the process of executing emergency braking by the brake executing mechanism module, when the automatic emergency brake controller detects that the vehicle continuously meets the condition of stopping emergency braking within a set time period, an emergency brake executing instruction is sent out;
and the brake execution mechanism module receives an emergency brake execution stopping instruction, releases the braking force and stops automatic braking.
According to the further technical scheme, the meeting condition for stopping the emergency braking is that the speed of the vehicle is less than 1km/h or the preset time is more than the preset collision time threshold or the preset collision time threshold is more than 4s.
According to a further technical scheme, the automatic emergency braking control system further comprises a self-checking module, wherein the self-checking module is used for detecting whether each module of the automatic emergency braking control system operates normally or not and sending self-checking information to the automatic emergency braking controller.
In a second aspect, the present disclosure provides an automatic emergency braking control method, comprising:
after the vehicle is started, the automatic emergency braking control system is electrified for self-checking, and if no fault is detected, the automatic emergency braking control system enters a standby state;
opening a switch of the automatic emergency braking control system to enable the automatic emergency braking control system to enter an enabling state;
acquiring front road information and vehicle information of a vehicle; the front road information includes: the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle, wherein the vehicle information comprises: vehicle gear, vehicle speed and steering wheel actual angle;
and carrying out logic judgment according to the front road information and the vehicle information, and carrying out corresponding automatic emergency braking operation according to a logic judgment result.
According to the further technical scheme, logic judgment is carried out according to the front road information and the vehicle information, and corresponding automatic emergency braking operation is carried out according to a logic judgment result, and the method specifically comprises the following steps:
judging whether to start automatic emergency braking control according to the vehicle information: when the gear of the vehicle is D gear, the speed of the vehicle is more than 0 and the actual turning angle of the steering wheel is less than 30 degrees, starting automatic emergency braking control, otherwise, not starting the automatic emergency braking control;
if the automatic emergency braking control is started, calculating the time required by the collision between the vehicle and the front obstacle according to the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle;
determining a preset collision time threshold according to the current speed of the vehicle; the preset collision time threshold is in direct proportion to the vehicle speed;
comparing the collision time with a preset collision time threshold, and when the collision time is larger than the preset collision time threshold, not performing braking operation; and when the collision time is less than or equal to a preset collision time threshold value, sending alarm information, starting timing, and if the collision time is detected to be less than or equal to the preset collision time threshold value all the time in a set time period, automatically executing emergency braking according to a preset braking deceleration.
The above one or more technical solutions have the following beneficial effects:
the automatic emergency braking control system and method includes calculating collision time between a vehicle and an obstacle according to information of the obstacle existing on a road in front of the vehicle and information of the vehicle, which are acquired in real time, determining different preset collision time thresholds according to different vehicle speeds, and performing logic judgment by comparing the collision time with the preset collision time thresholds to realize graded braking control of different vehicle speeds.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an automatic emergency braking control system according to an embodiment of the present invention;
fig. 2 is a flowchart of an automatic emergency braking control method according to a second embodiment of the present invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
As shown in fig. 1, the present embodiment provides an automatic emergency brake control system including: the system comprises a front road information sensing module, a vehicle information sensing module, an automatic emergency brake controller, an alarm module and a brake actuating mechanism module, and the structure and the function of the system are explained below.
The front road information sensing module is used for acquiring front road information of a vehicle in the driving process of the vehicle and sending the front road information to the automatic emergency brake controller, and the front road information comprises: the relative distance of the front obstacle from the vehicle, and the relative speed of the front obstacle and the vehicle.
Optionally, the front road information sensing module is configured to sense external environment information in front of the vehicle and identify a condition of an obstacle in front of the vehicle during driving of the vehicle, so as to obtain front road information of the vehicle. The front road information perception module can be realized through software and/or hardware, the obstacles in front of the vehicle can be vehicles and pedestrians in front of the vehicle, and the front road information perception module identifies the conditions of the vehicles and the pedestrians in front of the vehicle.
In this embodiment, the front road information sensing module includes a front view camera and a millimeter wave radar, the millimeter wave radar is installed in the center of the front bumper, the front view camera is installed in the center of the front windshield, collects a front road image of a vehicle driving process in real time, and screens out obstacles in the vehicle driving process from the acquired front road image by combining the millimeter wave radar: when there is a lane, the most dangerous object on the current lane (i.e. the object closest to the vehicle) is used as the obstacle, and when there is no lane line, the object within the range of 1.5m from the left to the right of the vehicle is used as the obstacle.
