Emergency braking control method, device, equipment and readable storage medium

Abstract

The present application relates to an emergency braking control method, device, equipment and readable storage medium, and relates to the field of automobile braking technology. The method is applied to a vehicle and a preceding vehicle in a following driving state, including when the preceding vehicle detects an expected collision with an obstacle, the preceding vehicle calculates the stopping distance based on the operating condition information when the expected collision with the obstacle occurs; when the present vehicle receives the stopping distance sent by the preceding vehicle, the emergency braking control algorithm is updated based on the stopping distance to obtain a revised emergency braking control algorithm; the present vehicle controls the AEB to intervene in advance based on the revised emergency braking control algorithm to assist the present vehicle in braking. Through the present application, the present vehicle can adjust the emergency braking control algorithm according to the collision distance information of the preceding vehicle, and control the AEB function to intervene in advance according to the adjusted emergency braking algorithm to enhance the braking effect of the automatic emergency braking, so that the present vehicle can stop safely before reaching the collision point or significantly reduce the severity of the vehicle's collision.

Description

Technical Field

[0001] The present application relates to the field of automobile braking technology, and in particular to an emergency braking control method, device, equipment and readable storage medium. Background Art

[0002] According to relevant data, 90% of traffic accidents are caused by driver errors, of which 31% of rear-end collisions are caused by the driver's failure to brake, and 49% of rear-end collisions are caused by the driver's failure to apply the brakes but insufficient braking force. However, with the rapid development of Autonomous Emergency Braking (AEB), it is very likely to reduce 76% of corner collisions without braking and 69% of rear-end collisions without braking, thereby effectively reducing traffic accidents caused by driver errors.

[0003] Among them, AEB is an important component of ADAS (Advanced Driving Assistance System) control. It detects the information of the target in front of the vehicle (target speed, distance, deceleration, etc.) through perception sensors and calculates the minimum safe distance and collision time to determine the degree of collision risk, and then takes relevant braking measures to compensate for the problem of the driver applying brakes too slowly or insufficient braking force in an emergency. This can significantly avoid or alleviate the occurrence of rear-end collisions and protect the safety of drivers and passengers.

[0004] At present, the most widely used AEB control algorithms are the collision time TTC (i.e. collision time) algorithm and the safety distance algorithm. Among them, the collision time TTC algorithm calculates in real time the time required for the vehicle and the vehicle in front to continue moving until a collision occurs under the current state (vehicle speed, deceleration, following distance, etc.); while the safety distance algorithm determines the timing of AEB triggering by the actual following distance and the safety distance threshold calculated based on the current state. However, in the traditional collision time TTC algorithm and safety distance algorithm, when the vehicle in front of the vehicle recognizes that it will collide with the obstacle or vehicle in front and stop, the collision time calculated by the vehicle based on the current state (vehicle speed, deceleration, following distance, etc.) is longer than the actual vehicle state and the minimum safety distance is shorter than the actual vehicle state, which is significantly different from the actual state, resulting in poor automatic emergency braking effect. Summary of the invention

[0005] The present application provides an emergency braking control method, device, equipment and readable storage medium to solve the problem of poor braking effect caused by automatic emergency braking based on traditional emergency braking control algorithms in the related art.

[0006] In a first aspect, an emergency braking control method is provided, the method being applied to a vehicle and a preceding vehicle in a following vehicle driving state, the method comprising the following steps:

[0007] When the leading vehicle detects an expected collision with an obstacle, the leading vehicle calculates the stopping distance based on the operating condition information when the expected collision with the obstacle occurs;

[0008] When the vehicle receives the stopping distance sent by the preceding vehicle, the emergency braking control algorithm of the vehicle is corrected based on the stopping distance to obtain a corrected emergency braking control algorithm;

[0009] Based on the revised emergency braking control algorithm, the vehicle controls AEB to intervene in advance to assist the vehicle in braking.

