CN116674550A - AEBS-based vehicle braking method and device, electronic equipment and storage medium - Google Patents

Abstract

The application relates to a vehicle braking method, a device, electronic equipment and a storage medium based on AEBS, wherein the method comprises the steps of obtaining perception fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle and obtaining a perception object list detected by a millimeter wave radar of the vehicle; checking the braking target according to the perception object list and the perception fusion information to obtain a checking result; and executing braking operation on the vehicle according to the verification result. According to the application, whether the braking target detected by the AEBS really exists or not is checked reversely through the single millimeter wave radar, so that only the millimeter wave radar is required to meet the corresponding functional safety level ASIL, and the camera is not required to meet the corresponding functional safety level ASIL, so that the AEBS meets the safety requirement of the ASIL, the development workload of the camera to be met is saved, and the cost is reduced.

Description

AEBS-based vehicle braking method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of driving assistance, in particular to a vehicle braking method and device based on AEBS, electronic equipment and a storage medium.

Background

The driving auxiliary system of the automobile comprises an automatic emergency braking system AEBS (Autonomous Emergency Braking System), an automatic emergency steering (Automatic Emergency Steering, AES) and the like, wherein the AEB system is an electronic system for auxiliary braking and is an active safety technology of the automobile. The AEB system is an active safety equipment device for assisting a driver to perform emergency braking, and refers to that the vehicle normally runs under the condition of non-self-adaptive cruising, for example, the vehicle actively performs braking when encountering an emergency dangerous situation or when the distance between the vehicle and a front target (the vehicle, a pedestrian or other targets) is smaller than a safety distance, and collision accidents such as rear-end collision are avoided or reduced, so that the driving safety can be improved.

In order to improve the safety of automotive electronics and electrical products, in the automotive industry, functional safety (ISO 26262) has been established, in which a safety level indicating a reference to be protected is established according to the function, and the safety requirements of ASIL (ASIL, automotive Safety Integration Level, automotive safety integrity level, generally classified into four classes a to D, where class a is the lowest and class D is the highest) are required for implementing the function.

In the related technology, in order for the AEB system to meet the safety requirement of the ASIL, the millimeter wave radar and the camera are required to meet the functional safety level simultaneously, so that the AEB system can meet the safety requirement of the ASIL, and in order to meet the corresponding functional safety level, larger development workload and higher development cost are required.

Disclosure of Invention

The application provides a vehicle braking method, device, electronic equipment and storage medium based on AEBS (AEBS-based brake system), and aims to solve the technical problems in the related art.

According to one embodiment of the application, there is provided an AEBS-based vehicle braking method comprising: acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle, and acquiring a perception object list detected by a millimeter wave radar of the vehicle; checking the braking target according to the perception object list and the perception fusion information to obtain a checking result; and executing braking operation on the vehicle according to the verification result.

Further, obtaining perceived fusion information of a braking target detected by an automatic emergency braking system AEBS of the vehicle includes: acquiring first perception information of a braking target detected by a millimeter wave radar in an AEBS (automatic gain control), and acquiring second perception information of a camera in the AEBS for the braking target; and carrying out data fusion on the first perception information and the second perception information in the same coordinate system to obtain perception fusion information of the braking target.

Further, the sensing fusion information includes motion information, and the checking of the braking target according to the sensing object list and the sensing fusion information includes: judging whether a perception object matched with the motion information exists in the perception object list or not; if the perception objects matched with the motion information exist in the perception object list, determining that the braking target really exists as a verification result; and if the perception object matched with the motion information does not exist in the perception object list, determining that the braking target does not exist as a verification result.

Further, performing a braking operation on the vehicle according to the verification result includes: acquiring a braking instruction triggered by the AEBS based on the perception fusion information; if the checking result shows that the braking target does not exist, not executing the braking operation corresponding to the braking instruction; and if the checking result shows that the braking target really exists, executing braking operation corresponding to the braking instruction.

