CN115556722A

CN115556722A - Control method and device of vehicle active emergency braking system, vehicle and medium

Info

Publication number: CN115556722A
Application number: CN202211228446.0A
Authority: CN
Inventors: 徐伟
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-10-09
Filing date: 2022-10-09
Publication date: 2023-01-03

Abstract

The application relates to a control method, a device, a vehicle and a medium of a vehicle active emergency braking system, wherein the method comprises the following steps: detecting whether the vehicle meets a preset target unrecognizable condition or not; when the condition that the vehicle meets the preset target recognition incapability condition is detected, a single radar target with an active emergency braking function is recognized according to radar data of the vehicle, and meanwhile, target attributes of the single radar target are obtained according to the radar data; and controlling the active emergency braking system to enter a single-radar triggering mode according to the single-radar target and the target attribute thereof, and triggering a first emergency braking action of the vehicle by a preset single-radar triggering strategy. According to the method and the device, the AEB function can be triggered based on the radar target result under the condition that the camera cannot be successfully identified or the radar and the camera respectively identify the target fusion failure, so that the effectiveness of triggering the AEB function and the running safety of the vehicle in different environments are further guaranteed, the safety and the reliability of the vehicle are improved, and the driving experience of a user is greatly improved.

Description

Control method and device of vehicle active emergency braking system, vehicle and medium

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a vehicle, and a medium for controlling an active emergency braking system of a vehicle.

Background

In recent years, with the increasing amount of automobile reserves, more and more automobiles are equipped with AEB (automatic Braking system) in order to ensure the driving safety of the automobiles, so as to assist drivers to avoid rear-end collisions or alleviate collision consequences.

At present, in the related art, a camera and a radar fusion mode are generally adopted to identify a target, and a series of optimization adjustment can be performed on the AEB function of a vehicle in various weathers, so that the self-adaptation of braking control strategies in different weathers can be realized. In addition, the related technology can also make the image clear through long and short focus switching when the camera is in the backlight, so that the video picture of the camera can be seen more clearly under the backlight condition, and the identification accuracy is improved.

However, when the camera cannot normally output a target and the input is not applicable, the related art cannot directly use the radar target to trigger the AEB function, which greatly affects the driving safety of the vehicle and needs to be solved urgently.

Disclosure of Invention

The application provides a control method and device of a vehicle active emergency braking system, a vehicle and a medium, and aims to solve the problems that in the related art, under the condition that camera input is not suitable, AEB function triggering cannot be directly carried out by using a radar target, the running safety of the vehicle is difficult to effectively guarantee, and the like.

An embodiment of a first aspect of the present application provides a control method for an active emergency braking system of a vehicle, including the following steps: detecting whether the vehicle meets a preset target unrecognizable condition; when the vehicle is detected to meet the condition that the preset target cannot be identified, identifying a single radar target with an active emergency braking function according to radar data of the vehicle, and meanwhile obtaining target attributes of the single radar target according to the radar data; and judging whether the radar target and the target attribute thereof meet a preset reliable condition or not based on the camera target and the target attribute thereof identified by the camera data when the preset target can not be identified, if so, controlling the active emergency braking system to enter a single-radar trigger mode according to the single-radar target and the target attribute thereof, triggering a first emergency braking action of the vehicle by a preset single-radar trigger strategy, and otherwise, performing unreliable alarm.

According to the technical means, the AEB function can be triggered based on the radar target result under the condition that the camera fails to recognize or the radar and the camera respectively recognize the target fusion failure, so that the triggering effectiveness of the AEB function and the driving safety of the vehicle in different environments are further guaranteed, the safety and the reliability of the vehicle are improved, and the driving experience of a user is greatly improved.

Optionally, in an embodiment of the present application, the preset target identification condition includes: a vehicle-mounted camera failure of the vehicle; and/or the interference degree of the lamplight of the object vehicle to the vehicle reaches a preset degree; and/or the vehicle reaches a preset backlight condition or a preset glare condition when entering or exiting the tunnel portal.

