CN116039624A

CN116039624A - AEB main target selection method and system

Info

Publication number: CN116039624A
Application number: CN202310038366.7A
Authority: CN
Inventors: 汪阳雄; 刘会凯; 黄值仪; 赵可道
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-05-02

Abstract

The invention provides an AEB main target selection method and system, wherein the method comprises the following steps: acquiring the position and the motion state of the vehicle and the position and the motion state of a target vehicle; calculating the longitudinal collision time of the vehicle and the target vehicle according to the longitudinal motion state of the vehicle, the longitudinal motion state of the target vehicle and the longitudinal relative position of the target vehicle; judging whether the target vehicle collides with the own vehicle or not according to the lateral motion state of the own vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle and the longitudinal collision time; if the target vehicle is judged to collide with the own vehicle, the target vehicle with the smallest longitudinal collision time is selected as a main target. According to the scheme, the main target can be accurately and rapidly selected, the calculation process is simple, the method can adapt to the main target selection requirement under complex and sudden road conditions, and the safe running of the vehicle is ensured.

Description

AEB main target selection method and system

Technical Field

The invention belongs to the field of auxiliary driving, and particularly relates to an AEB main target selection method and system.

Background

With the rapid development of the intelligent technology of automobiles, the active safety function is particularly important in practice. The AEB (Autonomous Emergency Braking, automatic emergency braking) function is very dependent on the selection of the main target, and incorrect selection of the main target can cause abnormal situations such as false triggering or missed triggering of the AEB function.

In the existing scheme, a nearest target in front of a vehicle is often taken as a main target, and the main target cannot be accurately locked for a curve scene or a target crossing scene. In other more complex schemes, the vehicle driving track is estimated first, and then the closest target is selected according to the vehicle track, but the scheme lacks prediction on the motion state of the target, so that the main target is difficult to switch in time under some emergency situations.

Disclosure of Invention

In view of this, the embodiment of the invention provides a method and a system for selecting an AEB main target, which are used for solving the problem that the existing main target selecting method is difficult to accurately select the main target.

In a first aspect of an embodiment of the present invention, there is provided an AEB main target selection method, including:

acquiring the position and the motion state of the vehicle and the position and the motion state of a target vehicle;

calculating the longitudinal collision time of the vehicle and the target vehicle according to the longitudinal motion state of the vehicle, the longitudinal motion state of the target vehicle and the longitudinal relative position of the target vehicle;

judging whether the target vehicle collides with the own vehicle or not according to the lateral motion state of the own vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle and the longitudinal collision time;

if the target vehicle is judged to collide with the own vehicle, the target vehicle with the smallest longitudinal collision time is selected as a main target.

In a second aspect of the embodiment of the present invention, there is provided an AEB main target selection system, including:

the acquisition module is used for acquiring the position and the motion state of the vehicle and the position and the motion state of the target vehicle;

the longitudinal judgment module is used for calculating the longitudinal collision time of the vehicle and the target vehicle according to the longitudinal motion state of the vehicle, the longitudinal motion state of the target vehicle and the longitudinal relative position of the target vehicle;

the transverse judging module is used for judging whether the target vehicle collides with the own vehicle or not according to the transverse motion state of the own vehicle, the transverse motion state of the target vehicle, the transverse relative position of the target vehicle and the longitudinal collision time;

and the selecting module is used for selecting the target vehicle with the minimum longitudinal collision time as a main target if the target vehicle is judged to collide with the own vehicle.

In a third aspect of the embodiments of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect of the embodiments of the present invention when the computer program is executed by the processor.

In a fourth aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method provided by the first aspect of the embodiments of the present invention.