Further, the motion information includes a speed, an acceleration, a motion azimuth, and coordinates, and determining whether the perceived object that matches the motion information exists in the perceived object list includes: respectively acquiring the speed, the acceleration, the motion azimuth and the verification range corresponding to the coordinate; judging whether a perception object within the verification range exists in the perception object list or not; and if the perception objects in the verification range exist in the perception object list, determining that the perception objects matched with the motion information exist in the perception object list.

Further, after determining whether there is a perceived object in the perceived object list that is within the verification range, the method further includes: and if the perception objects in the verification range do not exist in the perception object list, determining that the perception objects matched with the motion information do not exist in the perception object list.

Further, after performing a braking operation on the vehicle according to the verification result, the method further includes: detecting the current speed of the vehicle in real time; and ending the braking operation if the current speed reaches a preset speed limit value.

According to another embodiment of the present application, there is provided an AEBS-based vehicle braking device including: the acquisition module is used for acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of the vehicle and acquiring a perception object list detected by a millimeter wave radar of the vehicle; the verification module is used for verifying the braking target according to the perception object list and the perception fusion information to obtain a verification result; and the execution module is used for executing braking operation on the vehicle according to the verification result.

Further, the acquisition module comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring first perception information of a braking target detected by a millimeter wave radar in an AEBS and acquiring second perception information of a camera in the AEBS to the braking target; and carrying out data fusion on the first perception information and the second perception information in the same coordinate system to obtain perception fusion information of the braking target.

Further, the verification module comprises a verification unit for judging whether a perception object matched with the motion information exists in the perception object list; if the perception objects matched with the motion information exist in the perception object list, determining that the braking target really exists as a verification result; and if the perception object matched with the motion information does not exist in the perception object list, determining that the braking target does not exist as a verification result.

Further, the execution module comprises an execution unit, wherein the execution unit is used for acquiring a braking instruction triggered by the AEBS based on the perception fusion information; if the checking result shows that the braking target does not exist, not executing the braking operation corresponding to the braking instruction; and if the checking result shows that the braking target really exists, executing braking operation corresponding to the braking instruction.

Further, the verification unit is further configured to obtain verification ranges corresponding to the speed, the acceleration, the motion azimuth and the coordinates respectively; judging whether a perception object within the verification range exists in the perception object list or not; if the perceived object list contains perceived objects within the verification range, determining that the perceived object list contains perceived objects matched with the motion information

Further, the verification unit is further configured to determine that, if no perceived object within the verification range exists in the perceived object list, no perceived object matching the motion information exists in the perceived object list.

Further, the AEBS-based vehicle braking device further includes a detection module for detecting a current speed of the vehicle in real time; and ending the braking operation if the current speed reaches a preset speed limit value.

According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program that performs the above steps when running.

According to another aspect of the embodiment of the present application, there is also provided an electronic device including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus; wherein: a memory for storing a computer program; and a processor for executing the steps of the method by running a program stored on the memory.

Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the steps of the above method.

The application has the beneficial effects that:

1. according to the application, the braking target detected by the AEBS is reversely checked through the millimeter wave radar, and the security level of the whole AEB functional system is realized through a target confirmation reverse check mode, so that other sensor hardware (such as a visual sensor, namely a camera) except the millimeter wave radar in the AEBS can not meet the corresponding functional security level ASIL, the development workload of ASIL for meeting other sensor hardware is saved, and the development cost is reduced;

2. according to the application, whether the braking target detected by the AEBS really exists or not is checked by adopting the millimeter wave radar, the AEB warning and braking flow is carried out when the existence of the braking target is checked, and the AEB flow is stopped when the braking target does not exist, so that the safety target for preventing unexpected braking is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

fig. 1 is a hardware block diagram of a vehicle-mounted terminal according to an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle braking method based on AEBS according to an embodiment of the application;

FIG. 3 is a system block diagram of an AEBS-based vehicle braking method application of the present application;

fig. 4 is a block diagram of the structure of another AEBS-based vehicle braking device according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

