An automatic emergency braking control method and device

Abstract

The present invention provides an automatic emergency braking control method and device, which relates to the field of vehicle emergency braking control systems. The control method includes: obtaining detection data of a target, the running speed of a motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target; determining the collision time between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target; sending a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the invention can improve safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle emergency braking control systems, and particularly to an automatic emergency braking control method and device. Background Art

[0002] A vehicle automatic emergency braking system is an active safety technology that reduces the risk of vehicle collisions in emergency situations. Automatic Emergency Braking (AEB). It detects real-time target information (such as position, speed, etc.) in front through sensors such as radars and cameras, calculates the degree of collision risk in real-time according to different braking strategy models (mainly safety distance models and collision time models), and issues warnings and executes emergency braking according to the risk level.

[0003] Braking strategies based on safety distance or collision time have their own advantages and disadvantages. The collision avoidance strategy of the safety distance model will brake earlier than the normal operation of the driver, with higher safety; the collision time braking strategy, on the contrary, will perform active braking slightly later than the normal operation of the driver. Although it improves comfort, it reduces safety. Two-wheel vehicles are faster than pedestrians, slower than cars, and more flexible than both. Therefore, the normal operation characteristics of drivers are different when avoiding collisions with pedestrians and cars, and their braking strategies will also be different under the premise of meeting safety and comfort.

[0004] Due to reasons such as China's express delivery, takeout services, and the convenience of electric two-wheel vehicle travel, electric two-wheel vehicles appear frequently on motorized roads. They are faster and more flexible than pedestrians, and lighter and more compact than cars. For car drivers, the collision avoidance reaction to them is different from that of pedestrians and cars. Due to the fast speed and flexible characteristics of electric two-wheel vehicles, AEB is easily mis-triggered when the target lateral speed suddenly fluctuates. The mis-triggering of AEB has a greater impact on the driver's posture and seriously affects the driver experience. At this time, if a rear-end collision occurs, since the driver's body leans forward under AEB deceleration, serious injuries will be caused when the airbag detonates at this time. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic emergency braking control method and device to improve safety.

[0006] To achieve the above purpose, the present invention provides the following solutions:

[0007] An automatic emergency braking control method, the control method includes:

[0008] Obtain the detection data of the target, the running speed of the motor vehicle, and the braking situation of the motor vehicle; the detection data at least includes the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target;

[0009] Determine the collision time between the motor vehicle and the target based on the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target;

[0010] Send a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle.

[0011] Optionally, the sending a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle specifically includes:

[0012] When the scene where the motor vehicle is located is the first scene, send a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the first scene is that the target passes horizontally in front of the motor vehicle;

[0013] When the scene where the motor vehicle is located is the second scene, send a braking force control instruction to the motor vehicle according to the collision time and the braking condition of the motor vehicle; the second scene is that the target turns in front of the motor vehicle or emerges from behind an obstacle.

[0014] Optionally, the when the scene where the motor vehicle is located is the first scene, send a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle specifically includes:

[0015] When the scene where the motor vehicle is located is the first scene and the running speed of the motor vehicle is within the first set range, keep the current braking condition of the motor vehicle;

[0016] When the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the second set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is no braking, send a first braking force control instruction to the motor vehicle; the first braking force control instruction is used to control the motor vehicle to brake with a first braking force; the minimum value of the second set range is greater than the maximum value of the first set range;

[0017] When the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the third set range, the collision time is not greater than the second set value, and the braking condition of the motor vehicle is no braking force, send a second braking force control instruction to the motor vehicle; the second braking force control instruction is used to control the motor vehicle to brake with a second braking force; the minimum value of the third set range is greater than the maximum value of the second set range; the second set value is greater than the first set value; the second braking force is greater than the first braking force;

[0018] When the scenario where the motor vehicle is located is the first scenario, the running speed of the motor vehicle is within the fourth set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold, a third braking force control instruction is sent to the motor vehicle; the third braking force control instruction is used to control the motor vehicle to brake with a third braking force; the third braking force is greater than the second braking force.

[0019] Optionally, when the scenario where the motor vehicle is located is the second scenario, a braking force control instruction is sent to the motor vehicle according to the collision time and the braking condition of the motor vehicle, specifically including:

[0020] When the scenario where the motor vehicle is located is the second scenario, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold, the third braking force control instruction is sent to the motor vehicle.