The forward-looking camera takes the position of the lens as the origin of coordinates, the vehicle running direction is taken as the positive direction of an X axis, the anticlockwise direction perpendicular to the X axis is taken as the positive direction of a Y axis, and a rectangular coordinate system is established. On the basis of the rectangular coordinate system, the relative distance between a front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle are respectively calculated according to a road image in front of the vehicle, which is acquired by a front-view camera in real time, and by combining ranging information output by the millimeter wave radar.
The relative distance between the front obstacle and the vehicle is the distance between the front obstacle and the front camera in the X direction, and the distance is calculated according to the position of the obstacle detected from the image and the width of the obstacle by combining a millimeter wave radar according to the image of the road in front of the vehicle at the current moment. And in the calculation process, a plurality of frames are used for smoothing filtering, so that the measurement error is avoided.
The relative speed of the front obstacle and the vehicle is the speed of the front obstacle in the X direction relative to the front-view camera as the origin, and the position of the obstacle and the width of the obstacle are detected from the image according to the image of the road in front of the vehicle at the current moment by combining a millimeter wave radar and are calculated. The calculation process adopts the size of the obstacle in the image to transform the output, and the value is transformed with each frame.
In this embodiment, the forward road information sensing module employs an ARS408 millimeter wave radar and a Motovis front view camera, and millimeter wave radar information is fused with the Motovis camera, so that accurate identification of a forward target can be achieved through an internal algorithm, and information such as a relative position, a relative speed, a relative acceleration, and a target type of the forward target is obtained and output to the automatic emergency braking controller.
The vehicle information sensing module is used for acquiring vehicle information in the vehicle running process and sending the vehicle information to the automatic emergency braking controller, wherein the vehicle information comprises a vehicle gear, a vehicle speed and an actual steering angle of a steering wheel.
The automatic emergency braking controller is used for receiving road information and vehicle information in front of a vehicle in the running process of the vehicle, performing logic judgment according to the road information and the vehicle information in front, outputting braking deceleration corresponding to the vehicle, sending an emergency braking execution instruction containing the braking deceleration to the braking execution mechanism module, and sending an alarm signal to the alarm module.
In this embodiment, the automatic emergency braking controller uses an inflight 32-bit TC275T main control chip, which has 1-way key signal, 2-way hard line wake-up signal, 6-way power voltage, 8-way 5V voltage output, and 2-way CAN communication interface, and supports CAN specific frame wake-up. The automatic emergency braking controller is arranged in the control box in the vehicle and is respectively connected with the road information sensing module in front, the vehicle information sensing module, the alarming module and the braking executing mechanism module through the CAN bus.
And the alarm module is used for sending out an alarm according to the alarm signal.
And the brake executing mechanism module is used for receiving the emergency brake executing instruction and carrying out brake deceleration of corresponding deceleration according to the brake deceleration in the emergency brake executing instruction.
The automatic emergency brake controller performs logic judgment, specifically:
judging whether to start automatic emergency braking control according to the vehicle information: and when the gear of the vehicle is D gear, the vehicle speed is more than 0 and the actual turning angle of the steering wheel is less than 30 degrees, starting automatic emergency braking control, otherwise, not starting the automatic emergency braking control.
If the automatic emergency braking control is started, calculating the time required by the collision between the vehicle and the front obstacle according to the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle, namely the collision time, wherein the formula is as follows:
Figure BDA0003751721020000081
in the above formula, TTC cr Representing the time of impact in units of seconds(s), x c (t) represents the relative distance of the front obstacle from the vehicle at the time t, and the measurement unit is meter (m), v r (t) represents the relative speed of the obstacle ahead of the vehicle at time t, and the unit of measurement is meter per second (m/s).