The method embodiment provided in the first embodiment of the present application may be executed in a vehicle-mounted terminal (vehicle-end), a computer, or a similar processing device. Taking the operation on the vehicle-mounted terminal as an example, fig. 1 is a hardware structure block diagram of the vehicle-mounted terminal according to an embodiment of the present application. As shown in fig. 1, the in-vehicle terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU, a programmable logic device FPGA, or the like) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative, and is not limited to the above-described structure of the vehicle-mounted terminal. For example, the in-vehicle terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a vehicle-mounted terminal program, for example, a software program of application software and a module, such as a vehicle-mounted terminal program corresponding to an AEBS-based vehicle braking method in an embodiment of the present application, and the processor 102 executes the vehicle-mounted terminal program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located with respect to the processor 102, which may be connected to the in-vehicle terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. The specific example of the network described above may include a wireless network provided by a communication provider of the in-vehicle terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In this embodiment, there is provided a vehicle braking method based on AEBS, fig. 2 is a flowchart of a vehicle braking method based on AEBS according to an embodiment of the present application, and the flowchart is applied to a vehicle-mounted terminal, as shown in fig. 2, and the flowchart includes the following steps:

step S10, acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle, and acquiring a perception object list detected by a millimeter wave radar of the vehicle;

the AEBS (Autonomous Emergency Braking System, automatic emergency braking system for an automobile) of this embodiment includes a sensing fusion module and a decision planning module, where the sensing fusion module is configured to fuse sensing information collected by a plurality of sensors, and screen out a braking target, where the braking target is a braking target that can trigger an AEB function of an emergency braking function, for example, the braking target may be a vehicle or a pedestrian located in front of the vehicle of the automobile. The millimeter wave radar of the present embodiment is a vehicle-mounted radar for detecting first perception information corresponding to a plurality of perception objects of a vehicle, a pedestrian, or other obstacles, etc. in front of the vehicle by transmitting and receiving radio waves, wherein the perception object list includes the plurality of perception objects and the first perception information corresponding to each perception object, the first perception information includes movement information including, but not limited to, an abscissa value, a speed, an acceleration, and a movement azimuth, and the type of the perception object corresponding to the classification information is the vehicle or the pedestrian.

Step S20, checking the braking target according to the perception object list and the perception fusion information to obtain a checking result;

and step S30, executing braking operation on the vehicle according to the verification result.

And reversely checking whether the braking target detected by the AEBS really exists or not through a perception object list detected by the single millimeter wave radar in real time to obtain a checking result, and executing braking operation on the vehicle according to the checking result.

Through the steps, the perception fusion information of the braking target detected by the AEBS of the vehicle is obtained, the perception object list detected by the millimeter wave radar of the vehicle is obtained, the braking target is verified according to the perception object list and the perception fusion information, a verification result is obtained, the vehicle is braked according to the verification result, whether the braking target detected by the AEBS really exists or not is reversely verified through the single millimeter wave radar, the safety of the AEBS is improved, therefore, only the millimeter wave radar is required to meet the corresponding functional safety grade ASIL, the camera is not required to meet the corresponding functional safety grade ASIL, the AEBS can meet the safety requirement of ASIL, the development workload of meeting the camera ASIL is saved, the requirement of meeting the functional safety standard under the condition of applying the least sensor hardware resources can be realized, the cost and the safety optimization are realized, the cost is greatly reduced, and the large-scale commercial use can be realized.

In one implementation of the present embodiment, obtaining perceived fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle includes:

s11, acquiring first perception information of a braking target detected by a millimeter wave radar in an AEBS (automatic gain control), and acquiring second perception information of a camera in the AEBS for the braking target;

and S12, carrying out data fusion on the first perception information and the second perception information in the same coordinate system to obtain perception fusion information of the braking target.

Referring to fig. 3, the AEBS of the present embodiment includes a millimeter wave radar, other sensing sensors, and a controller integrated with a sensing fusion module, a decision planning module, a dangerous target verification module, a brake control module, a boundary limit module, and a brake actuator that executes a brake command last, where the other sensing sensors are visual sensors, i.e., cameras, specifically, vehicle-mounted front view cameras, for acquiring front view images of the front end of the vehicle, and detecting second sensing information of a plurality of sensing objects such as vehicles, pedestrians, or other obstacles in front of the vehicle through the front view images.