[0021] An automatic emergency braking control device, the control device is implemented by using the control method described in any one of the above, and the control device includes:

[0022] A sensing module, used for:

[0023] Obtaining detection data of the target, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scenario where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target;

[0024] A decision-making module, connected to the sensing module, used for:

[0025] Determining the collision time between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target;

[0026] Sending a braking force control instruction to the motor vehicle according to the scenario where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle.

[0027] Optionally, the decision-making module includes:

[0028] A first control module, used for when the scenario where the motor vehicle is located is the first scenario, sending a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the first scenario is that the target passes horizontally in front of the motor vehicle;

[0029] A second control module, configured to, when the scenario where the motor vehicle is located is a second scenario, send a braking force control instruction to the motor vehicle according to the collision time and the braking condition of the motor vehicle; the second scenario is that an object turns in front of the motor vehicle or emerges from behind an obstacle.

[0030] Optionally, the first control module includes:

[0031] A first braking force control sub-module, configured to, when the scenario where the motor vehicle is located is a first scenario and the running speed of the motor vehicle is within a first set range, maintain the current braking condition of the motor vehicle;

[0032] A second braking force control sub-module, configured to, when the scenario where the motor vehicle is located is a first scenario, the running speed of the motor vehicle is within a second set range, the collision time is not greater than a first set value, and the braking condition of the motor vehicle is no braking, send a first braking force control instruction to the motor vehicle; the first braking force control instruction is used to control the motor vehicle to brake with a first braking force; the minimum value of the second set range is greater than the maximum value of the first set range;

[0033] A third braking force control sub-module, configured to, when the scenario where the motor vehicle is located is a first scenario, the running speed of the motor vehicle is within a third set range, the collision time is not greater than a second set value, and the braking condition of the motor vehicle is no braking force, send a second braking force control instruction to the motor vehicle; the second braking force control instruction is used to control the motor vehicle to brake with a second braking force; the minimum value of the third set range is greater than the maximum value of the second set range; the second set value is greater than the first set value; the second braking force is greater than the first braking force;

[0034] A fourth braking force control sub-module, configured to, when the scenario where the motor vehicle is located is a first scenario, the running speed of the motor vehicle is within a fourth set range, the collision time is not greater than a first set value, and the braking condition of the motor vehicle is that the braking force is not greater than a braking force threshold, send a third braking force control instruction to the motor vehicle; the third braking force control instruction is used to control the motor vehicle to brake with a third braking force; the third braking force is greater than the second braking force.

[0035] Optionally, the second control module includes:

[0036] A fifth braking force control sub-module, configured to, when the scenario where the motor vehicle is located is a second scenario, the collision time is not greater than a first set value, and the braking condition of the motor vehicle is that the braking force is not greater than a braking force threshold, send the third braking force control instruction to the motor vehicle.

[0037] Optionally, the control device further includes: an execution module;

[0038] The execution module is connected to the decision-making module, and the execution module is configured to control the braking system of the motor vehicle according to the braking force control instruction.

[0039] Optionally, the perception module includes a camera and a radar sensor.

[0040] According to the specific embodiments provided by the present invention, the following technical effects are disclosed:

[0041] The present invention provides an automatic emergency braking control method and device, which obtain detection data of a target, the running speed of a motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target; then determine the collision time between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target; then issue a braking force control instruction according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; since the braking force control instruction is different in different situations, active braking is performed on the motor vehicle according to the actual situation, reducing the false triggering of the self-owned braking of the motor vehicle by the detection data of the target and not affecting the driver's state, enabling the driver to drive the motor vehicle more safely, thereby improving safety. Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a flowchart of the automatic emergency braking control method provided by the embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram for determining the collision time in the automatic emergency braking control method provided by the embodiment of the present invention;

[0045] Figure 3 It is a schematic diagram of the operation steps of the automatic emergency braking control method provided by the embodiment of the present invention;

[0046] Figure 4 It is a flowchart of the operation steps of the automatic emergency braking control method provided by the embodiment of the present invention;

[0047] Figure 5 It is a structural diagram of the automatic emergency braking control device provided by the embodiment of the present invention.

