Vehicle emergency processing method and device

Abstract

The invention provides a vehicle emergency processing method and device. When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined as the target two-wheeled vehicle, and the delay duration of triggering the AEB signal corresponding to the preset delay condition and the motion type of the target two-wheeled vehicle are determined; and when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle. By delaying the time length and increasing the compensation distance, inaccurate distance judgment during running of the target two-wheeled vehicle is avoided, so that stable and reliable running of the vehicle is guaranteed, and false triggering of the AEB is avoided.

Description

Technical Field

[0001] The present application relates to the field of braking technology, and in particular to a method, device, medium and electronic device for handling vehicle emergency events. Background Art

[0002] At present, many vehicles are equipped with auxiliary cameras and / or radars to detect vehicles and pedestrians in front in real time while the vehicle is driving, and to determine the distance, direction and relative speed between the vehicle and the vehicle and pedestrian in front.

[0003] However, for complex road conditions, such as diagonal cutting or jamming, crossing, horizontally stationary vehicles in narrow spaces, and curves, there is a problem of inaccurate target attribute recognition. Especially for target two-wheeled vehicles, pure visual solutions are not accurate in judging the target's longitudinal distance and speed, which can easily trigger false alarms or automatic braking functions, interfere with the driver's normal driving, and may even cause rear-end collisions.

[0004] Therefore, the present application provides a method for handling vehicle emergency events to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide a method, device, medium and electronic device for handling vehicle emergency events, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides a method for handling vehicle emergency events, comprising:

[0007] Acquiring a driving state parameter value of a vehicle and a motion state parameter value of an undetermined object around the vehicle;

[0008] When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined to be a target two-wheeled vehicle, and the delay time for triggering the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle are determined based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle;

[0009] When the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, a compensation distance matching the movement type of the target two-wheeled vehicle is obtained based on the movement state parameter value of the target two-wheeled vehicle.

[0010] Optionally, when the motion state parameter value of the to-be-determined object satisfies a preset two-wheeled vehicle condition, determining that the to-be-determined object is a target two-wheeled vehicle, and determining the delay time for triggering the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, comprises:

[0011] When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle;

[0012] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining a delay time length for triggering an AEB signal corresponding to the set of preset delay conditions;

[0013] When the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined.

[0014] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions comprises:

[0015] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of multiple sets of preset basic delay conditions, it is determined that the delay duration of the vehicle triggering the AEB signal is equal to the basic delay duration corresponding to the set of preset basic delay conditions.

[0016] Optionally, the method further includes:

[0017] When the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of groups of preset conditions for increasing the delay time, determining the increased delay time corresponding to the group of preset conditions for increasing the delay time;

[0018] Based on the sum of the basic delay time and the increased delay time, the delay time for the vehicle to trigger the AEB signal is obtained.

[0019] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises:

[0020] When the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset stationary condition, it is determined that the motion type of the target two-wheeled vehicle is a longitudinal driving type or a stationary type.

[0021] Optionally, the motion state parameter value includes a longitudinal relative velocity value of the object and a lateral velocity value of the object;

[0022] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0023] When the movement type of the target two-wheeled vehicle belongs to the longitudinal travel type or the stationary type, the target longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the target longitudinal relative speed value of the target two-wheeled vehicle and the target lateral speed value of the target two-wheeled vehicle.

[0024] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises:

[0025] When the motion state parameter value of the target two-wheeled vehicle meets the preset crossing driving condition, it is determined that the motion type of the target two-wheeled vehicle is the crossing driving type.

[0026] Optionally, the motion state parameter value includes a lateral relative velocity value of the object and a longitudinal velocity value of the object;

[0027] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0028] When the movement type of the target two-wheeled vehicle belongs to the traversing travel type, the target two-wheeled vehicle's target lateral compensation distance value is obtained based on the absolute value of the target two-wheeled vehicle's target lateral relative speed value and the target two-wheeled vehicle's target longitudinal speed value.

[0029] Optionally, the method further includes:

[0030] When the motion state parameter value of the to-be-determined object does not satisfy a preset two-wheeled vehicle condition, the AEB signal triggering of the vehicle is suppressed.

[0031] Optionally, the obtaining of the driving state parameter value of the vehicle and the motion state parameter value of the undetermined object around the vehicle includes:

[0032] Acquiring a driving state parameter value of the vehicle and visual information of a pending object around the vehicle;

[0033] The object to be determined and a motion state parameter value of the object to be determined are determined based on the visual information of the object to be determined.

[0034] According to a specific implementation of the present application, in a second aspect, the present application provides a vehicle emergency event processing device, comprising:

[0035] An acquisition unit, used to acquire a driving state parameter value of the vehicle and a motion state parameter value of an undetermined object around the vehicle;

[0036] a determination unit, configured to determine that the object to be determined is a target two-wheeled vehicle when the motion state parameter value of the object to be determined meets a preset two-wheeled vehicle condition, and determine a delay time for triggering an AEB signal of the vehicle and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle;

[0037] The obtaining unit is used for obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types.