According to the technical means, the working condition of the vehicle-mounted camera, the interference degree of the light of the target vehicle on the vehicle, the backlight degree when the vehicle enters or exits the tunnel portal and the like are used as the target recognition conditions of the vehicle, so that the actual running condition of the vehicle can be compared with the target recognition conditions, the danger degree of the vehicle in the running process is quantized, the vehicle condition is combined with the running environment, the trigger mode of the subsequent AEB function is determined in time, the running safety of the vehicle is effectively guaranteed, and the safety and the reliability of the vehicle are improved.

Optionally, in an embodiment of the present application, the method further includes: when the fact that the vehicle does not meet the preset target recognition incapability condition is detected, recognizing a camera target and target attributes thereof according to camera data of the vehicle, and recognizing the single radar target and target attributes thereof according to the radar data; fusing the camera target and the target attribute thereof and the single radar target and the target attribute thereof to obtain a fused target and the target attribute thereof; and controlling the active emergency braking system to enter a fusion triggering mode according to the fusion target and the target attribute thereof, and triggering a second emergency braking action of the vehicle by a preset fusion triggering strategy.

According to the technical means, when the vehicle is detected not to meet the condition that the target cannot be identified, the camera and the radar equipment can be used for collecting data respectively aiming at the observation target to obtain the fusion target and the target attribute thereof, and the AEB function is triggered through the fusion trigger mode to emergently brake the vehicle, so that the safety and the reliability of the vehicle can be further improved, the probability of traffic accidents is reduced, and the use experience of a user is also improved.

Optionally, in an embodiment of the present application, the method further includes: and when the active emergency braking system is in the single radar trigger mode, controlling the vehicle to carry out camera failure reminding on a driver.

According to the technical means, after the AEB function is triggered through the single radar triggering strategy, the camera failure reminding device can remind a driver of the failure of the camera through voice broadcasting, text prompting, image prompting and other modes by utilizing equipment such as a vehicle-mounted display screen or an instrument panel, so that the safety of a vehicle is further improved, the driving experience of the driver is improved, and the vehicle has more humanization and intelligence.

Optionally, in an embodiment of the present application, while controlling the vehicle to perform a camera failure notification, the method further includes: detecting an actual vehicle speed of the vehicle; and when the actual vehicle speed is detected to be greater than or equal to a preset vehicle speed and the first emergency braking action is not executed, controlling the vehicle to decelerate to the preset vehicle speed, and controlling the vehicle to correspondingly warn other vehicles or pedestrians.

According to the technical means, the actual speed of the vehicle can be detected, when the actual speed of the vehicle reaches the preset speed of the system and emergency braking is not executed, the vehicle is controlled to decelerate, and corresponding warning is given to other vehicles or pedestrians, so that the speed of the vehicle is controlled to be within a safe and reasonable range, the running safety performance of the vehicle is guaranteed, the reliability of the vehicle is further improved, and the possibility of traffic accidents such as rear-end collision is greatly reduced.

An embodiment of a second aspect of the present application provides a control device for an active emergency braking system of a vehicle, including: the detection module is used for detecting whether the vehicle meets a preset target unrecognizable condition; the acquisition module is used for identifying a single radar target with an active emergency braking function according to radar data of the vehicle and acquiring target attributes of the single radar target according to the radar data when the vehicle is detected to meet the condition that the preset target cannot be identified; and the triggering module is used for controlling the active emergency braking system to enter a single-radar triggering mode according to the single-radar target and the target attribute thereof, and triggering a first emergency braking action of the vehicle by using a preset single-radar triggering strategy.

Optionally, in an embodiment of the present application, the method further includes: the identification module is used for identifying a camera target and target attributes thereof according to camera data of the vehicle and identifying the single radar target and target attributes thereof according to the radar data when the vehicle is detected not to meet the preset target recognition incapability condition; the fusion module is used for fusing the camera target and the target attribute thereof and the single radar target and the target attribute thereof to obtain a fusion target and the target attribute thereof; and the control module is used for controlling the active emergency braking system to enter a fusion triggering mode according to the fusion target and the target attribute thereof so as to trigger a second emergency braking action of the vehicle by a preset fusion triggering strategy.

Optionally, in an embodiment of the present application, the method further includes: and the reminding module is used for controlling the vehicle to carry out camera failure reminding on a driver when the active emergency braking system is in the single radar trigger mode.

