Automatic emergency braking method based on multi-sensor fusion

Abstract

The invention provides an automatic emergency braking method based on multi-sensor fusion, and the method comprises the following steps of acquiring the coordinate position and the relative speed of an obstacle relative to a vehicle through real-time communication between an environment sensing sensor and a whole vehicle CAN network; screening targets acquired by the environment sensing sensor, and reserving obstacle targets in the running track of the vehicle; acquiring the coordinate position and the relative speed of the obstacle target in the running track of the vehicle relative to the vehicle, calculating the collision time of the vehicle and a front obstacle, comparing the collision time with a preset early warning time threshold value, and if the collision time is less than the early warning time threshold value, sending an alarm prompt through an alarm device; and determining obstacle approximation, and performing active braking in an emergency. According to the invention, obstacle targets are screened, so that the alarm is more accurate; and short-distance blind areas of a millimeter wave radar are compensated by fusing the millimeter wave radar and an ultrasonic radar, so that the continuity of obstacle distance detection is kept, and the braking is safer.

Description

technical field [0001] The invention belongs to the technical field of electric vehicles, and in particular relates to an automatic emergency braking method based on multi-sensor fusion. Background technique [0002] With the rapid development of vehicle intelligence and the continuous improvement of vehicle safety performance requirements, various active safety technologies for vehicles are developing rapidly. As part of the advanced driver assistance system, the automatic emergency braking system can effectively avoid the occurrence of collision accidents. However, at present, most automatic emergency braking systems in the market are developed based on a single millimeter-wave radar. Due to the existence of millimeter-wave radar blind spots at the end of braking, obstacle data may be lost, resulting in the release of brakes, and collisions cannot be avoided, posing safety hazards. Contents of the invention [0003] In order to solve the above technical problems, the pr...

AI Technical Summary

Problems solved by technology

However, most of the current automatic emergency braking systems in the market are developed based on a single millimeter-wave radar. Due to the existence of millimeter-wave radar blind spots at the end of the braking process, obstacle data may be lost, resulting in the release of the brake, and collisions cannot be avoided, posing potential safety hazards.

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