Determining collision grades based on the current speed of the vehicle, wherein different collision grades correspond to different preset collision time thresholds TTC th The greater the vehicle speed, the higher the corresponding crash level, and the greater the corresponding preset crash time threshold. Namely, a preset time to collision threshold value TTC is determined according to the current speed of the vehicle th 。
Preset time to collision threshold TTC th The calibration quantity is obtained by a real vehicle calibration test, and the specific calibration scheme is as follows: presetting a preliminary preset time to collision threshold (TTC) according to test experience th The same vehicle is used as a sample vehicle, the vehicle is respectively driven to a static obstacle right ahead at the speed of 10km/h, 20km/h, 30km/h, 40km/h, 50km/h and 60km/h, after emergency braking is realized and the sample vehicle is static, the distance L between the sample vehicle and the obstacle ahead is tested, and the distance L between the sample vehicle and the obstacle ahead is made to be 1.5m<L<2m, if this range is not satisfied, changing the given TTC th Repeat the test until 1.5m<L<2m, respectively. Thereby obtaining a preset time to collision threshold value TTC th -a vehicle speed curve on the basis of which the corresponding preset time-to-collision threshold TTC can be determined from the current vehicle speed of the vehicle th 。
Comparing time to collision TTC cr And a predetermined time to collision threshold TTC th Time to collision TTC cr Greater than a predetermined time to collision threshold TTC th When not, the brake operation is not performed; time to collision TTC cr Less than or equal to the preset threshold TTC of time of collision th When a braking operation is performed, in particular, when the time to collision TTC is detected cr Less than or equal to the preset threshold TTC of time of collision th When the time is up, the alarm information is sent out and timing is started, if the collision time TTC is detected all the time in the set time period cr Less than or equal to a preset time to collision threshold (TTC) th An emergency braking execution command is issued, which includes braking deceleration information for executing emergency braking.
The braking deceleration is based on the current speed and/or the current time to collision TTC of the vehicle cr Is set similarly to the above-described preset time-to-collision threshold value TTC th The method takes the relative speed and/or the collision time of the sample vehicle as independent variables, and obtains the braking deceleration-the relative speed and/or the collision time TTC through a sample vehicle calibration test cr On the basis of which the corresponding braking deceleration can be determined from the current speed and/or the time of collision of the vehicle. Further, the braking deceleration may be a deceleration that decelerates at the relative vehicle speed to ensure that the occupant experiences.
In the present embodiment, the set time period is set to 0.2s, and when the time to collision TTC is detected for 0.2s cr Less than or equal to the preset threshold TTC of time of collision th And when the emergency braking is needed, an emergency braking execution instruction is sent to the braking execution mechanism module to carry out emergency braking.
In the process of executing the emergency braking, when the condition that the vehicle continuously meets the emergency braking stopping condition within the set time period is detected, an emergency braking stopping execution instruction is sent. And the brake executing mechanism module receives an emergency brake executing stopping instruction, releases the braking force and stops automatic braking. Wherein the satisfying condition for stopping the emergency braking is that the vehicle speed is less than 1km/h or TTC cr Greater than a predetermined time to collision threshold TTC th Or a predetermined time to collision threshold TTC th > 4s (seconds).
As one or more embodiments, the automatic emergency braking control system further includes a self-check module, configured to detect whether each module of the automatic emergency braking control system operates normally, and send self-check information to the automatic emergency braking controller. And the automatic emergency braking controller judges whether the system has a fault according to the received self-checking information, if not, the automatic emergency braking control system is started to perform braking control, and if the system has the fault, an alarm signal is sent to the alarm module to alarm.
According to the automatic emergency braking control system, the information of the obstacles existing on the road in front of the vehicle and the information of the vehicle are acquired in real time through the front road information sensing module and the vehicle information sensing module, the collision time of the vehicle and the obstacles is calculated through the automatic emergency automatic controller, different preset collision time thresholds are determined according to the different vehicle speeds, logic judgment is carried out through comparing the collision time with the preset collision time thresholds, the hierarchical braking control of different vehicle speeds is realized, the driving safety is ensured, and meanwhile, the riding comfort of passengers is greatly improved.
Example two
The embodiment provides an automatic emergency braking control method, as shown in fig. 2, including the following steps:
after the vehicle is started, the automatic emergency braking control system is electrified for self-checking, and if no fault is detected, the automatic emergency braking control system enters a standby state;
opening a switch of the automatic emergency braking control system to enable the automatic emergency braking control system to enter an enabling state;
acquiring front road information and vehicle information of a vehicle; the front road information includes: the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle, wherein the vehicle information comprises: vehicle gear, vehicle speed and steering wheel actual rotation angle;
and carrying out logic judgment according to the front road information and the vehicle information, and carrying out automatic emergency braking according to a logic judgment result.
The logic judgment is carried out according to the front road information and the vehicle information, and the logic judgment specifically comprises the following steps:
judging whether to start automatic emergency braking control or not according to the vehicle information; and when the gear of the vehicle is D gear, the vehicle speed is more than 0 and the actual turning angle of the steering wheel is less than 30 degrees, starting automatic emergency braking control, otherwise, not starting the automatic emergency braking control.