Optionally, in an embodiment of the present application, the method further includes: the speed measuring module is used for detecting the actual speed of the vehicle while controlling the vehicle to carry out camera failure reminding; and the warning module is used for controlling the vehicle to decelerate to the preset vehicle speed and controlling the vehicle to correspondingly warn other vehicles or pedestrians when the actual vehicle speed is detected to be greater than or equal to the preset vehicle speed and the first emergency braking action is not executed.

An embodiment of a third aspect of the present application provides a vehicle, comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the control method of the vehicle active emergency braking system according to the embodiment.

A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a control method of a vehicle active emergency braking system as above.

Thus, the embodiments of the present application have the following advantageous effects:

(1) According to the embodiment of the application, the AEB function can be triggered based on the radar target result under the condition that the camera cannot be successfully identified or the targets are respectively identified by the radar and the camera and fused and failed, so that the effectiveness of triggering the AEB function and the running safety of the vehicle in different environments are further guaranteed, the safety and the reliability of the vehicle are improved, and the driving experience of a user is greatly improved.

(2) The working condition of the vehicle-mounted camera, the interference degree of the light of the target vehicle on the vehicle, the backlight degree when the vehicle enters or exits the tunnel entrance and the like can be used as the target identification conditions of the vehicle, the actual running condition of the vehicle and the target identification conditions can be compared, the danger degree of the vehicle in the running process is quantized, the vehicle condition is combined with the running environment, the trigger mode of the subsequent AEB function is determined in time, the running safety of the vehicle is effectively guaranteed, and the safety and the reliability of the vehicle are improved.

(3) When the situation that the vehicle does not meet the target recognition condition is detected, data can be collected respectively for the observation target through the camera and the radar device, the fusion target and the target attribute of the fusion target are obtained, the AEB function is triggered through the fusion trigger mode, and emergency braking is carried out on the vehicle.

(4) Can utilize equipment such as vehicle-mounted display screen or panel board after triggering the AEB function through single radar triggering strategy, remind the driver camera to have become invalid through modes such as voice broadcast or characters, image prompt to carry out camera failure to the driver through multiple mode and remind, further improve the security of vehicle, improve driver's driving experience, make the vehicle have more hommization and intelligent sense.

(5) Through the actual speed of a motor vehicle that detects, when detecting actual speed of a motor vehicle and reaching the system and predetermine the speed of a motor vehicle, but when not carrying out emergency braking, control vehicle slows down to carry out corresponding warning to other vehicles or pedestrian, thereby control the speed of a motor vehicle in safe reasonable interval, guarantee the security performance that the vehicle went, further improve the reliability of vehicle, greatly reduced the possibility that traffic accidents such as rear-end collision took place.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a method for controlling an active emergency braking system of a vehicle according to an embodiment of the present application;

FIG. 2 is a logic diagram illustrating an implementation of a control method for an active emergency braking system of a vehicle according to an embodiment of the present application;

FIG. 3 is an exemplary diagram of a control arrangement for an active emergency braking system for a vehicle according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

The system comprises 10-a control device of the vehicle active emergency braking system, 100-a detection module, 200-an acquisition module, 300-a trigger module, 401-a memory, 402-a processor and 403-a communication interface.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A control method, a device, a vehicle and a medium of a vehicle active emergency braking system according to an embodiment of the present application are described below with reference to the accompanying drawings. In view of the above-mentioned problems in the background art, the present application provides a control method of an active emergency braking system of a vehicle, in which whether the vehicle satisfies a preset target unidentifiable condition is detected; when the condition that the vehicle meets the preset target recognition incapability condition is detected, a single radar target with an active emergency braking function is recognized according to radar data of the vehicle, and meanwhile, target attributes of the single radar target are obtained according to the radar data; and judging whether the radar target and the target attribute thereof meet the preset reliable condition or not based on the camera target identified by the camera data when the preset target cannot be identified and the target attribute thereof, if so, controlling the active emergency braking system to enter a single-radar trigger mode according to the single-radar target and the target attribute thereof, triggering a first emergency braking action of the vehicle by using a preset single-radar trigger strategy, and otherwise, carrying out unreliable alarm. According to the method and the device, under the condition that the camera cannot be successfully identified or the radar and the camera respectively identify the target fusion failure, the AEB function can be triggered based on the radar target result, so that the effectiveness of triggering the AEB function and the running safety of the vehicle in different environments are further guaranteed, the safety and the reliability of the vehicle are improved, and the driving experience of a user is greatly improved. Therefore, the problems that in the prior art, when camera input is inapplicable, AEB function triggering cannot be directly carried out by using a radar target, and vehicle driving safety is difficult to effectively guarantee are solved.