Acquiring first perception information of a braking target detected by a millimeter wave radar in an AEBS, acquiring second perception information of the braking target detected by a camera in the AEBS, carrying out data fusion on the first perception information and the second perception information in the same coordinate system through a perception fusion module to acquire perception fusion information of the braking target, in one example, because the detection precision of the speed of the braking target by the millimeter wave radar is higher than that of the camera, the classification precision of the braking target by the camera is higher than that of the radar, the speed of the braking target detected by the millimeter wave radar is adopted, the classification information of the braking target detected by the camera is fused to acquire the perception fusion information of a final braking target, the perception fusion information comprises motion information and classification information, and transmitting the perception fusion information of the braking target to a decision planning module, so that the decision planning module can conveniently judge whether to trigger a braking instruction or not based on the perception fusion information and generate the braking instruction carrying target deceleration.

In an example of this embodiment, the sensing fusion information includes motion information, and verifying the braking target according to the sensing object list and the sensing fusion information, where obtaining a verification result includes:

s21, judging whether a perception object matched with the motion information exists in the perception object list;

s22, if a perception object matched with the motion information exists in the perception object list, determining that the braking target really exists as a verification result; and if the perception object matched with the motion information does not exist in the perception object list, determining that the braking target does not exist as a verification result.

The braking target detected by the AEBS is a braking target obtained through data fusion of multiple sensors (millimeter wave radar and camera), errors exist in the fusion process, and the situation that the braking target finally obtained does not exist actually can be possibly caused, therefore, the example rechecks and verifies a sensing object list of the millimeter wave radar, in the sensing object list detected by the millimeter wave radar, a sensing object matched with the motion information of the braking target is queried in real time to confirm that the braking target exists truly, and if the sensing object matched with the motion information exists in the sensing object list, namely the braking target exists in a radar list truly, the speed, the acceleration, the motion azimuth and the coordinates obtained by the fusion module are correct, and the verification result is determined to be that the braking target exists truly; if the perception object matched with the motion information does not exist in the perception object list, determining that the braking target does not exist as a verification result.

Specifically, performing a braking operation on the vehicle according to the verification result includes: acquiring a braking instruction triggered by the AEBS based on the perception fusion information; if the checking result shows that the braking target does not exist, not executing the braking operation corresponding to the braking instruction; and if the checking result shows that the braking target really exists, executing braking operation corresponding to the braking instruction.

After the sensing fusion module carries out fusion processing on the sensing information of the millimeter wave radar and the camera, a braking target for AEB braking is screened out and is respectively transmitted to a lower-level decision planning module and a dangerous target checking module, at the moment, the decision planning module normally carries out AEB function triggering judgment, the dangerous target checking module checks the AEB braking target at the moment, a truly existing marker bit or a non-existing marker bit corresponding to a checking result is transmitted to a braking control module and a boundary limit value module, and the braking control module and the boundary limit value module generate a control instruction and transmit the control instruction to an actuator according to the received checking result and a braking instruction given by the decision planning module so as to realize the whole vehicle function of AEB braking. If the checking result shows that the braking target really exists, executing braking operation corresponding to the braking instruction; if the checking result shows that the braking target does not exist, the braking operation corresponding to the braking instruction is not executed, when the checking result shows that the braking target exists, the AEB alarm and the braking process are carried out, and when the radar detects that the braking target does not exist, the AEB process is stopped, so that the safety target for preventing unexpected braking is achieved.

In an implementation manner of this embodiment, the motion information includes a velocity, an acceleration, a motion azimuth, and coordinates, and determining whether the perceived object that matches the motion information exists in the perceived object list includes: respectively acquiring the speed, the acceleration, the motion azimuth and the verification range corresponding to the coordinate; judging whether a perception object within the verification range exists in the perception object list or not; and if the perception objects in the verification range exist in the perception object list, determining that the perception objects matched with the motion information exist in the perception object list. And if the perception objects in the verification range do not exist in the perception object list, determining that the perception objects matched with the motion information do not exist in the perception object list.