If the automatic emergency braking control is started, calculating the time required by the collision between the vehicle and the front obstacle according to the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle, namely the collision time, wherein the formula is as follows:
Figure BDA0003751721020000101
in the above formula, TTC cr Representing the time of impact in units of seconds(s), x c (t) represents the relative distance of the front obstacle from the vehicle at the time t, and the measurement unit is meter (m), v r (t) represents the relative speed of the obstacle ahead of the vehicle at time t, and the unit of measurement is meter per second (m/s).
Determining collision grades based on the current speed of the vehicle, wherein different collision grades correspond to different preset collision time thresholds TTC th The larger the vehicle speed is, the higher the corresponding collision grade is, and the larger the corresponding preset collision time threshold value is. I.e. determining a preset time to collision threshold TTC based on the current speed of the vehicle th 。
Comparing time to collision TTC cr And a predetermined time to collision threshold TTC th And executing corresponding operation according to the comparison result:
time to collision TTC cr Greater than a predetermined time to collision threshold TTC th When the brake is not operated, the brake is not operated;
time To Collision (TTC) cr Less than or equal to the preset threshold TTC of time of collision th When a braking operation is performed, in particular, when a time to collision TTC is detected cr Less than or equal to the preset threshold TTC of time of collision th When the brake is started, alarming information is sent out to remind a driver of braking operation, timing is started at the same time, and if the brake is always checked in a set time periodTime to collision TTC cr Less than or equal to a preset time to collision threshold (TTC) th If the driver does not operate or the force of the brake pedal is insufficient, an emergency brake execution command is sent out, and emergency brake is automatically executed.
The emergency braking execution command comprises braking deceleration information for executing emergency braking, and braking is carried out according to the braking deceleration in the emergency braking execution command in the process of automatically executing the emergency braking.
In the present embodiment, the set time period is set to 0.2s, and when the time to collision TTC is detected for 0.2s cr Less than or equal to the preset threshold TTC of time of collision th And when the emergency braking is performed, an emergency braking execution instruction is sent to the braking execution mechanism module to perform emergency braking.
In the process of executing the emergency braking, when the condition that the vehicle continuously meets the emergency braking stopping condition within the set time period is detected, the execution of the emergency braking is stopped. Wherein the condition for stopping the emergency braking is that the vehicle speed is less than 1km/h or TTC cr Greater than a predetermined time to collision threshold TTC th Or a predetermined time to collision threshold TTC th > 4s (seconds).
According to the automatic emergency braking control method, the collision time of the vehicle and the obstacle is calculated according to the information of the obstacle existing on the road in front of the vehicle and the information of the vehicle, which are acquired in real time, different preset collision time thresholds are determined according to the different vehicle speeds, and logic judgment is performed by comparing the collision time with the preset collision time thresholds, so that the graded braking control of different vehicle speeds is realized, the driving safety is ensured, and the riding comfort of passengers is greatly improved.
The steps related to the second embodiment correspond to the first embodiment of the method, and the detailed description thereof can be found in the relevant description of the first embodiment.
It will be understood by those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computer device, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by the computing device, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps thereof may be fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present invention.

Claims (10)

1. An automatic emergency braking control system, comprising: the system comprises a front road information sensing module, a vehicle information sensing module, an automatic emergency brake controller, an alarm module and a brake actuating mechanism module;
the front road information sensing module is used for acquiring front road information of a vehicle in the driving process of the vehicle and sending the front road information to the automatic emergency brake controller; the front road information comprises the relative distance between a front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle;
the vehicle information sensing module is used for acquiring vehicle information in the vehicle running process and sending the vehicle information to the automatic emergency brake controller; the vehicle information comprises a vehicle gear, a vehicle speed and an actual steering angle of a steering wheel;
the automatic emergency brake controller is used for receiving road information in front of a vehicle and vehicle information in the running process of the vehicle, performing logic judgment according to the road information in front and the vehicle information, outputting brake deceleration corresponding to the vehicle, sending an emergency brake execution command containing the brake deceleration to the brake execution mechanism module, and sending an alarm signal to the alarm module;
the alarm module is used for sending out an alarm according to the alarm signal;
and the brake executing mechanism module is used for receiving the emergency brake executing command and executing brake deceleration corresponding to deceleration according to the brake deceleration in the emergency brake executing command.
2. The automatic emergency brake control system according to claim 1, wherein the forward road information sensing module comprises a forward looking camera and a millimeter wave radar, the forward looking camera establishes a rectangular coordinate system with a position of a lens as an origin of coordinates, a vehicle traveling direction as a positive X-axis direction, and a counterclockwise direction perpendicular to the X-axis as a positive Y-axis direction;
on the basis of the rectangular coordinate system, the relative distance between a front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle are respectively calculated according to a road image in front of the vehicle, which is acquired by a front-view camera in real time, and by combining ranging information output by the millimeter wave radar.