[0038] Optionally, when the motion state parameter value of the to-be-determined object satisfies a preset two-wheeled vehicle condition, determining that the to-be-determined object is a target two-wheeled vehicle, and determining the delay time for triggering the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, comprises:

[0039] When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle;

[0040] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining a delay time length for triggering an AEB signal corresponding to the set of preset delay conditions;

[0041] When the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined.

[0042] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions comprises:

[0043] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of multiple sets of preset basic delay conditions, it is determined that the delay duration of the vehicle triggering the AEB signal is equal to the basic delay duration corresponding to the set of preset basic delay conditions.

[0044] Optionally, the device further comprises:

[0045] A delay unit is used to determine the increased delay time corresponding to one of a plurality of preset increased delay time conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the plurality of preset increased delay time conditions; and obtain the delay time for triggering the AEB signal of the vehicle based on the sum of the basic delay time and the increased delay time.

[0046] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises:

[0047] When the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset stationary condition, it is determined that the motion type of the target two-wheeled vehicle is a longitudinal driving type or a stationary type.

[0048] Optionally, the motion state parameter value includes a longitudinal relative velocity value of the object and a lateral velocity value of the object;

[0049] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0050] When the movement type of the target two-wheeled vehicle belongs to the longitudinal travel type or the stationary type, the target longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the target longitudinal relative speed value of the target two-wheeled vehicle and the target lateral speed value of the target two-wheeled vehicle.

[0051] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises:

[0052] When the motion state parameter value of the target two-wheeled vehicle meets the preset crossing driving condition, it is determined that the motion type of the target two-wheeled vehicle is the crossing driving type.

[0053] Optionally, the motion state parameter value includes a lateral relative velocity value of the object and a longitudinal velocity value of the object;

[0054] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0055] When the movement type of the target two-wheeled vehicle belongs to the traversing travel type, the target two-wheeled vehicle's target lateral compensation distance value is obtained based on the absolute value of the target two-wheeled vehicle's target lateral relative speed value and the target two-wheeled vehicle's target longitudinal speed value.

[0056] Optionally, the device further comprises:

[0057] The suppression unit is used to suppress the triggering of the AEB signal of the vehicle when the motion state parameter value of the to-be-determined object does not meet the preset two-wheeled vehicle condition.

[0058] Optionally, the obtaining of the driving state parameter value of the vehicle and the motion state parameter value of the undetermined object around the vehicle includes:

[0059] Acquiring a driving state parameter value of the vehicle and visual information of a pending object around the vehicle;

[0060] The object to be determined and a motion state parameter value of the object to be determined are determined based on the visual information of the object to be determined.

[0061] According to the specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for handling vehicle emergencies as described in any one of the above items is implemented.

[0062] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method for handling vehicle emergencies as described in any of the above items.

[0063] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0064] The present application provides a method, device, medium and electronic device for handling vehicle emergencies. When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the present application determines that the to-be-determined object is the target two-wheeled vehicle, determines the delay duration of the triggering AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle; when the motion type of the target two-wheeled vehicle belongs to one of multiple preset compensation types, obtains a compensation distance that matches the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle. By delaying the duration and increasing the compensation distance, inaccurate distance judgment when the target two-wheeled vehicle is traveling is avoided, thereby ensuring stable and reliable driving of the vehicle and avoiding false triggering of AEB. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A flow chart showing a method for handling vehicle emergency events according to an embodiment of the present application;

[0066] Figure 2 A unit block diagram of a device for processing vehicle emergency events according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0068] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0069] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0070] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0071] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0072] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0073] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0074] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0075] The embodiment provided in this application is an embodiment of a method for handling vehicle emergency events.

[0076] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0077] Step S101, obtaining a driving state parameter value of a vehicle and a motion state parameter value of an undetermined object around the vehicle.

[0078] Driving status parameter values, including vehicle speed value.

[0079] The motion state parameter values ​​include: object speed value, object lateral speed value, object longitudinal speed value, object orientation angle value, whether the object is traveling on the vehicle's path state value, display duration, object lateral distance, object longitudinal distance, object longitudinal relative speed value and object lateral relative speed value.

[0080] The driving status parameter values ​​are all obtained through the vehicle's CAN signal.

[0081] The motion state parameter values ​​of the target two-wheeled vehicle are all obtained through vehicle sensor detection.

[0082] The target two-wheeled vehicle is a two-wheeled vehicle determined after multiple recognition and judgment of objects around the vehicle, to avoid misrecognition and misoperation.

[0083] The driving state parameter value and the motion state parameter value are both parameter values ​​based on a preset coordinate system. For example, the preset coordinate system is the vehicle body coordinate system.

[0084] The object appearance duration refers to the length of time the target two-wheeler is detected.

[0085] The object distance refers to the distance from the object to be determined to the vehicle.