Specifically, fig. 1 is a flowchart of a control method of an active emergency braking system of a vehicle according to an embodiment of the present application.

As shown in fig. 1, the control method of the active emergency braking system of the vehicle includes the steps of:

in step S101, it is detected whether the vehicle satisfies a preset target unrecognizable condition.

It can be understood that, because the state and the driving environment of the vehicle are relatively complex, in a special scene, such as an internal error of a camera, light interference of an object vehicle or the vehicle entering and exiting a tunnel portal, the vehicle-mounted camera is difficult to accurately identify a target, so that the AEB function cannot be triggered, and great potential safety hazards exist.

Optionally, in an embodiment of the present application, the preset target unrecognizable condition includes: a vehicle-mounted camera failure of the vehicle; and/or the interference degree of the lamplight of the object vehicle to the vehicle reaches a preset degree; and/or the vehicle reaches a preset backlight condition or a preset glare condition when entering or exiting the tunnel portal.

In the embodiment of the present application, the operating condition of the vehicle-mounted camera, the degree of interference of the target vehicle light with the vehicle, the degree of backlight when entering or exiting the tunnel portal, and the like may be used as the target unrecognizable condition of the vehicle, and the vehicle may compare the actual condition of the vehicle with the condition to determine the triggering manner of the subsequent AEB function.

The camera fault condition may include misalignment of the camera itself or an internal error, and may be detected by corresponding fault detection equipment; secondly, when the light of the object vehicle interferes with the vehicle, the vehicle can acquire a specific interference light intensity value by arranging a photosensitive sensor, and set a proper light intensity threshold value to judge the interference degree of the light, if the light intensity threshold value is set to be 50, when the detected light intensity is greater than or equal to 50, the interference degree of the light is considered to be high, so that the safety driving of the vehicle is threatened, the vehicle-mounted camera is difficult to correctly identify a front target, and the value is displayed in a vehicle instrument panel to remind a driver, and if the detected light intensity is less than 50, the light of the opposite vehicle can be considered not to cause great interference on the safety driving of the vehicle and the normal operation of the camera; later, the vehicle is when passing in and out the tunnel portal, and light changes comparatively showing, produces the backlight easily or dazzles the light, constitutes very big threat to vehicle safety, consequently, equipment such as photosensitive sensor can be utilized to the vehicle, records the vehicle under different illumination environment, the difference of light intensity to set up suitable difference threshold value, whether can exert an influence to the safe travel of vehicle in order to judge. For example, when a vehicle enters a tunnel, the vehicle records the light intensity difference between the inside and the outside of the tunnel through the corresponding sensor, and if the light intensity difference threshold is 40, and the recorded difference is 50, the vehicle is threatened to drive safely, and the recognition of the vehicle-mounted camera is also influenced to a certain extent.

It should be noted that, in the embodiment of the present application, when there is a fault in the vehicle-mounted camera or the degree of interference of the vehicle light of the target vehicle to the vehicle is not less than the light intensity threshold or the light intensity difference is not less than the set threshold when the vehicle enters or exits the tunnel portal, it may be determined that the vehicle meets the above target unidentifiable condition, so as to provide a basis for executing the subsequent trigger operation of the AEB function.

Therefore, the working condition of the vehicle-mounted camera, the interference degree of the light of the target vehicle on the vehicle, the backlight degree when the light enters or exits the tunnel portal and the like are used as the target identification conditions of the vehicle, so that the actual running condition of the vehicle can be compared with the target identification conditions, the danger degree of the vehicle in the running process is quantized, the vehicle condition is combined with the running environment, the trigger mode of the subsequent AEB function is determined in time, the running safety of the vehicle is effectively ensured, and the safety and the reliability of the vehicle are improved.

