A decision-making method for automatic emergency braking based on multi-sensor fusion data

Abstract

An embodiment of the present disclosure relates to an automatic emergency braking decision-making method based on multi-sensor fusion data, including: sensing obstacles in front of the vehicle; based on multi-sensor fusion data, performing secondary screening on obstacles to obtain effective obstacles; wherein, The effective obstacle is an obstacle recognized by the automatic emergency braking system; the minimum collision distance between the vehicle and the effective obstacle is determined; based on the minimum collision distance, decision information for automatic emergency braking is generated. The disclosure reduces the possibility of "missing alarms" through multi-sensor fusion technology, and screens out effective obstacles based on multi-sensor fusion data, reducing the possibility of "false alarms"; the minimum collision distance and the state of the automatic emergency braking system Correlation, to avoid early or late automatic emergency braking intervention, and early or late release, taking into account the driver's subjective and objective feelings; and then generate automatic emergency braking decision information based on the minimum collision distance to reduce the possibility of collisions and seriousness.

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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