[0048] Symbol Explanation:

[0049] Perception module - 1, decision-making module - 2, execution module - 3, first control module - 4, second control module - 5. Specific implementation manners

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] The object of the present invention is to provide an automatic emergency braking control method and device. By acquiring the detection data of a target, the running speed of a motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target; then determining the time to collision between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target; and then sending a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the time to collision, the running speed of the motor vehicle, and the braking condition of the motor vehicle; since the braking force control instruction is different in different situations, actively braking the motor vehicle according to the actual situation, reducing the false triggering of the self-owned braking of the motor vehicle by the detection data of the target and not affecting the driver's state, enabling the driver to drive the motor vehicle more safely, thereby improving the safety.

[0052] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0053] First, the abbreviations appearing in the embodiments of the present invention are explained:

[0054] TTC: Time To Collision;

[0055] AEB: Autonomous Emergency Braking;

[0056] C-NCAP: China-New Car Assessment Programme;

[0057] ECU: Electronic Control Unit;

[0058] ESC: Electronic Stability Controller.

[0059] Example 1

[0060] As Figure 1 shown, an embodiment of the present invention provides an automatic emergency braking control method, and the control method includes:

[0061] Obtain the detection data of the target, the running speed of the motor vehicle, and the braking condition 100 of the motor vehicle; the detection data includes at least the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target. The target refers to a two-wheeled vehicle, a pedestrian, or an obstacle that exists or appears in the scene where the motor vehicle is running.

[0062] Determine the collision time 200 between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target.

[0063] The collision time is calculated by the formula: TTC = D / V. As Figure 2 shown. V is the running speed of the motor vehicle; D is the distance between the target and the motor vehicle; D is the relative distance, which is determined by the running speed of the motor vehicle and the speed of the target.

[0064] Send a braking force control instruction 300 to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle.

[0065] Specifically, when the scene where the motor vehicle is located is the first scene, a braking force control instruction is sent to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the first scene is that the target passes horizontally in front of the motor vehicle.

[0066] When the scene where the motor vehicle is located is the second scene, a braking force control instruction is sent to the motor vehicle according to the collision time and the braking condition of the motor vehicle; the second scene is that the target turns in front of the motor vehicle or emerges from behind an obstacle. The target turning in front of the motor vehicle means that when the target is traveling along the original route, it suddenly makes a turn, and at this time, the driver of the motor vehicle does not immediately react. In short, if the reaction time period of the driver in case of a sudden situation is 5 seconds, that is, 5 seconds are required for reaction, but the target makes a turn at 3 seconds, this situation is called the target suddenly turning.

[0067] The operation steps of the control method provided in this embodiment are as Figure 3 shown. According to different dangerous scenarios of the target and the running speed of the motor vehicle (also called the ego vehicle), it is judged whether the preset TTC is reached; different dangerous scenarios of the target can also refer to the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target. Then it is judged whether the braking force is insufficient. If not, AEB is not triggered; if so, different braking strategies for the target (two-wheeled vehicle) AEB are made.

[0068] Specifically, as Figure 4 shown. First, obtain the detection data of the target, the running speed of the motor vehicle, and the braking condition of the motor vehicle; then determine whether the scene where the motor vehicle is located is the first scene; and then send a corresponding braking force control instruction to the motor vehicle according to the running speed, collision time, and braking condition of the motor vehicle.

[0069] When the scene where the motor vehicle is located is the first scene and the running speed of the motor vehicle is within the first set range, then maintain the current braking condition of the motor vehicle.

[0070] When the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the second set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is no braking, then send a first braking force control instruction to the motor vehicle; the first braking force control instruction is used to control the motor vehicle to brake with the first braking force; the minimum value of the second set range is greater than the maximum value of the first set range.

[0071] When the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the third set range, the collision time is not greater than the second set value, and the braking condition of the motor vehicle is no braking force, then send a second braking force control instruction to the motor vehicle; the second braking force control instruction is used to control the motor vehicle to brake with the second braking force; the minimum value of the third set range is greater than the maximum value of the second set range; the second set value is greater than the first set value; the second braking force is greater than the first braking force.

[0072] When the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the fourth set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold, then send a third braking force control instruction to the motor vehicle; the third braking force control instruction is used to control the motor vehicle to brake with the third braking force; the third braking force is greater than the second braking force.

[0073] When the scene where the motor vehicle is located is the second scene, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold, then send a third braking force control instruction to the motor vehicle.