In step S102, when it is detected that the vehicle meets the condition that the preset target cannot be identified, the single radar target of the active emergency braking function is identified according to the radar data of the vehicle, and simultaneously, the target attribute of the single radar target is obtained according to the radar data.

Specifically, after detecting whether the vehicle meets the target unrecognizable condition preset by the system, when the vehicle meets the target unrecognizable condition, the embodiment of the application may detect the target through radar devices such as a millimeter wave radar, for example, the better angular resolution of the radar may be utilized to determine distance information with a target vehicle or a pedestrian, and in addition, the vehicle-mounted millimeter wave radar may also realize target speed detection with higher accuracy through the principle of doppler shift, thereby obtaining target attributes of the targets such as a front vehicle, such as a target angle, a target longitudinal distance, a target longitudinal speed, and the like. Then, a single radar target is aggregated according to the radar identification target points, as shown in fig. 2, so that under the condition that the camera cannot identify the target, the target can be detected and corresponding data can be acquired in time through the radar, and the safety and reliability of the vehicle are further improved.

In step S103, it is determined whether the radar target and the target attribute thereof meet the preset reliable condition based on the camera target and the target attribute thereof identified by the camera data when the preset target unrecognizable condition is not met, and if the preset reliable condition is met, the active emergency braking system is controlled to enter a single-radar trigger mode according to the single-radar target and the target attribute thereof, and a first emergency braking action of the vehicle is triggered by a preset single-radar trigger strategy, otherwise an unreliable alarm is given.

Judging whether the radar target and the target attribute thereof meet the preset reliable condition or not based on the camera target identified by the camera data when the preset target unrecognizable condition is not met, if so, controlling the active emergency braking system to enter a single-radar trigger mode according to the single-radar target and the target attribute thereof, triggering a first emergency braking action of the vehicle by using a preset single-radar trigger strategy, and otherwise, carrying out unreliable alarm.

Through the target attribute who obtains the single radar target according to radar data to after gathering into the single radar target according to radar identification target point, then, the embodiment of this application can be through the camera target and the target attribute of camera discernment when unsatisfied above-mentioned target can't the discernment condition, with to behind the camera trouble, judge whether radar target and the target attribute that radar data acquireed satisfy reliable condition.

That is to say, in the embodiment of the present application, after a failure occurs in the camera, the reliability of the radar target and the target attribute thereof obtained through radar data after the failure of the camera can be verified by using the target related information obtained before the failure of the camera. If the radar data passes the reliability verification, the AEB function can be triggered through the single radar mode, and if not, unreliable alarm is carried out. The target related information acquired before the camera fails refers to the target related information acquired last before the camera fails.

For example, if the embodiment of the present application acquires information related to an obstacle in front of a vehicle before a camera failure, such as the type of the obstacle and the position of the obstacle, when the camera fails, the obstacle information acquired by the radar is verified according to the obstacle information acquired before the camera failure, for example, when the obstacle information acquired before the camera failure is the same as the type of the obstacle acquired by the radar, the position information of the obstacle acquired before the camera failure is analyzed and calculated in combination with factors such as the vehicle speed and the camera failure time to acquire a position verification value, and whether the verification value and the current obstacle position acquired by the radar are within a reasonable interval is determined. If the radar data is not in the reasonable interval, the radar data reliability is low, the vehicle-mounted system can send voice prompt and text prompt to the user through the vehicle machine, and the user selects whether to continue to execute the single radar mode. If the target identification type is within the reasonable interval, the embodiment of the application can screen the target for the AEB (such as a pedestrian target or a vehicle target) from the existing single radar target list according to the target identification type, and transmits the screened target attribute to the AEB function to be used as target input triggered by the AEB function, so that the emergency braking action of the vehicle is triggered through a single radar triggering strategy, the safety performance of the vehicle is effectively improved, and the possibility of traffic accidents such as rear-end collision and the like caused by the fact that a camera cannot identify the target is reduced.

Optionally, in an embodiment of the present application, the method further includes: when the active emergency braking system is in a single radar trigger mode, the vehicle is controlled to carry out camera failure reminding on a driver.

After triggering the AEB function through a single radar triggering strategy, the embodiment of the application can remind a driver that a camera is out of work by using modes such as voice broadcasting, text prompting, image prompting and the like through equipment such as a vehicle-mounted display screen or an instrument panel.