Because the sensing fusion module fuses the sensing information of the millimeter wave radar and the camera through complex judgment logic, and allows deviation values corresponding to preset speed, acceleration and motion azimuth coordinates, a verification range corresponding to the speed, the acceleration, the motion azimuth and the coordinates is set, the verification range can be set according to actual conditions, for example, the speed of a braking target detected by an AEBS (advanced brake system) is 50km/h, the verification range of the speed is set to be 48km/h to 52km/h, and whether a sensing object in the verification range exists in a sensing object list detected by the radar or not is judged; if the perception objects in the verification range exist in the perception object list, the fact that the perception objects matched with the motion information exist in the perception object list is determined, and the fact that the braking target exists can be determined. If the perception object in the verification range does not exist in the perception object list, determining that the perception object matched with the motion information does not exist in the perception object list, and determining that the braking target does not exist.

In one implementation of the present embodiment, the current speed of the vehicle is detected in real time; and ending the braking operation if the current speed reaches a preset speed limit value.

And when the brake command is received, the brake control module and the boundary limit module receive the speed information of the AEBS in real time, and when the speed information reaches the preset AEB speed limit, the AEB function is exited.

Referring to fig. 3, the functional security level requirements corresponding to the other sensors, the sensing fusion module and the decision planning module are quality management level QM, and no special security level requirements exist; the dangerous target checking module, the braking control module and the boundary limit value module are defined as modules with the automobile function integrity grade ASIL X, wherein X can be any grade of A-D according to actual requirement values; peripheral actuators also have functional security level ASIL X, peripheral sensors only have millimeter wave radar with functional security level ASIL X and other related sensors do not have security level, development workload is reduced, requirements of functional security standards can be met under the condition of applying minimum sensor hardware resources, and optimization of cost and security is achieved.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.

Example 2

In this embodiment, a vehicle braking device and a system based on AEBS are further provided, where the vehicle braking device based on AEBS is used to implement the foregoing embodiments and preferred embodiments, and the description is omitted herein. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

Fig. 4 is a block diagram of a structure of an AEBS-based vehicle brake apparatus according to an embodiment of the present application, as shown in fig. 4, including:

the acquiring module 50 is configured to acquire sensing fusion information of a braking target detected by an AEBS of an automatic emergency braking system of a vehicle, and acquire a sensing object list detected by a millimeter wave radar of the vehicle;

the verification module 52 is configured to verify the braking target according to the perception object list and the perception fusion information, so as to obtain a verification result;

and an execution module 54 for executing a braking operation on the vehicle according to the verification result.

Optionally, the acquiring module includes an acquiring unit, configured to acquire first sensing information of a braking target detected by a millimeter wave radar in an AEBS, and acquire second sensing information of a camera in the AEBS on the braking target; and carrying out data fusion on the first perception information and the second perception information in the same coordinate system to obtain perception fusion information of the braking target.

Optionally, the verification module includes a verification unit, configured to determine whether a perceived object that matches the motion information exists in the perceived object list; if the perception objects matched with the motion information exist in the perception object list, determining that the braking target really exists as a verification result; and if the perception object matched with the motion information does not exist in the perception object list, determining that the braking target does not exist as a verification result.

Optionally, the execution module includes an execution unit, configured to obtain a braking instruction triggered by the AEBS based on the perceptual fusion information; if the checking result shows that the braking target does not exist, not executing the braking operation corresponding to the braking instruction; and if the checking result shows that the braking target really exists, executing braking operation corresponding to the braking instruction.

Optionally, the verification unit is further configured to obtain verification ranges corresponding to the speed, the acceleration, the motion azimuth and the coordinates respectively; judging whether a perception object within the verification range exists in the perception object list or not; and if the perception objects in the verification range exist in the perception object list, determining that the perception objects matched with the motion information exist in the perception object list.

