Decision-making method of autonomous emergency brake, vehicle-mounted equipment and storage media

Abstract

The embodiment of the invention relates to a decision-making method of autonomous emergency brake, vehicle-mounted equipment and storage media. The decision-making method comprises the following stepsthat an obstacle in front of a vehicle is sensed; a minimum collision distance between the vehicle and the obstacle is determined based on the state of an autonomous emergency brake system, wherein the minimum collision distance is related to the state of the autonomous emergency brake system; and decision information of the autonomous emergency brake is generated based on the minimum collision distance. According to the embodiment of the invention, the minimum collision distance is associated with the state of the autonomous emergency brake system, so that the minimum collision distance between the vehicle and the obstacle is determined based on the state of the autonomous emergency brake system, premature or late intervention of the autonomous emergency brake and premature or late release are avoided, and the subjective and objective feeling of a driver is considered; and the decision information of the autonomous emergency brake is generated on the basis of the minimum collision distance, the possible collision events are distinguished, autonomous emergency brake is taken in time, so that the possibility and the severity of collision occurrence are reduced.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of vehicle active safety, and in particular to a decision-making method for automatic emergency braking, vehicle-mounted equipment, and a storage medium. Background technique [0002] With the development of autonomous driving technology, more and more vehicles have advanced assisted driving and automatic driving capabilities. AEB (Autonomous Emergency Brake, automatic emergency braking) system is one of the advanced assisted driving technologies, and it is also the basis of automatic driving technology. It is a vehicle active safety technology and an effective solution to avoid rear-end collisions and collisions. . The basic functions of the AEB system are: [0003] When the AEB system detects that the distance to the vehicle in front is decreasing rapidly, it will prepare for automatic emergency braking in advance. If the driver does not respond to the dangerous situation, the AEB...

AI Technical Summary

Problems solved by technology

[0004] The C-NCAP (China-New Car Assessment Program, China New Car Assessment Program) released in November 2018 introduced the test and evaluation standards for the AEB system. The protection objects include vehicles and pedestrians. Therefore, the perception scheme needs to include lidar or vision. One, the Chinese patent (retrieval number CN106240458B, a vehicle forward collision warning method based on a vehicle-mounted binocular camera) uses two cameras for target perception. There is still a risk of "missing negatives" in situations where cameras cannot identify such as utility poles

The Chinese patent (CN109080604A, an automatic emergency braking system based on the AEB system) adopts the scheme of simultaneously calculating the safety distance and collision time for decision-making, but in the calculation principle given, the formula parameters are fixed values, and various vehicle speeds cannot be guaranteed It can respond or brake in time under working conditions, that is, it is easy to brake or release too early or too late

Braking too late will cause the risk of collision with the target; braking too early will affect the driver's experience and even be rear-end; Causes a collision hazard, but can affect the driver experience and even cause overheating damage to the drive-by-wire actuator

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