For example, after the radar trigger strategy triggers the AEB function, the vehicle system can broadcast "the vehicle camera has failed, please note the vehicle driving safety! Prompt messages such as 'and the like' or a camera failure icon is continuously flickered on a vehicle instrument panel, so that the camera failure reminding is carried out on the driver in multiple modes, the safety of the vehicle is further improved, the driving experience of the driver is improved, and the vehicle has humanization and intelligence.

Optionally, in an embodiment of the present application, while controlling the vehicle to perform the camera failure notification, the method further includes: detecting an actual vehicle speed of the vehicle; when the fact that the actual vehicle speed is larger than or equal to the preset vehicle speed and the first emergency braking action is not executed is detected, the vehicle is controlled to decelerate to the preset vehicle speed, and the vehicle is controlled to correspondingly warn other vehicles or pedestrians.

It should be noted that, while the camera failure is prompted to the driver, the embodiment of the application may also detect the actual vehicle speed of the vehicle, and when it is detected that the actual vehicle speed reaches the system preset vehicle speed but emergency braking is not performed, the vehicle is controlled to decelerate, and corresponding warning is performed on other vehicles or pedestrians.

For example, when the vehicle is subjected to voice broadcasting to remind a driver of camera failure, the vehicle detects the current vehicle speed in real time through corresponding sensor equipment, and sets a proper speed threshold as the safe upper limit speed of the vehicle running under the condition that the camera fails, for example, when the safe speed threshold is 30km/h, the actual speed of the vehicle is 50km/h and emergency braking is not performed, the vehicle speed can be controlled through a vehicle controller and reduced to the safe running speed, and other vehicles or pedestrians are warned in the modes of flashing vehicle steering and the like or whistling and the like, so that the vehicle speed is controlled to be in a reasonable interval, the running safety of the vehicle is guaranteed, the reliability of the vehicle is further improved, and the possibility of traffic accidents such as rear-end collision and the like is greatly reduced.

Optionally, in an embodiment of the present application, the method further includes: when the fact that the vehicle does not meet the preset target recognition incapability condition is detected, recognizing a camera target and target attributes thereof according to camera data of the vehicle, and according to radar data, singly recognizing the radar target and the target attributes thereof; fusing a camera target and target attributes thereof and a single radar target and target attributes thereof to obtain a fused target and target attributes thereof; and controlling the active emergency braking system to enter a fusion triggering mode according to the fusion target and the target attribute thereof, and triggering a second emergency braking action of the vehicle by a preset fusion triggering strategy.

It should be noted that, when it is detected that the vehicle does not satisfy the above-mentioned target non-recognition condition, in the embodiment of the present application, data may be collected for an observation target by using the camera and the radar device, then feature extraction and pattern recognition processing are performed on output data of each sensor, respective target attributes are obtained, the targets are accurately associated according to categories, and finally, data of all sensors of the same target are integrated by using a fusion algorithm, so as to obtain a fusion target and target attributes thereof, that is, a consistency conclusion about target threat, and then an emergency braking action of the vehicle is triggered according to a fusion triggering policy, so that not only can the safety and reliability of the vehicle be further improved, but also the probability of occurrence of a traffic accident is reduced, and the user experience is also improved.

According to the control method of the vehicle active emergency braking system, whether the vehicle meets the condition that a preset target cannot be identified is detected; when the condition that the vehicle meets the preset target recognition incapability condition is detected, a single radar target with an active emergency braking function is recognized according to radar data of the vehicle, and meanwhile, target attributes of the single radar target are obtained according to the radar data; and controlling the active emergency braking system to enter a single-radar triggering mode according to the single-radar target and the target attribute thereof, and triggering a first emergency braking action of the vehicle by a preset single-radar triggering strategy. According to the method and the device, the AEB function can be triggered based on the radar target result under the condition that the camera cannot be successfully identified or the radar and the camera respectively identify the target fusion failure, so that the effectiveness of triggering the AEB function and the running safety of the vehicle in different environments are further guaranteed, the safety and the reliability of the vehicle are improved, and the driving experience of a user is greatly improved.

Next, a control device of a vehicle active emergency brake system proposed according to an embodiment of the present application will be described with reference to the drawings.