[0086] In some specific embodiments, for a vehicle that perceives through vision, the motion state parameter value of the target two-wheeled vehicle can only be obtained through visual information collected by a visual sensor (such as a camera). The step of obtaining the driving state parameter value of the vehicle and the motion state parameter value of the undetermined object around the vehicle includes the following steps:

[0087] Step S101 - 1 , obtaining the driving state parameter value of the vehicle and the visual information of the pending objects around the vehicle.

[0088] Visual information refers to information collected by visual sensors. Visual information includes images.

[0089] Step S101 - 2 : determining the object to be determined and a motion state parameter value of the object to be determined based on the visual information of the object to be determined.

[0090] Generally, objects around a vehicle can be identified through visual information. However, since the target of a two-wheeled vehicle is relatively small, the judgment of the two-wheeled vehicle target by visual sensors alone, especially at night or in rainy days, is inaccurate. Therefore, the embodiment of the present application determines the object identified in the visual information as a pending object, so as to further determine whether the pending object is a target two-wheeled vehicle, thereby improving the reliability of the perception information.

[0091] Regarding the technical solution of how to determine the pending object and the motion state parameter value of the pending object through the visual information of the pending object, please refer to the prior art, and the embodiments of this application will not be repeated.

[0092] Step S102a, when the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined to be a target two-wheeled vehicle, and the delay time for the vehicle to trigger the AEB signal and the motion type of the target two-wheeled vehicle are determined based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle.

[0093] The automatic emergency braking system (AEB) is an active safety technology for automobiles, mainly composed of three modules: control module, distance measurement module, and braking module. The core of the distance measurement module includes microwave radar, face recognition technology, and video system. AEB uses radar to measure the safe distance. When it is less than the safe distance, it can automatically start and make the car brake automatically to ensure driving safety.

[0094] In some specific embodiments, the method further comprises:

[0095] Step S102b: When the motion state parameter value of the to-be-determined object does not satisfy the preset two-wheeled vehicle condition, the AEB signal triggering of the vehicle is suppressed.

[0096] The said inhibiting the triggering of the AEB signal of the said vehicle means that the control module prohibits the sending of the AEB signal and will not take automatic braking action.

[0097] Optionally, the motion state parameter value includes a lateral velocity value of the object and a duration of the object appearance.

[0098] Before determining whether the pending object is the target two-wheeled vehicle, the object appearance duration refers to the length of time that the pending object can appear in the visual information.

[0099] Correspondingly, when the motion state parameter value of the to-be-determined object satisfies the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle, and determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle include:

[0100] Step S102aa, when the absolute value of the object lateral speed value of the to-be-determined object is less than or equal to the preset first object lateral speed threshold, and the object appearance duration of the to-be-determined object is greater than or equal to the preset first appearance duration threshold, the to-be-determined object is determined to be the target two-wheeled vehicle, and the delay duration of the triggering AEB signal corresponding to the set of preset delay conditions and the movement type of the target two-wheeled vehicle are determined.

[0101] For example, the absolute value of the object lateral velocity value of the pending object is less than or equal to the preset first object lateral velocity threshold, and the object appearance duration of the pending object is greater than or equal to the preset first appearance duration threshold, which is expressed as abs(V egoLat )<=V egoLat1 &&age≥N1, where V egoLat Indicates the lateral velocity of the object, V egoLat1 represents a preset first object lateral speed threshold, age represents the object appearance time length of the object to be determined, and N1 represents a preset first appearance time length threshold, wherein N1 may be equal to the length value of multiple continuous cycles.

[0102] In this case, only under normal circumstances can the object to be determined be the target two-wheeled vehicle.

[0103] Optionally, when the motion state parameter value of the to-be-determined object does not satisfy a preset two-wheeled vehicle condition, suppressing the triggering of the AEB signal of the vehicle includes:

[0104] Step S102ba: when the object appearance time of the to-be-determined object is less than a preset first appearance time threshold, suppressing the triggering of the AEB signal of the vehicle.

[0105] Optionally, the motion state parameter values ​​include: an object direction angle value, an object longitudinal speed value, an object lateral speed value and an object appearance duration.

[0106] Correspondingly, when the motion state parameter value of the to-be-determined object satisfies the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle, and determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle include:

[0107] Step S102ab, when the absolute value of the object longitudinal velocity value of the to-be-determined object is greater than the absolute value of the object lateral velocity value, or the absolute value of the object lateral velocity value is less than a preset second object lateral velocity threshold, when the object heading angle value is less than a preset first angle threshold, and the object appearance time of the to-be-determined object is greater than or equal to a preset second appearance time threshold, determine that the to-be-determined object is the target two-wheeled vehicle, and determine the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the movement type of the target two-wheeled vehicle.

[0108] It is particularly noted that the preset second object lateral velocity threshold is smaller than the preset first object lateral velocity threshold (ie, V egoLat2 <V egoLat1 ); the preset first appearance duration threshold is less than the preset second appearance duration threshold (ie N1 <N2)。

[0109] In this case, it can be determined that the to-be-determined object is the target two-wheeled vehicle, and that the target two-wheeled vehicle is moving longitudinally, is stationary, or is jammed.