[0010] In some embodiments, the operating condition information includes the vehicle speed and deceleration when the leading vehicle is expected to collide with the obstacle, and the leading vehicle calculates the stopping distance based on the operating condition information when the leading vehicle is expected to collide with the obstacle, including:

[0011] Substituting the speed and deceleration of the front vehicle when the front vehicle is expected to collide with the obstacle into the first calculation formula to obtain the stopping distance of the front vehicle, the first calculation formula is:

[0012]

[0013] In the formula, v c represents the speed of the vehicle in front when it is expected to collide with the obstacle, a′ 2 Indicates the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0014] In some embodiments, the modified emergency brake control algorithm includes an updated TTC algorithm and an updated safety distance algorithm, and the updated TTC algorithm and the updated safety distance algorithm are respectively:

[0015]

[0016] d br =TTC·v rel +d+S c

[0017] In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, d represents the minimum stopping distance of the vehicle, and d brIndicates the safety distance, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0018] In some embodiments, the modified emergency braking control algorithm includes an updated safety distance algorithm, and the updated safety distance algorithms are respectively:

[0019]

[0020] Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max Indicates the maximum deceleration of the front vehicle, t 1 Indicates the driver's reaction delay time, t 2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0021] In a second aspect, an emergency brake control device is provided, the device being applied to a vehicle and a preceding vehicle in a following vehicle driving state, the device comprising:

[0022] A calculation unit, which is used to enable the leading vehicle to calculate a stopping distance based on operating condition information when the leading vehicle detects an expected collision with an obstacle;

[0023] An updating unit, which is used to update the emergency braking control algorithm based on the stopping distance when the vehicle receives the stopping distance sent by the preceding vehicle, so as to obtain a revised emergency braking control algorithm;

[0024] The control unit is used to control the AEB to intervene in advance to assist the braking of the vehicle based on the revised emergency brake control algorithm.

[0025] In some embodiments, the operating condition information includes the vehicle speed and deceleration when the front vehicle is expected to collide with the obstacle, and the calculation unit is specifically used to:

[0026] Substituting the speed and deceleration of the front vehicle when the front vehicle is expected to collide with the obstacle into the first calculation formula to obtain the stopping distance of the front vehicle, the first calculation formula is:

[0027]

[0028] In the formula, vc represents the speed of the vehicle in front when it is expected to collide with the obstacle, a′ 2 Indicates the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0029] In some embodiments, the modified emergency brake control algorithm includes an updated TTC algorithm and an updated safety distance algorithm, and the updated TTC algorithm and the updated safety distance algorithm are respectively:

[0030]

[0031] d br =TTC·v rel +d+S c

[0032] In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, d represents the minimum stopping distance of the vehicle, and d br Indicates the safety distance, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0033] In some embodiments, the modified emergency braking control algorithm includes an updated safety distance algorithm, and the updated safety distance algorithms are respectively:

[0034]

[0035] Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max Indicates the maximum deceleration of the front vehicle, t 1 Indicates the driver's reaction delay time, t 2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0036] In a third aspect, an emergency braking control device is provided, comprising: a memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the aforementioned emergency braking control method.

[0037] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned emergency braking control method is implemented.

[0038] The present application provides an emergency braking control method, device, equipment and readable storage medium, which is applied to a vehicle and a leading vehicle in a following driving state, and includes: when the leading vehicle detects an expected collision with an obstacle, the leading vehicle calculates the stopping distance based on the working condition information when the expected collision with the obstacle occurs; when the vehicle receives the stopping distance sent by the leading vehicle, the emergency braking control algorithm of the vehicle is corrected based on the stopping distance to obtain a corrected emergency braking control algorithm; the vehicle controls the AEB to intervene in advance to assist the vehicle in braking based on the corrected emergency braking control algorithm. Through the present application, the vehicle can adjust the emergency braking control algorithm based on the collision-related distance information received when the leading vehicle recognizes that it has an expected collision with a vehicle or obstacle, and fully considers the impact of the collision with the leading vehicle on the minimum braking distance and collision time of the vehicle, so as to improve the braking effect of the automatic emergency braking, so that the vehicle can stop safely or significantly reduce the severity of the collision of the vehicle before reaching the collision point, thereby improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A flowchart of an emergency braking control method provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a specific flow chart of an emergency braking control method provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of emergency braking for following a vehicle provided in an embodiment of the present application;

[0043] Figure 4A schematic diagram of the results of considering and not considering the expected collision with the preceding vehicle when the vehicle performs emergency braking control provided by the embodiment of the present application;

[0044] Figure 5 A schematic diagram of the structure of an emergency brake control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of 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 this application.