According to the embodiment of the invention, based on the motion state and position information of the target vehicle and the own vehicle, the possibility of collision of the two vehicles is calculated in the transverse and longitudinal directions, and the target vehicle with the shortest current collision time is selected as the main target, so that the main target selection can be simply and rapidly realized, the selection result is accurate and reliable, the requirement of main target selection in complex traffic scenes can be met, and the main target can be switched and locked in time in burst scenes, thereby ensuring the safe running of the own vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a flow chart of an AEB main target selection method according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a primary object selection scenario according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an AEB main target selection system according to an embodiment of the invention;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The term "comprising" in the description of the invention or in the claims and in the above-mentioned figures and other similar meaning expressions is meant to cover a non-exclusive inclusion, such as a process, method or system, apparatus comprising a series of steps or elements, without limitation to the steps or elements listed. Furthermore, "first" and "second" are used to distinguish between different objects and are not used to describe a particular order.

Referring to fig. 1, a flow chart of an AEB main target selecting method according to an embodiment of the present invention includes:

s101, acquiring a vehicle position, a motion state and a target vehicle position and a motion state;

the vehicle position is generally the absolute position of the vehicle, and can be the absolute position obtained by the GPS of the vehicle or the position obtained by an auxiliary positioning technology. The target vehicle position can be obtained according to the position of the target vehicle relative to the own vehicle, if the relative distance of the target vehicle is D and the radar sight direction is theta (relative longitudinal direction), the relative transverse distance and the longitudinal distance of the target vehicle can be obtained, and the target vehicle position can be obtained.

The target vehicle is a vehicle within a certain range around the own vehicle, and may be located in front of, behind, or behind the own vehicle. The own vehicle generally periodically detects the target vehicles around the own vehicle so as to switch the main target even if the main target is switched.

The method comprises the steps of collecting the relative position of a target vehicle through a laser radar, and calculating the movement speed and acceleration of the target vehicle; absolute positioning of the own vehicle is obtained, and the movement speed and acceleration of the own vehicle are calculated based on the wheel speed instrument.

The speed and the acceleration of the target vehicle can be calculated according to the relative distance change of the target vehicle detected by the vehicle, and the speed and the acceleration of the target vehicle can be accurately calculated by combining the speed and the acceleration change of the vehicle.

The movement speed and speed change of the vehicle can be calculated according to the wheel speed pulse signals on the wheels, and compared with other speed detection methods (such as GPS positioning and the like), the vehicle speed and acceleration calculated based on the wheel speed instrument are more accurate.

The position and the motion state of the vehicle are recorded in real time, and the collision possibility of each target vehicle is calculated.

S102, calculating the longitudinal collision time of the vehicle and the target vehicle according to the longitudinal motion state of the vehicle, the longitudinal motion state of the target vehicle and the longitudinal relative position of the target vehicle;

the vehicle longitudinal movement state includes a vehicle longitudinal speed and a longitudinal acceleration, and the target vehicle longitudinal movement state includes a target vehicle longitudinal speed and a longitudinal acceleration. In the longitudinal direction, the longitudinal collision time (the two vehicles may be in parallel positions) can be obtained based on a kinematic formula according to the distance between the vehicles, the parameters such as the speed and the acceleration of the vehicles, and the like.

For example, the current longitudinal speed of the own vehicle is v1, the acceleration is a1, the current longitudinal speed of the target vehicle is v2, the acceleration is a2, the longitudinal distance between the own vehicle and the target vehicle is d, the moving distance of the own vehicle in the time t is x1, and the moving distance of the target vehicle in the time t is x2, which is assumed that the collision time is t

x1＝x2+d。

According to the formula, the t value can be obtained, namely the longitudinal collision time of the vehicle and the target vehicle.

It should be understood that a longitudinal collision between a vehicle and a target vehicle means that the same longitudinal position of the vehicle and the target vehicle occurs within a certain period of time, and at this time, the vehicle and the target vehicle may not collide yet, and may be at the same horizontal position, such as running side by side on adjacent lanes, so that the lateral distance between the vehicle and the target vehicle needs to be considered. In practice, for a complex road environment, it is also necessary to consider curve driving, and at this time, parameters such as a turning radius, a heading angle, etc. need to be acquired to calculate the possibility of a collision between the host vehicle and the target vehicle in the transverse and longitudinal directions.