3. The automatic emergency brake control system of claim 2, wherein the relative distance of the front obstacle from the vehicle is the distance of the front obstacle in the X direction with respect to the origin of the front camera;
the relative speed of the front obstacle and the vehicle is a speed of the front obstacle in the X direction with respect to the front-view camera as an origin.
4. The automatic emergency brake control system of claim 1 wherein the automatic emergency brake controller makes a logical decision by:
judging whether to start automatic emergency braking control according to the vehicle information: when the gear of the vehicle is D gear, the speed of the vehicle is more than 0 and the actual turning angle of the steering wheel is less than 30 degrees, starting automatic emergency braking control, otherwise, not starting the automatic emergency braking control;
if the automatic emergency braking control is started, calculating the time required by the collision between the vehicle and the front obstacle according to the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle;
determining a preset collision time threshold according to the current speed of the vehicle; the preset collision time threshold value is in direct proportion to the vehicle speed;
comparing the collision time with a preset collision time threshold, and when the collision time is larger than the preset collision time threshold, not performing braking operation; and when the collision time is less than or equal to the preset collision time threshold value, performing braking operation.
5. The automatic emergency braking control system according to claim 4, wherein when the collision time is detected to be less than or equal to the preset collision time threshold, an alarm message is sent, and meanwhile, timing is started, and if the collision time is always detected to be less than or equal to the preset collision time threshold within the set time period, an emergency braking execution instruction is sent; the emergency braking execution instruction includes executing an emergency braking preset braking deceleration.
6. The automatic emergency brake control system according to claim 5, wherein during the emergency brake execution of the brake actuator module, when the automatic emergency brake controller detects that the vehicle continuously satisfies the emergency brake stop condition within a set time period, the automatic emergency brake controller issues an emergency brake execution stop command;
and the brake executing mechanism module receives an emergency brake executing stopping instruction, releases the braking force and stops automatic braking.
7. An automatic emergency brake control system according to claim 6, characterized in that the conditions for stopping the emergency braking are vehicle speed < 1km/h or predetermined time > predetermined time threshold for collision or predetermined time threshold for collision > 4s.
8. The automatic emergency brake control system according to claim 1, further comprising a self-checking module for checking whether each module of the automatic emergency brake control system is operating normally and sending a self-checking message to the automatic emergency brake controller.
9. An automatic emergency braking control method is characterized by comprising the following steps: after the vehicle is started, the automatic emergency braking control system is electrified for self-checking, and if no fault is detected, the automatic emergency braking control system enters a standby state;
opening a switch of the automatic emergency braking control system to enable the automatic emergency braking control system to enter an enabling state;
acquiring front road information and vehicle information of a vehicle; the front road information includes: the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle, wherein the vehicle information comprises: vehicle gear, vehicle speed and steering wheel actual rotation angle;
and carrying out logic judgment according to the front road information and the vehicle information, and carrying out corresponding automatic emergency braking operation according to a logic judgment result.
10. The automatic emergency braking control method according to claim 9, wherein a logical judgment is performed based on the road information ahead and the vehicle information, and a corresponding automatic emergency braking operation is performed based on the logical judgment result, specifically:
judging whether to start automatic emergency braking control according to the vehicle information: when the gear of the vehicle is D gear, the speed of the vehicle is more than 0 and the actual turning angle of the steering wheel is less than 30 degrees, starting automatic emergency braking control, otherwise, not starting the automatic emergency braking control;
if the automatic emergency braking control is started, calculating the time required by the collision between the vehicle and the front obstacle according to the relative distance between the front obstacle and the vehicle and the relative speed between the front obstacle and the vehicle;
determining a preset collision time threshold according to the current speed of the vehicle; the preset collision time threshold value is in direct proportion to the vehicle speed;
comparing the collision time with a preset collision time threshold, and when the collision time is larger than the preset collision time threshold, not performing braking operation; and when the collision time is less than or equal to a preset collision time threshold value, sending alarm information, starting timing, and if the collision time is detected to be less than or equal to the preset collision time threshold value all the time in a set time period, automatically executing emergency braking according to a preset braking deceleration.
CN202210842646.9A 2022-07-18 2022-07-18 Automatic emergency braking control system and method Active CN115158304B (en)

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