[0046] The embodiments of the present application provide an emergency braking control method, device, equipment and readable storage medium, which can solve the problem of poor braking effect caused by automatic emergency braking based on traditional emergency braking control algorithms in related technologies.

[0047] See also Figure 1 and Figure 2 As shown, an embodiment of the present application provides an emergency braking control method, which is applied to a vehicle and a preceding vehicle in a following vehicle driving state, and the method comprises the following steps:

[0048] Step S10: When the front vehicle detects an expected collision with an obstacle, the front vehicle calculates a stopping distance based on the operating condition information when the front vehicle is expected to collide with the obstacle;

[0049] For example, the vehicle and the vehicle in front are traveling in the same lane and in the same direction. The vehicle is located behind the vehicle in front and is following the vehicle in front. At this time, it is very easy for the vehicle to collide with the vehicle in front due to an accident or other reasons. However, the vehicle can calculate the minimum safe distance and collision time through the AEB function to determine the degree of collision risk, and then take emergency braking measures to avoid the collision between the vehicle and the vehicle in front as much as possible. However, the current emergency braking control algorithm calculates the collision time and minimum safe distance based on the current state (vehicle speed, deceleration, following distance, etc.), and does not consider the impact of the collision with the vehicle in front on the minimum braking distance and collision time of the vehicle, so that the calculated collision time is longer than the actual vehicle state and the minimum safe distance is shorter than the actual vehicle state, which makes the automatic emergency braking effect of the vehicle worse.

[0050] In this embodiment, an emergency braking control method is proposed, which is used to solve the optimization problem of the vehicle AEB control algorithm after the front vehicle collides with an obstacle or vehicle when the vehicle is following the vehicle. Specifically, the vehicle that can perform V2V (Vehicle to Vehicle) short-range communication (the V2V short-range communication can be implemented based on the routing algorithm of the Adhoc network) and the front vehicle are traveling in the same lane and in the same direction. The vehicle is located behind the front vehicle and keeps following the front vehicle. Both the vehicle and the front vehicle are equipped with ADAS AEB automatic emergency braking function, and can use cameras, radars and other perception sensors to detect the status information of the front vehicle or obstacle, perform calculations based on the safe distance, determine whether the vehicle will have an expected collision with the front vehicle (or obstacle), and perform driver warning, partial braking and full braking. Among them, when the vehicle is in the following vehicle driving stage, the emergency braking control program of the following vehicle driving in this embodiment is started, and before the vehicle controls the AEB function based on the emergency braking control algorithm, it is necessary to first determine whether there is an expected collision between the front vehicle and the obstacle in front (the obstacle can be a moving vehicle or other non-moving object), and then the vehicle updates the emergency braking control algorithm according to the relevant information of the expected collision.

[0051] Take the example that the obstacle is a moving vehicle, and vehicle A is located behind vehicle 1 in front, and vehicle 1 in front is located behind vehicle 2 in front: vehicle 1 in front will calculate whether there is an expected collision between vehicle 1 and vehicle 2 based on status information including its own vehicle speed, deceleration, etc. and status information of vehicle 2 in front (the status information includes the vehicle speed, deceleration, and distance of vehicle 2 relative to vehicle 1 in front) and through an emergency braking control algorithm. If there is an expected collision, it is necessary to consider the impact of the collision with vehicle 1 in front on the minimum braking distance and collision time of vehicle 1 in front. Therefore, vehicle 1 in front will calculate the stopping distance based on the operating condition information when an expected collision occurs with vehicle 2 in front.

[0052] Then, the front vehicle 1 will send the stopping distance to the rear vehicle (i.e., vehicle A) based on the V2V short-range communication; and after vehicle A receives the stopping distance through the V2V short-range communication, it will adjust the traditional emergency braking control algorithm based on the stopping distance to obtain an adjusted emergency braking control algorithm. Since the adjusted emergency braking control algorithm fully considers the impact of the collision of the front vehicle 1 on the minimum braking distance and collision time of vehicle A, a more accurate TTC time and safety distance that is closer to the actual vehicle status can be calculated based on the adjusted emergency braking control algorithm, thereby effectively improving the effect of automatic emergency braking.

