Automatic driving method, device and electronic equipment

Abstract

The present invention provides an automatic driving method, device and electronic device. When it is determined that the vehicle is decelerating, multiple first braking decelerations and second braking decelerations are calculated. According to the collision probability value, a braking deceleration that meets the preset deceleration screening condition is selected from the multiple first braking decelerations and the second braking decelerations, and is used as a target braking deceleration. The target braking deceleration is output to the vehicle braking system so that the vehicle braking system performs a braking operation. That is, in the process of deceleration, the present invention takes into account the driving state of the leading vehicle and the driving state of the following vehicle, and can ensure that there is no collision with the leading vehicle and the following vehicle during the braking process, thereby improving driving safety.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and more specifically, to an autonomous driving method, device and electronic equipment. Background Art

[0002] With the continuous development of autonomous driving technology, more and more vehicles are equipped with adaptive cruise control (ACC) and autonomous emergency brake (AEB). The ACC system and the AEB system can control the vehicle's driving according to the driving status of the vehicle in front of the vehicle, where the vehicle in front is in the same lane as the vehicle itself.

[0003] When the ACC system or AEB system determines that the vehicle in front needs to decelerate based on the driving status of the vehicle in front, in order to avoid a collision with the vehicle in front, the vehicle will be controlled to follow the vehicle in front to decelerate. However, when the vehicle behind the vehicle is close to the vehicle, if the vehicle decelerates, the vehicle may collide with the vehicle behind, and the driving safety of the vehicle is reduced. Summary of the invention

[0004] In view of this, the present invention provides an automatic driving method, device and electronic device to solve the problem that when the front vehicle has a deceleration demand, the self-driving vehicle is controlled to follow the front vehicle to perform deceleration control, which may cause a collision between the self-driving vehicle and the rear vehicle, resulting in low vehicle driving safety.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An automatic driving method is applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are located in the same lane; the automatic driving method comprises:

[0007] When it is determined that the vehicle is decelerating, calculating a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle;

[0008] Calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules;

[0009] Calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle;

[0010] According to the collision probability value, selecting a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations and using the braking deceleration as a target braking deceleration;

[0011] The target braking deceleration is output to a vehicle braking system so that the vehicle braking system performs a braking operation.

[0012] Optionally, after outputting the braking deceleration to the vehicle braking system, the method further comprises:

[0013] determining whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold;

[0014] If it is determined that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold, determining whether a lane change operation can be performed;

[0015] If so, a stop braking instruction is sent to the vehicle braking system, and a lane change instruction is sent to the steering system, so that the steering system performs a lane change operation; the message is a message indicating that the lane change can be performed.

[0016] Optionally, calculating the collision probability value between the vehicle and the rear vehicle based on the relative driving information between the vehicle and the rear vehicle includes:

[0017] Calculating a rear collision time according to a relative distance and a relative speed between the vehicle and the rear vehicle;

[0018] Calculating the backward time headway according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle;

[0019] determining a weight coefficient corresponding to the vehicle type of the rear vehicle;

[0020] Obtaining a deceleration value of the rear vehicle;

[0021] A collision probability value between the vehicle and the rear vehicle is calculated based on the rear collision time, the rear time headway, the weight coefficient, and the deceleration value of the rear vehicle.

[0022] Optionally, calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system and a plurality of different first braking intensity calculation rules includes:

[0023] Acquiring an output result of the adaptive cruise system, wherein the output result includes a first braking initial deceleration calculated by the adaptive cruise system;

[0024] Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method;

[0025] Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity;

[0026] The first braking initial deceleration is used as the first braking deceleration.

[0027] Optionally, calculating the second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system and a second braking intensity calculation rule includes:

[0028] Obtaining an output result of an automatic emergency braking system; the output result includes a normal deceleration and a segmented deceleration;

[0029] When the collision probability value is less than a second preset collision probability threshold, using the normal deceleration as a second braking deceleration;

[0030] When the collision probability value is greater than a second preset collision probability threshold, the segmented deceleration is used as the second braking deceleration.