S103, judging whether the target vehicle collides with the own vehicle or not according to the lateral motion state of the own vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle and the longitudinal collision time;

the lateral motion state of the own vehicle includes a lateral speed and an acceleration of the own vehicle, and the lateral motion state of the target vehicle includes a speed and an acceleration of the target vehicle. After the longitudinal collision time of the self-vehicle and the target vehicle is obtained, judging whether the two vehicles collide or not according to the transverse speed, the acceleration and the transverse distance of the self-vehicle and the target vehicle.

Exemplary, the current lateral velocity of the own vehicle is v3, the lateral acceleration is a3, the current lateral velocity of the target vehicle is v4, the lateral acceleration is a4, the lateral distance between the own vehicle and the target vehicle is d', the collision time is t, the lateral movement distance of the own vehicle is x3 in the time t, and the lateral movement distance of the target vehicle is x4 in the time t is

From the above formula, it is possible to determine whether d=x3+x4 is satisfied, and if it is satisfied, it is determined that the target vehicle collides with the own vehicle, and if it is not satisfied, it is determined that the target vehicle does not collide with the own vehicle.

The parameters such as the speed, the acceleration and the like of the target vehicle and the own vehicle are vectors, and the motion direction information is contained.

And S104, if the target vehicle is judged to collide with the own vehicle, selecting the target vehicle with the minimum longitudinal collision time as a main target.

When the collision between the own vehicle and the target vehicles is judged, the time of the collision between the own vehicle and the target vehicles is obtained, namely the longitudinal collision time, the collision time between the own vehicle and each target vehicle is recorded, and the target vehicle with the shortest collision time is selected as the main target after comparison.

As shown in fig. 2, the target 2 is accelerated to the right, and it is determined that the target 2 collides with the vehicle in the front direction of the vehicle based on the speed and acceleration of the target 2, the distance between the vehicle and the lateral direction, the vehicle speed and acceleration, and the like, and the target 2 may be the main target.

In the embodiment, based on the motion state parameters and the relative distance of the own vehicle and the target vehicle, whether the target vehicle collides with the own vehicle or not is judged in the transverse and longitudinal directions, and the target vehicle with the shortest collision time is selected as the main target, so that the calculation process is simple, the main target can be timely and accurately selected, the requirement of target selection under complex and sudden scenes is met, and the safety of the vehicle is ensured.

In one embodiment, if it is determined that the target vehicle will not collide with the own vehicle, the vehicle having the closest relative distance around the own vehicle is selected as the main target.

When all surrounding vehicles are determined not to collide with the own vehicle, such as the speed of the own vehicle before the lane is equal to or higher than the speed of the own vehicle, the vehicle on the lane on one side is not laterally offset, or the like, at this time, the vehicle closest in lateral distance or closest in longitudinal distance may be selected as the main target vehicle, and specifically may be set according to the actual situation.

Specifically, when the lane line is a solid line, a vehicle with the nearest distance to the front of the same lane can be set as a main target; when the lane line distance is a broken line and the longitudinal distance of the adjacent lane vehicle is smaller than the safe lane change distance, the vehicle whose relative distance from the front is closest may be taken as the target vehicle. For complex road conditions, the main target can be flexibly selected according to actual active safety requirements.

In this embodiment, whether collision occurs is preferentially determined according to the lateral-longitudinal distance and the lateral-longitudinal speed between the own vehicle and the target vehicle, and the determination may be made according to the lateral-longitudinal distance between the target vehicle and the own vehicle when it is determined that none of the surrounding vehicles collides with the own vehicle. When the same-direction lane line is a solid line, the target vehicle with the nearest longitudinal distance can be selected as the main target, and when the same-direction lane line is a dotted line, the target vehicle with the nearest relative distance can be selected as the main target according to the transverse offset direction of the target vehicle. For vehicles with different driving directions, the selection needs to be performed according to the type of the lane lines and the relative distance, and the selection can be specifically performed according to the actual scene, which is not limited herein.

In one embodiment, step S104 further includes:

and continuously monitoring the motion state of the main target, and if the motion state and the running track of the main target or the self-vehicle are not changed in the normal reaction time range by taking measures, controlling the self-vehicle to actively brake or change the running track of the vehicle.