[0053] Further, the operating condition information includes the vehicle speed and deceleration when the leading vehicle is expected to collide with the obstacle, and the leading vehicle calculates the stopping distance based on the operating condition information when the leading vehicle is expected to collide with the obstacle, including:

[0054] Substituting the speed and deceleration of the front vehicle when the front vehicle is expected to collide with the obstacle into the first calculation formula to obtain the stopping distance of the front vehicle, the first calculation formula is:

[0055]

[0056] In the formula, v c represents the speed of the vehicle in front when it is expected to collide with the obstacle, a′ 2 Indicates the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0057] For example, in this embodiment, the front vehicle 1 will first calculate the speed and deceleration of the vehicle when it is expected to collide with the front vehicle 2, and then calculate the distance at which the vehicle speed is decelerated to stop according to the deceleration based on the speed and deceleration of the vehicle at the time of collision. That is, the speed and deceleration of the front vehicle 1 at the time of collision are substituted into the first calculation formula to obtain the stopping distance of the front vehicle 1. The first calculation formula is:

[0058]

[0059] Among them, v c represents the speed of the vehicle in front when it is expected to collide with the obstacle, a′ 2 Indicates the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0060] For details, see Figure 3 As shown, vehicle A is traveling in the same lane and in the same direction as vehicles 1 and 2. The distance between vehicle A and vehicle 1 is s. The minimum stopping distance between vehicle A and vehicle 1 is d. The speed of vehicle A is v. 1 , the deceleration of vehicle A is a 1 , the speed of the front vehicle 1 is v 2 , the deceleration of the front vehicle 1 is a 2 ; The front vehicle 1 will determine whether there is an expected collision between the front vehicle 1 and the front vehicle 2 based on its status information and the status information of the front vehicle 2. If there is no expected collision, the front vehicle 1 does not collide with the front vehicle 2 during the deceleration or parking process, then the S signal sent by the front vehicle 1 to the vehicle A is c The value is 0.

[0061] If the front vehicle 1 determines that there is an expected collision between the front vehicle 1 and the front vehicle 2 based on its state information and the state information of the front vehicle 2, the front vehicle 1 calculates and processes the speed v of the front vehicle 1 when the expected collision occurs.c and deceleration a′ 2 , and according to the vehicle speed v at the time of collision c and deceleration a′ 2 Calculate from the vehicle speed v c The distance to slow down to stop S c At this time, the front car 1 sends S to the vehicle A. c The distance information is greater than 0.

[0062] Step S20: When the vehicle receives the stopping distance sent by the preceding vehicle, the emergency braking control algorithm of the vehicle is modified based on the stopping distance to obtain a modified emergency braking control algorithm;

[0063] For example, in this embodiment, when vehicle A receives the S signal sent by vehicle 1, c value, it will be based on S c The existing emergency braking control algorithm of the vehicle is modified by the S value, so that the modified emergency braking control algorithm can be closer to the actual state of the actual vehicle, that is, the collision time and safety distance calculated according to the modified emergency braking control algorithm are closer to the actual vehicle state. Among them, the existing emergency braking control algorithm in this embodiment may include the TTC algorithm and the safety distance algorithm. Of course, it should be noted that other algorithms may also be included according to actual needs. As long as S c The value can be used to modify the algorithm.

[0064] Furthermore, the modified emergency braking control algorithm includes an updated TTC algorithm and an updated safety distance algorithm, and the updated TTC algorithm and the updated safety distance algorithm are respectively:

[0065]

[0066] d br =TTC·v rel +d+S c

[0067] In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, d represents the minimum stopping distance of the vehicle, and d br Indicates the safety distance, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0068] Exemplarily, in this embodiment, S cThe existing TTC algorithm and safety distance algorithm are modified and adjusted. Specifically, S c Substitute the values ​​into the following calculation formula:

[0069]

[0070] d br =TTC·v rel +d+S c

[0071] In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel Indicates the relative speed between the vehicle in front and the vehicle in front (i.e., the speed of the vehicle in front minus the speed of the vehicle in front), a 1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, and d represents the minimum stopping distance of the vehicle, which is generally 0.5 to 3 m. br Indicates the safety distance, S c The front vehicle is moving at a speed v c According to the deceleration a 2 'The corresponding stopping distance when decelerating to a stop.

