Automatic emergency braking decision-making method based on multisensor fusion data

Abstract

The invention relates to an automatic emergency braking decision-making method based on multisensor fusion data. The automatic emergency braking decision-making method comprises the following steps: sensing an obstacle in front of a vehicle; based on the multisensor fusion data, carrying out secondary screening on the obstacle to obtain an effective obstacle; wherein the effective obstacle is determined by an automatic emergency braking system; determining the minimum collision distance between the vehicle and the effective obstacle; and based on the minimum collision distance, generating thedecision-making information of automatic emergency braking. According to the automatic emergency braking decision-making method, the possibility of a reporting failure is reduced through the multisensor fusion technology, and the minimum collision distance is relevant to the state of the automatic emergency braking system, so that premature or too-late intervention and premature or too-late release of automatic emergency braking are avoided, and the subjective and objective feelings of a driver are taken into consideration; and the automatic emergency braking decision-making information is generated based on the minimum collision distance to reduce collision probability and severity.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of vehicle active safety, and in particular to an automatic emergency braking decision-making method based on multi-sensor fusion data, 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 t...

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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