[0110] Optionally, when the motion state parameter value of the to-be-determined object does not satisfy a preset two-wheeled vehicle condition, suppressing the triggering of the AEB signal of the vehicle includes:

[0111] Step S102bb: when the object appearance time of the to-be-determined object is less than a preset second appearance time threshold, suppressing the triggering of the AEB signal of the vehicle.

[0112] Optionally, the motion state parameter value includes a lateral velocity value of the object and a duration of the object appearance.

[0113] Correspondingly, when the motion state parameter value of the to-be-determined object satisfies the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle, and determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle include:

[0114] Step S102ac, when the absolute value of the object lateral speed value of the to-be-determined object is less than or equal to the preset first object lateral speed threshold, and the object appearance duration of the to-be-determined object is greater than or equal to the preset third appearance duration threshold, the to-be-determined object is determined to be the target two-wheeled vehicle, and the delay duration of triggering the AEB signal corresponding to the set of preset delay conditions and the movement type of the target two-wheeled vehicle are determined.

[0115] It is particularly noted that the preset second presentation time threshold is smaller than the preset third presentation time threshold (ie, N2 <N3)。

[0116] In this case, it can be determined that the to-be-determined object is the target two-wheeled vehicle, and that it is the target two-wheeled vehicle crossing the road in the rain.

[0117] Optionally, when the motion state parameter value of the to-be-determined object does not satisfy a preset two-wheeled vehicle condition, suppressing the triggering of the AEB signal of the vehicle includes:

[0118] Step S102bc: when the object appearance time of the to-be-determined object is less than a preset third appearance time threshold, suppressing the triggering of the AEB signal of the vehicle.

[0119] Optionally, the motion state parameter value includes a lateral velocity value of the object and a duration of the object appearance.

[0120] Correspondingly, when the motion state parameter value of the to-be-determined object satisfies the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle, and determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle include:

[0121] Step S102ad, when the absolute value of the object lateral speed value of the to-be-determined object is less than or equal to the preset first object lateral speed threshold, and the object appearance duration of the to-be-determined object is greater than or equal to the preset fourth appearance duration threshold, the to-be-determined object is determined to be the target two-wheeled vehicle, and the delay duration of the triggering AEB signal corresponding to the set of preset delay conditions and the movement type of the target two-wheeled vehicle are determined.

[0122] It is particularly noted that the preset third presentation duration threshold is smaller than the preset fourth presentation duration threshold (ie, N3 <N4)。

[0123] In this case, it can be determined that the to-be-determined object is the target two-wheeled vehicle, and that it is the target two-wheeled vehicle crossing the road in the rain at night.

[0124] Optionally, when the motion state parameter value of the to-be-determined object does not satisfy a preset two-wheeled vehicle condition, suppressing the triggering of the AEB signal of the vehicle includes:

[0125] Step S102bd: When the object appearance duration of the to-be-determined object is less than a preset fourth appearance duration threshold, suppressing the triggering of the AEB signal of the vehicle.

[0126] In some specific embodiments, when the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, determining the to-be-determined object as a target two-wheeled vehicle, and determining the delay time for the vehicle to trigger the AEB signal and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, comprises the following steps:

[0127] Step S102c-1, when the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined to be the target two-wheeled vehicle.

[0128] A variety of scenarios have been described above and will not be elaborated on here.

[0129] Step S102c-2: when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determine the delay time of triggering the AEB signal corresponding to the set of preset delay conditions.

[0130] Due to the special characteristics of two-wheeled vehicles, it is necessary to increase the delay time of the trigger to ensure the stability and reliability of the speed, acceleration and distance information of the target two-wheeled vehicle.

[0131] In some specific embodiments, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions comprises the following steps:

[0132] Step S102c-2a, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of multiple sets of preset basic delay conditions, determine that the delay time of the vehicle triggering the AEB signal is equal to the basic delay time corresponding to the set of preset basic delay conditions.

[0133] Optionally, the motion state parameter value includes a lateral velocity value of the object.

[0134] Accordingly, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset basic delay conditions, determining that the delay time for the vehicle to trigger the AEB signal is equal to the basic delay time corresponding to the set of preset basic delay conditions includes:

[0135] Step S102c-2aa, when the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to a preset third object lateral speed threshold, determining that the delay time for the vehicle to trigger the AEB signal is equal to a preset first basic delay time.

[0136] The first set of preset basic delay conditions: the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to a preset third object lateral speed threshold.

[0137] Optionally, the motion state parameter value includes a lateral velocity value of the object and a lateral distance of the object.

[0138] The driving state parameter value includes a vehicle speed value.

[0139] Accordingly, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset basic delay conditions, determining that the delay time for the vehicle to trigger the AEB signal is equal to the basic delay time corresponding to the set of preset basic delay conditions includes:

[0140] Step S102c-2ab, when the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to the preset fourth object lateral speed threshold, and the object lateral distance is greater than zero, and the vehicle speed value is greater than the first vehicle speed threshold, it is determined that the delay time for the vehicle to trigger the AEB signal is equal to the preset second basic delay time.