For the selected main target, the active safety system can continuously monitor the target and give an early warning to prompt the driver. When the target vehicle does not change the track and speed of the vehicle in the safety reaction time, the driver of the self-vehicle does not take measures to avoid, and the self-vehicle can be properly braked and decelerated, line-pressing driven or temporarily lane-changing driven on the premise of ensuring the safety of the self-vehicle. Before braking, the distance, speed and the like of the rear vehicle need to be acquired in advance, rear-end collision is avoided, and before lane changing, whether the vehicle has a lane change and collides with the vehicle on one side lane needs to be judged.

Preferably, the automatic collision avoidance path is planned according to the braking distance of the automobile and the position of the obstacle around the automobile, and a corresponding braking control strategy is adopted.

After the collision avoidance main target is selected, besides continuously monitoring the main target vehicle, the own vehicle needs to plan a braking strategy and a collision avoidance path in advance, namely collision with the target vehicle is avoided by means of speed reduction, lane change or line pressing running and the like according to the relative position, speed, lane line type and other information of the vehicles around the own vehicle.

Under the actual complex traffic scene, the driving direction of the target vehicle may be difficult to judge, such as whether the target vehicle changes lanes, whether the target vehicle is overtaking or not, and the like, and the actual intention of the target vehicle is difficult to judge accurately, so that the planning of the automatic safety path is time-consuming, the number of surrounding vehicles is large, the data processing process is complex, the driving track of the vehicle can be predicted by combining with a deep learning model, and the driving path of the vehicle is planned by the deep learning model, and the like.

In this embodiment, after the primary target is selected, when the own vehicle and the primary target vehicle do not take corresponding avoidance measures, the safety risk of the own vehicle is avoided by planning active safety measures in advance.

It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present invention.

Fig. 3 is a schematic structural diagram of an AEB main target selection system according to an embodiment of the present invention, including:

an acquiring module 310, configured to acquire a vehicle position, a motion state, and a target vehicle position, a motion state;

The longitudinal judgment module 320 is configured to calculate a longitudinal collision time between the host vehicle and the target vehicle according to the longitudinal motion state of the host vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle;

x1＝x2+d。

The lateral judgment module 330 is configured to judge whether the target vehicle collides with the own vehicle according to the lateral motion state of the own vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time;

And the selecting module 340 is configured to select, as the main target, the target vehicle with the smallest longitudinal collision time if it is determined that the target vehicle collides with the own vehicle.

It should be understood that whether or not a collision occurs is preferentially determined based on the lateral-longitudinal distance and the lateral-longitudinal speed of the own vehicle and the target vehicle, and in the case where it is determined that none of the surrounding vehicles collides with the own vehicle, it may be selected based on the lateral-longitudinal distance of the target vehicle and the own vehicle. When the same-direction lane line is a solid line, the target vehicle with the nearest longitudinal distance can be selected as the main target, and when the same-direction lane line is a dotted line, the target vehicle with the nearest relative distance can be selected as the main target according to the transverse offset direction of the target vehicle. For vehicles with different driving directions, the selection needs to be performed according to the type of the lane lines and the relative distance, and the selection can be specifically performed according to the actual scene, which is not limited herein.

In one embodiment, the selecting module 340 further includes:

and the active control module is used for continuously monitoring the motion state of the main target, and controlling the own vehicle to actively brake or change the running track of the vehicle if the motion state and the running track of the main target or the own vehicle are not changed by taking measures within the normal reaction time range.

Further, the active control module includes:

and the planning control unit is used for planning an active collision avoidance path of the own vehicle according to the braking distance of the own vehicle and the positions of obstacles around the own vehicle and adopting a corresponding braking control strategy.

In the embodiment, the course angle and the distance of the vehicle are calculated in real time based on the wheel speed sensors of the two rear wheels of the vehicle, so that the dead reckoning of the vehicle is realized, the calculation process is simple, no additional sensing equipment is needed, the dead reckoning cost is effectively reduced, the occupation of a vehicle controller is reduced, the map auxiliary positioning can be realized, and the phenomena of dead reckoning and the like are avoided.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

It will be appreciated by those skilled in the art that all or part of the steps in the methods of the above embodiments may be implemented by a program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program when executed implements part or all of the processes in steps S101 to S104, and the storage medium includes, for example, ROM/RAM.