[0072] The calculation of the collision time and safety distance in this embodiment takes into account the impact of an expected collision with the vehicle in front on the vehicle. Therefore, the collision time calculated according to the revised TTC algorithm and the safety distance calculated according to the revised safety distance are closer to the actual vehicle status, and the difference is significantly reduced, thereby effectively improving the effect of automatic emergency braking.

[0073] Furthermore, the modified emergency braking control algorithm includes an updated safety distance algorithm, and the updated safety distance algorithms are respectively:

[0074]

[0075] Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max Indicates the maximum deceleration of the front vehicle, t 1 Indicates the driver's reaction delay time, t 2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, which is generally 0.5 to 3 m, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0076] For example, in this embodiment, S cThe value is used to modify and adjust another existing safety distance algorithm. Specifically, S c Substitute the values ​​into the following calculation formula:

[0077]

[0078] Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max Indicates the maximum deceleration of the front vehicle, t 1 Indicates the driver's reaction delay time, t 2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0079] It should be noted that the above two revised safety distance algorithms both take into account the impact of an expected collision with the vehicle in front on the vehicle, and both can effectively improve the effect of automatic emergency braking. Therefore, the use of any one of the above two revised safety distance algorithms to calculate the safety distance can be determined according to actual needs, and there is no limitation here.

[0080] Step S30: Based on the revised emergency brake control algorithm, the vehicle controls the AEB to intervene in advance to assist the vehicle in braking.

[0081] For example, in this embodiment, the AEB function is controlled to intervene in advance according to the modified emergency braking control algorithm, so that the driver warning, partial braking, and full braking in the AEB automatic emergency braking are activated and controlled in advance, so that the vehicle A can stop safely before the collision point or reduce the collision degree with the front vehicle 1. It should be noted that when multiple vehicles are driving continuously, starting from the second vehicle, the following vehicles all accept the distance S of the front vehicle. c value, the rear vehicle recognizes in advance whether there is an expected collision with the front vehicle, and c The control algorithms such as TTC or minimum safety distance of emergency braking are adjusted to avoid continuous rear-end collisions as much as possible or reduce the severity of collisions after rear-end collisions.

[0082] It can be seen that this embodiment is based on the front vehicle identifying that it has an expected collision with a vehicle or obstacle, and sends collision-related distance information to the rear vehicle through calculation processing. The rear vehicle adjusts the emergency braking control algorithm according to the received distance information, and controls the intervention of the AEB function according to the adjusted emergency braking control algorithm. It takes into account the need to increase the minimum safe distance control threshold of the rear vehicle when there is an expected collision with the front vehicle, so that the AEB warning, partial braking and full braking can be intervened early, and the vehicle can be safely stopped before reaching the collision point or the collision severity of the vehicle can be significantly reduced, thereby improving the driving safety of the vehicle.

[0083] The following combination Figure 4 The effects that can be achieved by this embodiment are explained.

[0084] Figure 4 The vertical coordinate in is the change of the longitudinal position of vehicle A and the front vehicles 1 and 2 over time, with the position of vehicle A as the zero point of the position coordinate.

[0085] In the initial stage, vehicle A keeps following vehicle 1 and vehicle 2 in front, and the distance between vehicle A and vehicle 1 in front, and between vehicle 1 and vehicle 2 in front changes little; after driving for a while, vehicle 1 in front brakes urgently, and due to the response time of the driver and the braking system of vehicle 1 in front, and the insufficient braking force of the driver, the distance between vehicle 1 and vehicle 2 in front gradually decreases, and after vehicle 2 in front brakes to stop, vehicle 1 in front continues to drive and collides with vehicle 2 in front, and vehicle 1 in front stops at the collision point with vehicle 2 in front.

[0086] Among them, in the prior art, since vehicle A does not take into account the expected collision with vehicle 1 in front, after emergency braking of vehicle 1 in front, vehicle A will continue to move forward due to the response time of the driver and the braking system and insufficient braking force applied by the driver after vehicle 1 in front collides with vehicle 2 and stops, and will collide with vehicle 1 in front, and finally stay at the position where it collides with vehicle 1 in front.