[0141] The second set of preset basic delay conditions: the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to a preset fourth object lateral speed threshold, the object lateral distance is greater than zero, and the vehicle speed value is greater than the first vehicle speed threshold.

[0142] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset basic delay conditions, determining that the delay time for the vehicle to trigger the AEB signal is equal to the basic delay time corresponding to the set of preset basic delay conditions includes:

[0143] Step S102c-2ac, when the delay time of the vehicle triggering the AEB signal is not equal to the preset first delay time, or the delay time of the vehicle triggering the AEB signal is not equal to the preset second delay time, determine that the basic delay time of the vehicle triggering the AEB signal is equal to the preset third basic delay time.

[0144] It should be noted that the preset second basic delay time is less than the preset first basic delay time is less than the preset third basic delay time; the preset second object lateral speed threshold is less than the preset first object lateral speed threshold is less than the preset fourth object lateral speed threshold is less than the preset third object lateral speed threshold.

[0145] The third set of preset basic delay conditions: the delay time for the vehicle to trigger the AEB signal is not equal to the preset first delay time, or the delay time for the vehicle to trigger the AEB signal is not equal to the preset second delay time.

[0146] In this specific embodiment, the basic delay time is used to ensure the stability and reliability of the speed, acceleration and distance information between the vehicle and the target two-wheeled vehicle, thereby avoiding false triggering of AEB.

[0147] In some specific embodiments, since some special scenes are prone to false triggering and it is difficult to repair through visual information, the method further includes the following steps:

[0148] Step S102c-2ad: when the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset conditions for increasing the delay time, determining the increased delay time corresponding to the set of preset conditions for increasing the delay time.

[0149] Optionally, the motion state parameter value includes a lateral distance of the object and a longitudinal distance of the object.

[0150] Accordingly, when the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset conditions for increasing the delay time, determining the increased delay time corresponding to the set of preset conditions for increasing the delay time includes:

[0151] Step S102c-2ada, when the object longitudinal distance of the target two-wheeled vehicle is less than the preset first object longitudinal distance threshold, or the object lateral distance of the target two-wheeled vehicle is less than the preset first object lateral distance threshold, when the difference between the object lateral distance of the target two-wheeled vehicle and the object lateral distance of the previous detection cycle is greater than the preset lateral deviation threshold, or the difference between the object longitudinal distance of the target two-wheeled vehicle and the object longitudinal distance of the previous detection cycle is greater than the preset longitudinal deviation threshold, determine that the increased delay time is equal to the preset first increased delay time.

[0152] The first set of preset conditions for increasing the delay time: the object longitudinal distance of the target two-wheeled vehicle is less than the preset first object longitudinal distance threshold, or the object lateral distance of the target two-wheeled vehicle is less than the preset first object lateral distance threshold; the difference between the object lateral distance of the target two-wheeled vehicle and the object lateral distance of the previous detection cycle is greater than the preset lateral deviation threshold, or the difference between the object longitudinal distance of the target two-wheeled vehicle and the object longitudinal distance of the previous detection cycle is greater than the preset longitudinal deviation threshold.

[0153] This scenario is applied to target two-wheeled vehicles with abnormal longitudinal or lateral distance.

[0154] Optionally, the motion state parameter value includes the longitudinal distance of the object and the state value of whether the object is traveling on the path of the vehicle.

[0155] Accordingly, when the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset conditions for increasing the delay time, determining the increased delay time corresponding to the set of preset conditions for increasing the delay time includes:

[0156] Step S102c-2adb-1, obtaining the longitudinal distance of the intermediate object and the state value of whether the object is traveling on the path of the vehicle.

[0157] The intermediate object can be a vehicle and / or an object.

[0158] Step S102c-2adb-2, when the state value of whether the object of the intermediate object is traveling on the path of the vehicle is a determined state value, and the longitudinal distance of the object of the intermediate object is less than the longitudinal distance of the object of the target two-wheeled vehicle, determine that the increased delay time is equal to the preset second increased delay time.

[0159] The second set of preset conditions for increasing the delay time is as follows: the target two-wheeled vehicle is on the driving path, and the object longitudinal distance of the intermediate object is smaller than the object longitudinal distance of the target two-wheeled vehicle.

[0160] The determined state value may be represented by a number, such as the number "1"; it may also be represented by a Chinese character, such as "yes"; or it may be represented by a letter, such as "Y", but this specific embodiment is not limited thereto.

[0161] This scenario is applied to a target two-wheeled vehicle traveling longitudinally.

[0162] Optionally, the motion state parameter values ​​include: object speed value, object orientation angle value and object longitudinal distance.

[0163] Accordingly, when the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset conditions for increasing the delay time, determining the increased delay time corresponding to the set of preset conditions for increasing the delay time includes:

[0164] Step S102c-2adc, when the object orientation angle value of the target two-wheeled vehicle is less than a preset second angle threshold, and the object longitudinal distance of the target two-wheeled vehicle is less than or equal to a preset second object longitudinal distance threshold, and the object speed value of the target two-wheeled vehicle is equal to zero, determine that the increased delay time is equal to a preset third increased delay time.