In one embodiment, as shown in fig. 4, fig. 4 is a schematic structural diagram of a primary target selection in AEB according to an embodiment of the present invention. The electronic device may be a vehicle control device. As shown in fig. 4, the electronic device 4 of this embodiment includes at least: memory 410, processor 420, and system bus 430, wherein memory 410 includes an executable program 4101 stored thereon, and those skilled in the art will appreciate that the electronic device structure shown in fig. 4 is not limiting of electronic devices and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

The following describes the respective constituent elements of the electronic device in detail with reference to fig. 4:

the memory 410 may be used to store software programs and modules, and the processor 420 may execute various functional applications and data processing of the electronic device by executing the software programs and modules stored in the memory 410. The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the electronic device (such as cache data), and the like. In addition, memory 410 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

An executable program 4101 containing a network request method on the memory 410, the executable program 4101 may be partitioned into one or more modules/units, which are stored in the memory 410 and executed by the processor 420 to implement master object selection in active security, etc., the one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the computer program 4101 in the electronic device 4. For example, the computer program 4101 may be divided into an acquisition module, a longitudinal judgment module, a lateral judgment module, a selection module, and the like.

The processor 420 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 410, and invoking data stored in the memory 410, thereby performing overall state monitoring of the electronic device. Optionally, the processor 420 may include one or more processing units; preferably, the processor 420 may integrate an application processor that primarily handles operating systems, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 420.

The system bus 430 is used to connect functional components inside the computer, and CAN transmit data information, address information, and control information, and the types of the system bus may be, for example, a PCI bus, an isa bus, and a CAN bus. Instructions from the processor 420 are transferred to the memory 410 via the bus, the memory 510 feeds back data to the processor 420, and the system bus 430 is responsible for data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 may also access other devices, such as a network interface, a display device, etc.

In an embodiment of the present invention, the executable program executed by the process 420 included in the electronic device includes:

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

It will be understood that in the description of the invention, numerous technical details have been set forth, and that embodiments thereof may be practiced in conjunction with common general knowledge without other details. In some embodiments, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it will be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting the intention: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present invention is not limited to any single aspect, nor to any single embodiment, nor to any combination and/or permutation of these aspects and/or embodiments. Moreover, each aspect and/or embodiment of the invention may be used alone or in combination with one or more other aspects and/or embodiments.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An AEB main target selection method, comprising:

2. The method of claim 1, wherein determining that the target vehicle will collide with the host vehicle comprises:

acquiring the relative position of a target vehicle through a laser radar, and calculating the movement speed and acceleration of the target vehicle;

absolute positioning of the own vehicle is obtained, and the movement speed and acceleration of the own vehicle are calculated based on the wheel speed instrument.

3. The method of claim 1, wherein determining whether the target vehicle collides with the own vehicle further comprises:

if the target vehicle is judged to be not collided with the own vehicle, the vehicle with the nearest relative distance around the own vehicle is selected as the main target.

4. The method of claim 1, wherein if it is determined that the target vehicle collides with the own vehicle, selecting the target vehicle having the smallest longitudinal collision time as the main target further comprises:

5. The method of claim 4, wherein controlling the host vehicle to actively brake or change the vehicle travel track comprises:

and planning an active collision avoidance path of the own vehicle according to the braking distance of the own vehicle and the positions of obstacles around the own vehicle, and adopting a corresponding braking control strategy.

6. An AEB primary target selection system, comprising:

7. The system of claim 6, wherein the selection module further comprises:

8. The system of claim 6, wherein the active control module comprises:

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of an AEB main target selection method according to any one of claims 1 to 5.

10. A computer-readable storage medium storing a computer program, wherein the computer program when executed implements the steps of an AEB main target selection method according to any one of claims 1 to 5.