Fig. 3 is a block diagram schematically illustrating a control device of the active emergency braking system of the vehicle according to the embodiment of the present application.

As shown in fig. 3, the control method of the active emergency braking system for a vehicle 10 includes: a detection module 100, an acquisition module 200, and a trigger module 300.

The detection module 100 is configured to detect whether the vehicle meets a preset target unrecognizable condition.

The obtaining module 200 is configured to, when it is detected that the vehicle meets a condition that the preset target cannot be identified, identify a single radar target with an active emergency braking function according to radar data of the vehicle, and obtain a target attribute of the single radar target according to the radar data.

The triggering module 300 is configured to judge whether the radar target and the target attribute thereof meet a preset reliable condition based on the camera target and the target attribute thereof identified by the camera data when the preset target cannot be identified, if the preset reliable condition is met, control the active emergency braking system to enter a single-radar triggering mode according to the single-radar target and the target attribute thereof, trigger a first emergency braking action of the vehicle by using a preset single-radar triggering strategy, and otherwise perform an unreliable alarm.

Optionally, in an embodiment of the present application, the preset target identification condition includes:

vehicle-mounted camera failure of the vehicle.

And/or the interference degree of the light of the object vehicle to the vehicle reaches a preset degree.

And/or the vehicle reaches a preset backlight condition or a preset glare condition when entering or exiting the tunnel entrance.

Optionally, in an embodiment of the present application, the control device 10 of the vehicle active emergency braking system of the embodiment of the present application further includes: the device comprises an identification module, a fusion module and a control module.

The identification module is used for identifying a camera target and target attributes thereof according to camera data of the vehicle when the vehicle is detected not to meet the condition that the preset target cannot be identified, and identifying a single radar target and target attributes thereof according to radar data.

And the fusion module is used for fusing the camera target and the target attribute thereof and the single radar target and the target attribute thereof to obtain a fusion target and the target attribute thereof.

And the control module is used for controlling the active emergency braking system to enter a fusion trigger mode according to the fusion target and the target attribute thereof so as to trigger a second emergency braking action of the vehicle by a preset fusion trigger strategy.

Optionally, in an embodiment of the present application, the control device 10 of the vehicle active emergency braking system of the embodiment of the present application further includes: and the reminding module is used for controlling the vehicle to carry out camera failure reminding on the driver when the active emergency braking system is in a single radar trigger mode.

Optionally, in an embodiment of the present application, the control device 10 of the active emergency braking system of the vehicle of the embodiment of the present application further includes: speed measuring module and warning module.

The speed measuring module is used for detecting the actual speed of the vehicle when the vehicle is controlled to carry out camera failure reminding.

And the warning module is used for controlling the vehicle to decelerate to the preset vehicle speed when the actual vehicle speed is detected to be greater than or equal to the preset vehicle speed and the first emergency braking action is not executed, and controlling the vehicle to correspondingly warn other vehicles or pedestrians.

It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle active emergency braking system is also applicable to the control device for the vehicle active emergency braking system of the embodiment, and is not repeated herein.

According to the control device of the vehicle active emergency braking system, whether the vehicle meets the condition that a preset target cannot be identified is detected; when the condition that the vehicle meets the preset target recognition incapability condition is detected, a single radar target with an active emergency braking function is recognized according to radar data of the vehicle, and meanwhile, target attributes of the single radar target are obtained according to the radar data; and controlling the active emergency braking system to enter a single-radar trigger mode according to the single-radar target and the target attribute thereof, and triggering a first emergency braking action of the vehicle by using a preset single-radar trigger strategy. According to the method and the device, the AEB function can be triggered based on the radar target result under the condition that the camera cannot be successfully identified or the radar and the camera respectively identify the target fusion failure, so that the effectiveness of triggering the AEB function and the running safety of the vehicle in different environments are further guaranteed, the safety and the reliability of the vehicle are improved, and the driving experience of a user is greatly improved.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The vehicle may include:

memory 401, processor 402, and computer programs stored on memory 401 and executable on processor 402.

The processor 402, when executing the program, implements the method of controlling the active emergency braking system of the vehicle provided in the above-described embodiments.

Further, the vehicle further includes:

a communication interface 403 for communication between the memory 401 and the processor 402.