[0165] The third set of preset conditions for increasing the delay duration is as follows: the object orientation angle value of the target two-wheeled vehicle is less than a preset second angle threshold, and the object longitudinal distance of the target two-wheeled vehicle is less than or equal to a preset second object longitudinal distance threshold, and the object speed value of the target two-wheeled vehicle is equal to zero.

[0166] The object speed value is equal to zero, indicating that the target two-wheeler is stationary. This scenario is applied to a stationary target two-wheeler.

[0167] Optionally, the motion state parameter values ​​include: object speed value, object lateral speed value, and object longitudinal speed value.

[0168] Accordingly, when the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset conditions for increasing the delay time, determining the increased delay time corresponding to the set of preset conditions for increasing the delay time includes:

[0169] Step S102c-2add, when the object orientation angle value of the target two-wheeled vehicle is less than a preset fourth angle threshold, when the absolute value of the object longitudinal speed value of the target two-wheeled vehicle is greater than the absolute value of the object lateral speed value of the target two-wheeled vehicle, or the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than a preset fifth object lateral speed threshold, determine that the increased delay time is equal to the preset third increased delay time.

[0170] The fourth group of preset conditions for increasing the delay time: the object orientation angle value of the target two-wheeled vehicle is less than the preset fourth angle threshold; the absolute value of the object longitudinal speed value of the target two-wheeled vehicle is greater than the absolute value of the object lateral speed value of the target two-wheeled vehicle, or the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than the preset fifth object lateral speed threshold.

[0171] This scenario is applied to the target two-wheeled vehicle that cuts in or cuts in diagonally.

[0172] Step S102c-2ae, based on the sum of the basic delay time and the increased delay time, obtain the delay time for the vehicle to trigger the AEB signal.

[0173] In this specific implementation, in special scenarios, the sum of the basic delay duration and the increased delay duration is used as the delay duration, thereby ensuring stable and reliable driving of the vehicle and avoiding false triggering of AEB.

[0174] Step S102c-3: when the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions.

[0175] In some specific embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is accelerating or decelerating longitudinally or is stationary, resulting in erroneous triggering of the function, when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the preset motion condition includes the following steps:

[0176] Step S102c-3a, when the motion state parameter value of the target two-wheeled vehicle meets the preset longitudinal driving condition or the preset stationary condition, determining that the motion type of the target two-wheeled vehicle is the longitudinal driving type or the stationary type.

[0177] Longitudinal driving type, corresponding to the preset longitudinal driving condition.

[0178] The type of stillness, corresponding to the preset stillness condition.

[0179] Optionally, the motion state parameter values ​​include: an object direction angle value, an object lateral speed value, and whether the object is traveling in the path of the vehicle.

[0180] Correspondingly, when the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset stationary condition, determining that the motion type of the target two-wheeled vehicle is a longitudinal driving type or a stationary type includes:

[0181] Step S102c-3aa, when the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to the preset first object lateral speed threshold, and the object orientation angle value of the target two-wheeled vehicle is greater than the preset first angle threshold, and the whether the object of the target two-wheeled vehicle is traveling on the path state value of the vehicle is a determined state value, determine that the movement type of the target two-wheeled vehicle is a longitudinal driving type or a stationary type.

[0182] This specific embodiment is directed to the longitudinal driving scene or stationary scene of the target two-wheeled vehicle.

[0183] In other specific embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is traveling sideways, resulting in erroneous function triggering, when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the preset motion condition comprises the following steps:

[0184] Step S102c-3b, when the motion state parameter value of the target two-wheeled vehicle meets the preset traversing driving condition, determining that the motion type of the target two-wheeled vehicle is the traversing driving type.

[0185] The crossing driving type corresponds to the preset crossing driving condition.

[0186] Optionally, the motion state parameter values ​​include: an object orientation angle value, an object lateral speed value, an object longitudinal speed value and an object speed value.

[0187] Correspondingly, when the motion state parameter value of the target two-wheeled vehicle meets the preset traversing driving condition, determining that the motion type of the target two-wheeled vehicle is a traversing driving type includes:

[0188] Step S102c-3ba, when the absolute value of the object longitudinal speed value of the target two-wheeled vehicle is less than the preset second object longitudinal speed threshold, and the absolute value of the object lateral speed value of the target two-wheeled vehicle is greater than the preset third object lateral speed threshold, and the object orientation angle value of the target two-wheeled vehicle is greater than the preset third angle threshold, and the object orientation angle value of the target two-wheeled vehicle is less than the preset fourth angle threshold, and the object speed value of the target two-wheeled vehicle is greater than zero, it is determined that the movement type of the target two-wheeled vehicle is a traversing driving type.

[0189] This specific embodiment is aimed at the cross-travel scenario of the target two-wheeled vehicle.

[0190] Step S103, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, determining a compensation distance matching the movement type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the movement state parameter value of the target two-wheeled vehicle.