[0087] In this embodiment, vehicle A takes into account the expected collision with vehicle 1 in front. That is, when vehicle 1 in front recognizes that there is an expected collision with vehicle 2 in front, vehicle 1 in front sends S to the following vehicle (i.e., vehicle A). c Distance information, vehicle A receives S c The control algorithm of emergency braking is adjusted after the distance information is obtained, so that the AEB function intervenes in advance to warn the driver and perform partial braking. When the driver's braking force is insufficient, it intervenes in advance and performs full braking, so that vehicle A can decelerate quickly, and after the front vehicles 1 and 2 collide and stop, vehicle A continues to move forward and brakes to stop before the collision point, ultimately achieving the purpose of avoiding collision with the front vehicle 1 or significantly reducing the severity of the collision with the front vehicle 1.

[0088] The embodiment of the present application further provides an emergency brake control device, which is applied to a vehicle and a preceding vehicle in a following vehicle driving state, and the device comprises:

[0089] A calculation unit, which is used to enable the leading vehicle to calculate a stopping distance based on operating condition information when the leading vehicle detects an expected collision with an obstacle;

[0090] An updating unit, which is used to update the emergency braking control algorithm based on the stopping distance when the vehicle receives the stopping distance sent by the preceding vehicle, so as to obtain a revised emergency braking control algorithm;

[0091] The control unit is used to control the AEB to intervene in advance to assist the braking of the vehicle based on the revised emergency brake control algorithm.

[0092] Furthermore, the operating condition information includes the vehicle speed and deceleration when the front vehicle is expected to collide with the obstacle, and the calculation unit is specifically used to:

[0093] Substituting the speed and deceleration of the front vehicle when the front vehicle is expected to collide with the obstacle into the first calculation formula to obtain the stopping distance of the front vehicle, the first calculation formula is:

[0094]

[0095] In the formula, v c represents the speed of the vehicle in front when it is expected to collide with the obstacle, a′ 2 Indicates the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0096] Furthermore, the modified emergency braking control algorithm includes an updated TTC algorithm and an updated safety distance algorithm, and the updated TTC algorithm and the updated safety distance algorithm are respectively:

[0097]

[0098] d br =TTC·v rel +d+S c

[0099] In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, d represents the minimum stopping distance of the vehicle, and d br Indicates the safety distance, Sc The front vehicle is moving at a speed v c According to the deceleration a 2 'The corresponding stopping distance when decelerating to a stop.

[0100] Furthermore, the modified emergency braking control algorithm includes an updated safety distance algorithm, and the updated safety distance algorithms are respectively:

[0101]

[0102] Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max Indicates the maximum deceleration of the front vehicle, t 1 Indicates the driver's reaction delay time, t 2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, S c The front vehicle is moving at a speed v c According to the deceleration a′ 2 The stopping distance corresponding to the deceleration to a stop.

[0103] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and each unit can refer to the corresponding process in the aforementioned emergency braking control method embodiment, and will not be repeated here.

[0104] The emergency brake control device provided in the above embodiment can be implemented in the form of a computer program. The computer program can be used in Figure 5 The emergency brake control device shown is operated.

[0105] An embodiment of the present application also provides an emergency braking control device, comprising: a memory, a processor and a network interface connected via a system bus, wherein at least one instruction is stored in the memory, and at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned emergency braking control method.

[0106] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0107] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0108] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a video playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as video data, image data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMediacard, SMC), a secure digital (Secure digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device or other volatile solid-state storage device.

[0109] The embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the steps of the aforementioned emergency braking control method are implemented.

[0110] The embodiment of the present application implements all or part of the aforementioned process, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each of the above methods when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0111] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, servers or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0112] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0113] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. An emergency braking control method, characterized in that: The method is applied to the vehicle and the preceding vehicle in a following vehicle driving state, and the method comprises the following steps: When the leading vehicle detects an expected collision with an obstacle, the leading vehicle calculates the stopping distance based on the operating condition information when the expected collision with the obstacle occurs; When the vehicle receives the stopping distance sent by the preceding vehicle, the emergency braking control algorithm of the vehicle is corrected based on the stopping distance to obtain a corrected emergency braking control algorithm; Based on the revised emergency brake control algorithm, the vehicle controls AEB to intervene in advance to assist the vehicle in braking; The modified emergency braking control algorithm includes an updated TTC algorithm and an updated safety distance algorithm, and the updated TTC algorithm and the updated safety distance algorithm are respectively: d br =TTC·v rel +d+S c In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel represents the relative speed between the vehicle and the vehicle in front, a1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, d represents the minimum stopping distance of the vehicle, and d br Indicates the safety distance, S c The front vehicle is moving at a speed v c Slow down at a deceleration rate a2′ to the corresponding stopping distance when parking.