Optionally, the verification unit is further configured to determine that, if no perceived object in the perceived object list is within the verification range, no perceived object matching the motion information exists in the perceived object list.

Optionally, the AEBS-based vehicle braking device further comprises a detection module for detecting the current speed of the vehicle in real time; and ending the braking operation if the current speed reaches a preset speed limit value.

It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

Example 3

An embodiment of the application also provides a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:

s1, acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle, and acquiring a perception object list detected by a millimeter wave radar of the vehicle;

s2, checking the braking target according to the perception object list and the perception fusion information to obtain a checking result;

s3, executing braking operation on the vehicle according to the verification result.

Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.

An embodiment of the application also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.

Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:

s1, acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle, and acquiring a perception object list detected by a millimeter wave radar of the vehicle;

s2, checking the braking target according to the perception object list and the perception fusion information to obtain a checking result;

s3, executing braking operation on the vehicle according to the verification result.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims (10)

1. A method of AEBS-based vehicle braking, the method comprising:

acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of a vehicle, and acquiring a perception object list detected by a millimeter wave radar of the vehicle;

checking the braking target according to the perception object list and the perception fusion information to obtain a checking result;

and executing braking operation on the vehicle according to the verification result.

2. The method of claim 1, wherein obtaining perceived fusion information of a braking target detected by an automatic emergency braking system AEBS of the vehicle comprises:

acquiring first perception information of a braking target detected by a millimeter wave radar in an AEBS (automatic gain control), and acquiring second perception information of a camera in the AEBS for the braking target;

and carrying out data fusion on the first perception information and the second perception information in the same coordinate system to obtain perception fusion information of the braking target.

3. The method of claim 1, wherein the perceived fusion information includes motion information, and verifying the braking target based on the perceived object list and the perceived fusion information, the obtaining a verification result includes:

judging whether a perception object matched with the motion information exists in the perception object list or not;

if the perception objects matched with the motion information exist in the perception object list, determining that the braking target really exists as a verification result; and if the perception object matched with the motion information does not exist in the perception object list, determining that the braking target does not exist as a verification result.

4. A method according to claim 3, wherein performing a braking operation on the vehicle in accordance with the verification result comprises:

acquiring a braking instruction triggered by the AEBS based on the perception fusion information;

if the checking result shows that the braking target does not exist, not executing the braking operation corresponding to the braking instruction; and if the checking result shows that the braking target really exists, executing braking operation corresponding to the braking instruction.

5. The method of claim 3, wherein the motion information comprises velocity, acceleration, azimuth of motion, and coordinates, and determining whether there is a perceived object in the list of perceived objects that matches the motion information comprises:

respectively acquiring the speed, the acceleration, the motion azimuth and the verification range corresponding to the coordinate;

judging whether a perception object within the verification range exists in the perception object list or not;

and if the perception objects in the verification range exist in the perception object list, determining that the perception objects matched with the motion information exist in the perception object list.

6. The method of claim 5, wherein after determining whether there are perceived objects within the verification range in the list of perceived objects, the method further comprises:

and if the perception objects in the verification range do not exist in the perception object list, determining that the perception objects matched with the motion information do not exist in the perception object list.

7. The method according to claim 1, characterized in that after performing a braking operation on the vehicle according to the verification result, the method further comprises:

detecting the current speed of the vehicle in real time;

and ending the braking operation if the current speed reaches a preset speed limit value.

8. An AEBS-based vehicle braking device, comprising:

the acquisition module is used for acquiring perception fusion information of a braking target detected by an automatic emergency braking system AEBS of the vehicle and acquiring a perception object list detected by a millimeter wave radar of the vehicle;

the verification module is used for verifying the braking target according to the perception object list and the perception fusion information to obtain a verification result;

and the execution module is used for executing braking operation on the vehicle according to the verification result.

9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; wherein:

a memory for storing a computer program;

a processor for executing the method steps of any one of claims 1 to 7 by running a program stored on a memory.

10. A storage medium comprising a stored program, wherein the program when run performs the method steps of any one of claims 1 to 7.