[0191] The embodiment of the present application provides a compensation distance between the vehicle and the target two-wheeled vehicle to avoid inaccurate distance judgment when the target two-wheeled vehicle is traveling, resulting in erroneous triggering of the AEB signal.

[0192] In some specific embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is accelerating or decelerating longitudinally or is stationary, resulting in erroneous function triggering, the motion state parameter value includes the longitudinal relative speed value of the object and the lateral speed value of the object.

[0193] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0194] Step S103a, when the movement type of the target two-wheeled vehicle belongs to the longitudinal travel type or the stationary type, the object longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object longitudinal relative speed value of the target two-wheeled vehicle and the object lateral speed value of the target two-wheeled vehicle.

[0195] For example, the target longitudinal compensation distance value of the target two-wheeled vehicle is obtained by looking up a table based on the absolute value of the target longitudinal relative speed value of the target two-wheeled vehicle and the target lateral speed value of the target two-wheeled vehicle. The table is obtained through experiments.

[0196] The object longitudinal compensation distance value of the target two-wheeled vehicle obtained in this specific embodiment is equivalent to adding longitudinal compensation and delaying the triggering function.

[0197] In some specific embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is traveling horizontally, resulting in erroneous function triggering, the motion state parameter value includes the object's horizontal relative speed value and the object's longitudinal speed value.

[0198] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0199] Step S103b, when the movement type of the target two-wheeled vehicle belongs to the traversing type, obtaining the object lateral compensation distance value of the target two-wheeled vehicle based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle.

[0200] For example, the target lateral compensation distance value of the target two-wheeled vehicle is obtained by looking up a table based on the absolute value of the target lateral relative speed value of the target two-wheeled vehicle and the target longitudinal speed value of the target two-wheeled vehicle. The table is obtained through experiments.

[0201] The object lateral compensation distance value of the target two-wheeled vehicle obtained in this specific embodiment is equivalent to pushing the vehicle outward toward the target two-wheeled vehicle, thereby delaying the triggering function.

[0202] In the embodiment of the present application, when the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined to be the target two-wheeled vehicle, and the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined; when the motion type of the target two-wheeled vehicle belongs to one of multiple preset compensation types, the compensation distance matching the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle. By delaying the time and increasing the compensation distance, inaccurate distance judgment when the target two-wheeled vehicle is driving is avoided, thereby ensuring stable and reliable driving of the vehicle and avoiding false triggering of AEB.

[0203] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0204] like Figure 2 As shown, the present application provides a vehicle emergency event processing device 200, comprising:

[0205] An acquisition unit 201 is used to acquire a driving state parameter value of a vehicle and a motion state parameter value of an undetermined object around the vehicle;

[0206] A determination unit 202 is configured to determine that the object to be determined is a target two-wheeled vehicle when the motion state parameter value of the object to be determined meets a preset two-wheeled vehicle condition, and determine a delay time for triggering an AEB signal of the vehicle and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle;

[0207] The obtaining unit 203 is configured to obtain a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types.

[0208] Optionally, when the motion state parameter value of the to-be-determined object satisfies a preset two-wheeled vehicle condition, determining that the to-be-determined object is a target two-wheeled vehicle, and determining the delay time for triggering the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, comprises:

[0209] When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle;

[0210] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining a delay time length for triggering an AEB signal corresponding to the set of preset delay conditions;

[0211] When the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined.

[0212] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions comprises:

[0213] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of multiple sets of preset basic delay conditions, it is determined that the delay duration of the vehicle triggering the AEB signal is equal to the basic delay duration corresponding to the set of preset basic delay conditions.

[0214] Optionally, the device further comprises:

[0215] A delay unit is used to determine the increased delay time corresponding to one of a plurality of preset increased delay time conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the plurality of preset increased delay time conditions; and obtain the delay time for triggering the AEB signal of the vehicle based on the sum of the basic delay time and the increased delay time.

[0216] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises:

[0217] When the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset stationary condition, it is determined that the motion type of the target two-wheeled vehicle is a longitudinal driving type or a stationary type.

[0218] Optionally, the motion state parameter value includes a longitudinal relative velocity value of the object and a lateral velocity value of the object;

[0219] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0220] When the movement type of the target two-wheeled vehicle belongs to the longitudinal travel type or the stationary type, the target longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the target longitudinal relative speed value of the target two-wheeled vehicle and the target lateral speed value of the target two-wheeled vehicle.

[0221] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises:

[0222] When the motion state parameter value of the target two-wheeled vehicle meets the preset crossing driving condition, it is determined that the motion type of the target two-wheeled vehicle is the crossing driving type.

[0223] Optionally, the motion state parameter value includes a lateral relative velocity value of the object and a longitudinal velocity value of the object;

[0224] Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes:

[0225] When the movement type of the target two-wheeled vehicle belongs to the traversing travel type, the target two-wheeled vehicle's target lateral compensation distance value is obtained based on the absolute value of the target two-wheeled vehicle's target lateral relative speed value and the target two-wheeled vehicle's target longitudinal speed value.