[0074] Classification of the running speed range of the motor vehicle: a. 0 - 10 km / h; b. 10 km / h - 40 km / h; c. 40 - 60 km / h; d. greater than 60 km / h. Among them, a refers to the running speed of the motor vehicle being within the first set range; b refers to the running speed of the motor vehicle being within the second set range; c refers to the running speed of the motor vehicle being within the third set range; d refers to the running speed of the motor vehicle being within the fourth set range.

[0075] The first set value is 1.4 s; the second set value is 2.5 s.

[0076] Embodiment 2

[0077] As Figure 5 shown, this embodiment provides an automatic emergency braking control device, which is implemented by using the control method described in any one of Embodiment 1. The control device includes: a sensing module 1 and a decision-making module 2.

[0078] The sensing module 1 is used to obtain the detection data of the target, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target. Specifically, the sensing module includes a camera and a radar sensor.

[0079] The decision-making module 2 is connected to the sensing module 1, and the decision-making module 2 is used to determine the collision time between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target.

[0080] The decision-making module 2 is further used to send a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle.

[0081] Specifically, the decision-making module 2 includes: a first control module 4 and a second control module 5.

[0082] When the scene where the motor vehicle is located is the first scene, the first control module 4 is used to send a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the first scene is that the target passes horizontally in front of the motor vehicle.

[0083] Specifically, the first control module 4 includes a first braking force control sub-module, a second braking force control sub-module, a third braking force control sub-module, and a fourth braking force control sub-module.

[0084] When the scene where the motor vehicle is located is the first scene and the running speed of the motor vehicle is within the first set range, the first braking force control sub-module is used to maintain the current braking condition of the motor vehicle.

[0085] When the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the second set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is no braking, the second braking force control sub-module is used to send a first braking force control instruction to the motor vehicle; the first braking force control instruction is used to control the motor vehicle to brake with a first braking force; the minimum value of the second set range is greater than the maximum value of the first set range.

[0086] The third braking force control sub-module is used to send a second braking force control instruction to the motor vehicle when the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the third set range, the collision time is not greater than the second set value, and the braking condition of the motor vehicle is no braking force; the second braking force control instruction is used to control the motor vehicle to brake with the second braking force; the minimum value of the third set range is greater than the maximum value of the second set range; the second set value is greater than the first set value; the second braking force is greater than the first braking force.

[0087] The fourth braking force control sub-module is used to send a third braking force control instruction to the motor vehicle when the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the fourth set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold; the third braking force control instruction is used to control the motor vehicle to brake with the third braking force; the third braking force is greater than the second braking force.

[0088] The second control module 5 is used to send a braking force control instruction to the motor vehicle according to the collision time and the braking condition of the motor vehicle when the scene where the motor vehicle is located is the second scene; the second scene is that the target turns in front of the motor vehicle or emerges from behind an obstacle.

[0089] Specifically, the second control module 5 includes a fifth braking force control sub-module.

[0090] The fifth braking force control sub-module is used to send a third braking force control instruction to the motor vehicle when the scene where the motor vehicle is located is the second scene, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold.

[0091] As an optional implementation manner, the control device provided in this embodiment further includes an execution module 3. The execution module 3 is connected to the decision module 2, and the execution module 3 is used to control the braking system of the motor vehicle according to the braking force control instruction. The execution module 3 is an electronic stability control system for motor vehicles.

[0092] The control device provided in this embodiment can be adapted to the AEB system in the electric two-wheeler scenario.

[0093] The perception module fuses the camera and radar sensors to identify the target type, dangerous scene, target speed, distance and other parameters, and delivers the obtained data to the decision module for judgment. The decision module uses the vehicle ECU for processing. The ECU obtains the data sent by the perception module and the motor vehicle (also called the host vehicle), calculates and judges according to the set logic to select the formulated execution command, and sends it to the execution module (also called the actuator).

[0094] The execution module is an ESC (electronic stability control system for vehicles), which issues an instruction to control the braking system of the vehicle.

[0095] The object of the present invention is to provide an automatic emergency braking control method and device, which can be adapted to vehicles in a certain scenario, such as an automatic emergency braking control method and device for a two-wheeled vehicle as the target (for the collision scenario between a motor vehicle and a two-wheeled vehicle). By identifying the relative motion of different electric two-wheeled vehicles with respect to the vehicle (motor vehicle), different strategies are adopted for activating AEB under different conditions of the target and the motor vehicle itself, improving driving comfort and safety.