A memory 401 for storing computer programs operable on the processor 402.

Memory 401 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but that does not indicate only one bus or one type of bus.

Alternatively, in practical implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on one chip, the memory 401, the processor 402, and the communication interface 403 may complete mutual communication through an internal interface.

The processor 402 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the vehicle active emergency brake system as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A method of controlling an active emergency braking system for a vehicle, comprising the steps of:

detecting whether the vehicle meets a preset target unrecognizable condition;

when the vehicle is detected to meet the condition that the preset target cannot be identified, identifying a single radar target with an active emergency braking function according to radar data of the vehicle, and meanwhile obtaining target attributes of the single radar target according to the radar data; and

and judging whether the radar target and the target attribute thereof meet a preset reliable condition or not based on the camera target identified by the camera data when the preset target can not be identified and the target attribute thereof, if so, controlling the active emergency braking system to enter a single-radar trigger mode according to the single-radar target and the target attribute thereof, triggering a first emergency braking action of the vehicle by a preset single-radar trigger strategy, and otherwise, carrying out unreliable alarm.

2. The method of claim 1, wherein the preset target recognition condition comprises:

a vehicle-mounted camera failure of the vehicle;

and/or the interference degree of the lamplight of the object vehicle to the vehicle reaches a preset degree;

and/or the vehicle reaches a preset backlight condition or a preset glare condition when entering or exiting the tunnel portal.

3. The method of claim 1, further comprising:

when the vehicle is detected not to meet the condition that the preset target cannot be identified, identifying a camera target and target attributes thereof according to camera data of the vehicle, and identifying the single radar target and target attributes thereof according to the radar data;

fusing the camera target and the target attribute thereof and the single radar target and the target attribute thereof to obtain a fused target and the target attribute thereof;

and controlling the active emergency braking system to enter a fusion trigger mode according to the fusion target and the target attribute thereof, and triggering a second emergency braking action of the vehicle by using a preset fusion trigger strategy.

4. The method of claim 1, further comprising:

and when the active emergency braking system is in the single radar trigger mode, controlling the vehicle to carry out camera failure reminding on a driver.

5. The method of claim 4, wherein while controlling the vehicle to perform camera failure warning, further comprising:

detecting an actual vehicle speed of the vehicle;

when the fact that the actual vehicle speed is larger than or equal to the preset vehicle speed and the first emergency braking action is not executed is detected, the vehicle is controlled to decelerate to the preset vehicle speed, and the vehicle is controlled to correspondingly warn other vehicles or pedestrians.

6. A control apparatus of an active emergency braking system for a vehicle, comprising:

the detection module is used for detecting whether the vehicle meets a preset target unidentifiable condition;

the acquisition module is used for identifying a single radar target with an active emergency braking function according to radar data of the vehicle and acquiring target attributes of the single radar target according to the radar data when the vehicle is detected to meet the condition that the preset target cannot be identified; and

and the triggering module is used for judging whether the radar target and the target attribute thereof meet a preset reliable condition or not based on the camera target identified by the camera data when the preset target can not be identified and the target attribute thereof, if so, controlling the active emergency braking system to enter a single-radar triggering mode according to the single-radar target and the target attribute thereof, triggering a first emergency braking action of the vehicle by a preset single-radar triggering strategy, and otherwise, performing unreliable alarm.

7. The apparatus of claim 6, wherein the preset target recognition condition comprises:

a vehicle-mounted camera of the vehicle is failed;

8. The apparatus of claim 6, further comprising:

the identification module is used for identifying a camera target and target attributes thereof according to camera data of the vehicle and identifying the single radar target and target attributes thereof according to the radar data when the vehicle is detected not to meet the preset target recognition incapability condition;

the fusion module is used for fusing the camera target and the target attribute thereof and the single radar target and the target attribute thereof to obtain a fusion target and the target attribute thereof;

and the control module is used for controlling the active emergency braking system to enter a fusion trigger mode according to the fusion target and the target attribute thereof, and triggering a second emergency braking action of the vehicle by using a preset fusion trigger strategy.

9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the control method of the vehicle active emergency braking system according to any one of claims 1 to 5.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a control method of a vehicle active emergency brake system according to any one of claims 1 to 5.