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Emergency braking method, device and computer-readable storage medium based on road conditions

A technology for emergency braking and road conditions, applied in the field of emergency braking based on road conditions, computer-readable storage media, and can solve problems such as false detection of emergency braking

Active Publication Date: 2022-01-11
英博超算(南京)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, due to the large number of non-motorized vehicles such as pedestrians and bicycles in the operation scene realized by the vehicle, and the complex scenes such as roundabouts and ramps, the existing automatic emergency braking system only relies on simple mathematical calculations to judge whether emergency braking is required, causing the driver The ability to take over the control under the condition of ensuring the safety of the car is likely to lead to emergency braking caused by false detection, and frequent emergency braking scenes due to the frequent occurrence of emergency braking scenes around the driving environment. Therefore, an emergency braking system based on road conditions is required. braking method

Method used

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  • Emergency braking method, device and computer-readable storage medium based on road conditions
  • Emergency braking method, device and computer-readable storage medium based on road conditions
  • Emergency braking method, device and computer-readable storage medium based on road conditions

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Experimental program
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Effect test

no. 1 approach

[0047] The first implementation mode: obtaining the vehicle speed v s , the vehicle speed v of the obstacle ahead f And the distance d between the two, and calculate the collision time TTC between the two, the calculation formula is as follows,

[0048]

[0049] In this embodiment, the vehicle speed of the vehicle, the vehicle speed of the obstacle in front, and the distance between the two are acquired by the sensor, and the collision time of the two is calculated by a mathematical formula. Since the speed of the two vehicles may change in the actual scene, therefore The TTC value also changes in real time, that is, the TTC value is calculated every moment, and the obtained TTC value is compared with the first warning time or the second warning time in real time. Specifically, the sensor includes a millimeter wave radar and a vision system.

no. 2 approach

[0050] Embodiment 2: The image in front of the vehicle is acquired, and the collision time between the vehicle and the obstacle in front is calculated according to the speed of the obstacle changing in the image.

[0051] In this embodiment, in order to obtain the collision time between the vehicle and the obstacle in front, the image in front of the vehicle is obtained through the camera, and the image processing module is used to detect the change speed of the obstacle in front that may collide in the image, so as to derive the The collision time between the car and the obstacle ahead.

[0052] S200: When the collision time is less than or equal to the first warning time, perform timing.

[0053] The collision time is the parameter value obtained by the vehicle in real time, and the first warning time is the safety warning value obtained by the vehicle according to its own intelligent driving system intervention and control of the emergency braking time. If the collision ti...

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Abstract

The present invention provides an emergency braking method, device and computer-readable storage medium based on road conditions. The present invention is based on the detection of dynamic road conditions in China's road environment. The embodiments of the present invention can perform emergency braking of vehicles according to different road conditions. Adjust the buffer time and adjust the ability of the emergency braking system to trigger, so as to better complete the control over the longitudinal direction of the smart car, so that the emergency braking system of the vehicle is more suitable for complex road scenarios, and can also respond to a certain extent. The vehicle's ability to detect false positives in the driving state.

Description

technical field [0001] The present invention relates to the field of vehicle intelligent driving, in particular to a road condition-based emergency braking method, device and computer-readable storage medium. Background technique [0002] The Autonomous Emergency Braking System (AEB) method of intelligent vehicles has always been the most important system in automobile safety. Most of the vehicles equipped with intelligent driving on the market are equipped with AEB systems, but based on The design and control of the system uses a fixed parameter trigger mechanism based on Time to Collision (TTC) to complete the design and trigger of the AEB system. [0003] However, due to the large number of non-motorized vehicles such as pedestrians and bicycles in the operation scene realized by the vehicle, and the complex scenes such as roundabouts and ramps, the existing automatic emergency braking system only relies on simple mathematical calculations to judge whether emergency braki...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60T7/12B60W40/06B60W40/02
CPCB60W30/09B60T7/12B60W40/06B60W40/02
Inventor 宋吉王继贞秦伦李超
Owner 英博超算(南京)科技有限公司