[0096] Sensors such as cameras and radars of a motor vehicle (such as a car) itself are used to distinguish the motor vehicle, electric two-wheeled vehicle and pedestrian targets, identify the dangerous scenarios and motion parameters (speed, relative position, etc.) of the target (electric two-wheeled vehicle), and different strategies are adopted for the intervention of AEB according to different dangerous scenarios, different speeds and different driver reactions, improving the collision avoidance rate for electric two-wheeled vehicle riders and the driving comfort of motor vehicle drivers. Taking the electric two-wheeled vehicle as an example, the specific steps are as follows:

[0097] 1. Identify the dangerous scenarios of the electric two-wheeled vehicle (referring to the scenario where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target): According to the analysis of the differences in the reaction characteristics of the driver to the electric two-wheeled vehicle, the dangerous scenarios of the electric two-wheeled vehicle and the motor vehicle (also called the host vehicle) are divided into: the first scenario or general scenario (the electric two-wheeled vehicle crosses horizontally in front of the vehicle); the second scenario or other scenario (suddenly turns while driving in front of the vehicle and emerges from behind an obstacle).

[0098] 2. Classification of the speed range of the motor vehicle (also called the host vehicle): a. 0 - 10 km / h; b. 10 km / h - 40 km / h; c. 40 - 60 km / h; d. greater than 60 km / h. Where a means that the operating speed of the motor vehicle is in the first set range; b means that the operating speed of the motor vehicle is in the second set range; c means that the operating speed of the motor vehicle is in the third set range; d means that the operating speed of the motor vehicle is in the fourth set range.

[0099] 3. Analyze the driver's braking behavior when the AEB trigger threshold is reached, and classify the braking behavior: the driver does not brake, the driver's braking force is insufficient (has braked but the maximum braking force is less than the set threshold), and the braking force is sufficient.

[0100] According to different scenarios, different speeds and whether the driver brakes or not, different AEB braking strategies are adopted. Briefly speaking, AEB intervenes slightly later for low risks compared to high risks, but slightly earlier than emergency braking, and the braking force increases as the risk level increases.

[0101] Advantages of the present invention:

[0102] A working method and device of an AEB system for two-wheel vehicles are proposed; an AEB braking strategy adapted to the scenario is proposed, which triggers the system earlier than the existing braking strategy, and the braking performance changes according to the situation, being safer and more comfortable than the existing control strategy.

[0103] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, reference can be made to each other.

[0104] Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. An automatic emergency braking control method, characterized in that, the control method includes: obtaining detection data of a target, the running speed of a motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scene where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target; determining the collision time between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target; sending a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; judging whether a preset TTC is reached according to different dangerous scenes of the target and the running speed of the motor vehicle; judging whether the braking force is insufficient, if not, then not triggering AEB; if so, then making different braking strategies for the target AEB; The sending a braking force control instruction to the motor vehicle according to the scene where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle specifically includes: when the scene where the motor vehicle is located is the first scene, then sending a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the first scene is that the target passes horizontally in front of the motor vehicle; when the scene where the motor vehicle is located is the second scene, then sending a braking force control instruction to the motor vehicle according to the collision time and the braking condition of the motor vehicle; the second scene is that the target turns in front of the motor vehicle or emerges from behind an obstacle.

2. The automatic emergency braking control method according to claim 1, characterized in that, the when the scene where the motor vehicle is located is the first scene, then sending a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle specifically includes: when the scene where the motor vehicle is located is the first scene and the running speed of the motor vehicle is within the first set range, then maintaining the current braking condition of the motor vehicle; when the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the second set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is no braking, then sending a first braking force control instruction to the motor vehicle; the first braking force control instruction is used to control the motor vehicle to brake with a first braking force; the minimum value of the second set range is greater than the maximum value of the first set range; when the scene where the motor vehicle is located is the first scene, the running speed of the motor vehicle is within the third set range, the collision time is not greater than the second set value, and the braking condition of the motor vehicle is no braking force, then sending a second braking force control instruction to the motor vehicle; the second braking force control instruction is used to control the motor vehicle to brake with a second braking force; the minimum value of the third set range is greater than the maximum value of the second set range; the second set value is greater than the first set value; the second braking force is greater than the first braking force; When the scenario where the motor vehicle is located is the first scenario, the running speed of the motor vehicle is within the fourth set range, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold, a third braking force control instruction is sent to the motor vehicle; the third braking force control instruction is used to control the motor vehicle to brake with a third braking force; the third braking force is greater than the second braking force.