2. The emergency brake control method according to claim 1, characterized in that: The operating condition information includes the vehicle speed and deceleration when the front vehicle is expected to collide with the obstacle. The front vehicle calculates the stopping distance based on the operating condition information when the front vehicle is expected to collide with the obstacle, including: Substituting the speed and deceleration of the front vehicle when the front vehicle is expected to collide with the obstacle into the first calculation formula to obtain the stopping distance of the front vehicle, the first calculation formula is: In the formula, v c represents the speed of the vehicle when the front vehicle is expected to collide with the obstacle, a2′ represents the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c Slow down at a deceleration rate a2′ to the corresponding stopping distance when parking.

3. The emergency brake control method according to claim 1, characterized in that: The modified emergency brake control algorithm also includes a first updated safety distance algorithm, which is: Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max represents the maximum deceleration of the preceding vehicle, t1 represents the reaction delay time of the driver of the vehicle, t2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, S c The front vehicle is moving at a speed v c Slow down at a deceleration rate a2′ to the corresponding stopping distance when parking.

4. An emergency brake control device, characterized in that: The device is applied to the vehicle and the preceding vehicle in a following vehicle driving state, and the device comprises: A calculation unit, which is used to enable the leading vehicle to calculate a stopping distance based on operating condition information when the leading vehicle detects an expected collision with an obstacle; An updating unit, which is used to update the emergency braking control algorithm based on the stopping distance when the vehicle receives the stopping distance sent by the preceding vehicle, so as to obtain a revised emergency braking control algorithm; A control unit, which is used to control the AEB to intervene in advance to assist the braking of the vehicle based on the revised emergency brake control algorithm; The modified emergency braking control algorithm includes an updated TTC algorithm and an updated safety distance algorithm, and the updated TTC algorithm and the updated safety distance algorithm are respectively: d br =TTC·v rel +d+S c In the formula, TTC represents the time when the vehicle collides with the vehicle in front, v rel represents the relative speed between the vehicle and the vehicle in front, a1 represents the real-time acceleration of the vehicle, s represents the real-time distance between the vehicle and the vehicle in front, d represents the minimum stopping distance of the vehicle, and d br Indicates the safety distance, S c The front vehicle is moving at a speed v c Slow down at a deceleration rate a2′ to the corresponding stopping distance when parking.

5. The emergency brake control device according to claim 4, characterized in that: The operating condition information includes the vehicle speed and deceleration when the front vehicle is expected to collide with the obstacle, and the calculation unit is specifically used for: Substituting the speed and deceleration of the front vehicle when the front vehicle is expected to collide with the obstacle into the first calculation formula to obtain the stopping distance of the front vehicle, the first calculation formula is: In the formula, v c represents the speed of the vehicle when the front vehicle is expected to collide with the obstacle, a2′ represents the deceleration when the front vehicle is expected to collide with the obstacle, S c The front vehicle is moving at a speed v c Slow down at a deceleration rate a2′ to the corresponding stopping distance when parking.

6. The emergency brake control device according to claim 4, characterized in that: The modified emergency brake control algorithm also includes a first updated safety distance algorithm, which is: Where, d br represents the safety distance, v represents the real-time speed of the vehicle, and v rel Indicates the relative speed between the vehicle and the preceding vehicle, a 1max Indicates the maximum deceleration of the vehicle, a 2max represents the maximum deceleration of the preceding vehicle, t1 represents the reaction delay time of the driver of the vehicle, t2 represents the brake delay time of the vehicle, d represents the minimum stopping distance of the vehicle, S c The front vehicle is moving at a speed v c Slow down at a deceleration rate a2′ to the corresponding stopping distance when parking.

7. An emergency brake control device, characterized in that: include: A memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the emergency braking control method according to any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by a processor, the emergency brake control method according to any one of claims 1 to 3 is implemented.

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