[0226] Optionally, the device further comprises:

[0227] The suppression unit is used to suppress the triggering of the AEB signal of the vehicle when the motion state parameter value of the to-be-determined object does not meet the preset two-wheeled vehicle condition.

[0228] Optionally, the obtaining of the driving state parameter value of the vehicle and the motion state parameter value of the undetermined object around the vehicle includes:

[0229] Acquiring a driving state parameter value of the vehicle and visual information of a pending object around the vehicle;

[0230] The object to be determined and a motion state parameter value of the object to be determined are determined based on the visual information of the object to be determined.

[0231] In the embodiment of the present application, when the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined to be the target two-wheeled vehicle, and the delay time of triggering the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined; when the motion type of the target two-wheeled vehicle belongs to one of multiple preset compensation types, the compensation distance matching the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle. By delaying the time and increasing the compensation distance, inaccurate distance judgment when the target two-wheeled vehicle is driving is avoided, thereby ensuring stable and reliable driving of the vehicle and avoiding false triggering of AEB.

[0232] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0233] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0234] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0235] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for handling vehicle emergency events, characterized in that: include: Acquiring a driving state parameter value of a vehicle and a motion state parameter value of an undetermined object around the vehicle; When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, the to-be-determined object is determined to be a target two-wheeled vehicle, and the delay time for triggering the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle are determined based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle; When the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, a compensation distance matching the movement type of the target two-wheeled vehicle is obtained based on the movement state parameter value of the target two-wheeled vehicle.

2. The method according to claim 1, characterized in that When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, determining that the to-be-determined object is a target two-wheeled vehicle, and determining the delay time for triggering the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, including: When the motion state parameter value of the to-be-determined object meets the preset two-wheeled vehicle condition, determining that the to-be-determined object is the target two-wheeled vehicle; When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining a delay time length for triggering an AEB signal corresponding to the set of preset delay conditions; When the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined.

3. The method according to claim 2, characterized in that When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset delay conditions, determining the delay time of triggering the AEB signal corresponding to the set of preset delay conditions, comprises: When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of multiple sets of preset basic delay conditions, it is determined that the delay duration of the vehicle triggering the AEB signal is equal to the basic delay duration corresponding to the set of preset basic delay conditions.

4. The method according to claim 3, characterized in that The method further comprises: When the motion state parameter value of the target two-wheeled vehicle satisfies one of a plurality of groups of preset conditions for increasing the delay time, determining the increased delay time corresponding to the group of preset conditions for increasing the delay time; Based on the sum of the basic delay time and the increased delay time, the delay time for the vehicle to trigger the AEB signal is obtained.

5. The method according to claim 2, characterized in that: When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises: When the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset stationary condition, it is determined that the motion type of the target two-wheeled vehicle is a longitudinal driving type or a stationary type.

6. The method according to claim 5, characterized in that The motion state parameter values ​​include a longitudinal relative velocity value of the object and a lateral velocity value of the object; Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes: When the movement type of the target two-wheeled vehicle belongs to the longitudinal travel type or the stationary type, the target longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the target longitudinal relative speed value of the target two-wheeled vehicle and the target lateral speed value of the target two-wheeled vehicle.

7. The method according to claim 2, characterized in that: When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of sets of preset motion conditions, determining the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions comprises: When the motion state parameter value of the target two-wheeled vehicle meets the preset crossing driving condition, it is determined that the motion type of the target two-wheeled vehicle is the crossing driving type.

8. The method according to claim 7, characterized in that The motion state parameter values ​​include a lateral relative velocity value of the object and a longitudinal velocity value of the object; Accordingly, when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle includes: When the movement type of the target two-wheeled vehicle belongs to the traversing travel type, the target two-wheeled vehicle's target lateral compensation distance value is obtained based on the absolute value of the target two-wheeled vehicle's target lateral relative speed value and the target two-wheeled vehicle's target longitudinal speed value.

9. The method according to claim 1, characterized in that: The method further comprises: When the motion state parameter value of the to-be-determined object does not satisfy a preset two-wheeled vehicle condition, the AEB signal triggering of the vehicle is suppressed.

10. The method according to claim 1, characterized in that The step of obtaining the driving state parameter value of the vehicle and the motion state parameter value of the undetermined object around the vehicle includes: Acquiring a driving state parameter value of the vehicle and visual information of a pending object around the vehicle; The object to be determined and a motion state parameter value of the object to be determined are determined based on the visual information of the object to be determined.

11. A vehicle emergency event processing device, characterized in that: include: An acquisition unit, used to acquire a driving state parameter value of the vehicle and a motion state parameter value of an undetermined object around the vehicle; a determination unit, configured to determine that the object to be determined is a target two-wheeled vehicle when the motion state parameter value of the object to be determined meets a preset two-wheeled vehicle condition, and determine a delay time for triggering an AEB signal of the vehicle and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle; The obtaining unit is used for obtaining a compensation distance matching the movement type of the target two-wheeled vehicle based on the movement state parameter value of the target two-wheeled vehicle when the movement type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types.

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