3. The automatic emergency braking control method according to claim 2, wherein, when the scenario where the motor vehicle is located is the second scenario, a braking force control instruction is sent to the motor vehicle according to the collision time and the braking condition of the motor vehicle, specifically including: when the scenario where the motor vehicle is located is the second scenario, the collision time is not greater than the first set value, and the braking condition of the motor vehicle is that the braking force is not greater than the braking force threshold, the third braking force control instruction is sent to the motor vehicle.

4. An automatic emergency braking control device, wherein, the control device is implemented by using the control method according to any one of claims 1-3, and the control device includes: a sensing module, configured to: acquire detection data of a target, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the detection data at least includes the scenario where the motor vehicle is located, the distance between the target and the motor vehicle, and the speed of the target; a decision-making module, connected to the sensing module, configured to: determine the collision time between the motor vehicle and the target according to the running speed of the motor vehicle, the distance between the target and the motor vehicle, and the speed of the target; send a braking force control instruction to the motor vehicle according to the scenario where the motor vehicle is located, the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; judge whether a preset TTC is reached according to different dangerous scenarios of the target and the running speed of the motor vehicle; judge whether the braking force is insufficient, if not, then do not trigger AEB; if so, then make different braking strategies for the target AEB; the decision-making module includes: a first control module, configured to when the scenario where the motor vehicle is located is the first scenario, send a braking force control instruction to the motor vehicle according to the collision time, the running speed of the motor vehicle, and the braking condition of the motor vehicle; the first scenario is that the target passes horizontally in front of the motor vehicle; a second control module, configured to when the scenario where the motor vehicle is located is the second scenario, send a braking force control instruction to the motor vehicle according to the collision time and the braking condition of the motor vehicle; the second scenario is that the target turns in front of the motor vehicle or emerges from behind an obstacle.

5. The automatic emergency braking control device according to claim 4, wherein, the first control module includes: a first braking force control sub-module, configured to when the scenario where the motor vehicle is located is the first scenario and the running speed of the motor vehicle is within the first set range, maintain the current braking condition of the motor vehicle; The second braking force control sub-module is configured to issue a first braking force control instruction to the motor vehicle when the scenario where the motor vehicle is located is the first scenario, the running speed of the motor vehicle is within a second set range, the collision time is not greater than a first set value, and the braking condition of the motor vehicle is no braking; the first braking force control instruction is used to control the motor vehicle to brake with a first braking force; the minimum value of the second set range is greater than the maximum value of the first set range; The third braking force control sub-module is configured to issue a second braking force control instruction to the motor vehicle when the scenario where the motor vehicle is located is the first scenario, the running speed of the motor vehicle is within a third set range, the collision time is not greater than a second set value, and the braking condition of the motor vehicle is no braking force; the second braking force control instruction is used to control the motor vehicle to brake with a second braking force; the minimum value of the third set range is greater than the maximum value of the second set range; the second set value is greater than the first set value; the second braking force is greater than the first braking force; The fourth braking force control sub-module is configured to issue a third braking force control instruction to the motor vehicle when the scenario where the motor vehicle is located is the first scenario, the running speed of the motor vehicle is within a fourth set range, the collision time is not greater than a first set value, and the braking condition of the motor vehicle is that the braking force is not greater than a braking force threshold; the third braking force control instruction is used to control the motor vehicle to brake with a third braking force; the third braking force is greater than the second braking force.

6. The automatic emergency braking control device according to claim 5, wherein, the second control module includes: The fifth braking force control sub-module is configured to issue the third braking force control instruction to the motor vehicle when the scenario where the motor vehicle is located is the second scenario, the collision time is not greater than a first set value, and the braking condition of the motor vehicle is that the braking force is not greater than a braking force threshold.

7. The automatic emergency braking control device according to claim 4, wherein, the control device further includes: an execution module; The execution module is connected to the decision module, and the execution module is configured to control the braking system of the motor vehicle according to the braking force control instruction.

8. The automatic emergency braking control device according to claim 4, wherein, the sensing module includes a camera and a radar sensor.

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