[0031] Optionally, according to the collision probability value, a braking deceleration that meets a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking decelerations and used as a target braking deceleration, including:

[0032] Determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule;

[0033] A smaller value of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

[0034] An automatic driving device is applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are located in the same lane; the automatic driving device comprises:

[0035] a collision probability calculation module, configured to calculate a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle when it is determined that the vehicle is decelerating;

[0036] a first speed calculation module, configured to calculate a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules;

[0037] A second speed calculation module, configured to calculate a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle;

[0038] a speed screening module, configured to screen out a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations according to the collision probability value, and use the braking deceleration as a target braking deceleration;

[0039] The automatic control module is used to output the target braking deceleration to the vehicle braking system so that the vehicle braking system performs a braking operation.

[0040] Optionally, it also includes:

[0041] a first judgment module, configured to judge whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold;

[0042] a second judgment module, configured to judge whether a lane change operation can be performed if it is judged that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold;

[0043] The lane changing control module is used to send a stop braking instruction to the vehicle braking system, and send a lane changing instruction to the steering system so that the steering system performs a lane changing operation; the message is a message indicating that the lane changing can be performed.

[0044] Optionally, the collision probability calculation module includes:

[0045] A time calculation submodule, used to calculate the rear collision time according to the relative distance and relative speed between the vehicle and the rear vehicle;

[0046] A time distance calculation submodule, used for calculating the backward time distance according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle;

[0047] A coefficient determination submodule, used to determine a weight coefficient corresponding to the vehicle type of the rear vehicle;

[0048] A speed acquisition submodule, used to acquire the deceleration value of the rear vehicle;

[0049] The probability calculation submodule is used to calculate the collision probability value between the vehicle and the rear vehicle based on the rear collision time, the rear time distance, the weight coefficient and the deceleration value of the rear vehicle.

[0050] An electronic device, wherein a vehicle in front of a vehicle in which the electronic device is located and a vehicle behind the vehicle are located in the same lane; comprising: a memory and a processor;

[0051] Wherein, the memory is used to store programs;

[0052] The processor calls the program and is used to:

[0053] When it is determined that the vehicle is decelerating, calculating a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle;

[0054] Calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules;

[0055] Calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle;

[0056] According to the collision probability value, selecting a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations and using the braking deceleration as a target braking deceleration;

[0057] The target braking deceleration is output to a vehicle braking system so that the vehicle braking system performs a braking operation.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] The present invention provides an automatic driving method, device and electronic device. When the vehicle is determined to be decelerating, the collision probability value between the vehicle and the rear vehicle is calculated, and multiple first braking decelerations are calculated based on the collision probability value, the output result of the adaptive cruise system determined according to the driving state of the front vehicle, and multiple different first braking intensity calculation rules. The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system determined according to the driving state of the front vehicle, and the second braking intensity calculation rule. According to the collision probability value, the braking deceleration that meets the preset deceleration screening condition is screened from the multiple first braking decelerations and the second braking decelerations, and is used as the target braking deceleration. The target braking deceleration is output to the vehicle braking system so that the vehicle braking system performs a braking operation. That is, in the process of deceleration, the present invention takes into account both the driving state of the front vehicle and the driving state of the rear vehicle, and can ensure that there is no collision with the front vehicle and the rear vehicle during braking, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0061] Figure 1 A schematic diagram of a vehicle driving scenario provided by an embodiment of the present invention;

[0062] Figure 2 A method flow chart of an automatic driving method provided by an embodiment of the present invention;

[0063] Figure 3 A method flow chart of another automatic driving method provided by an embodiment of the present invention;

[0064] Figure 4 A schematic diagram of a first braking deceleration scenario provided by an embodiment of the present invention;

[0065] Figure 5 A schematic diagram of a second braking deceleration scenario provided by an embodiment of the present invention;

[0066] Figure 6 A method flow chart of another automatic driving method provided by an embodiment of the present invention;

[0067] Figure 7 A schematic diagram of a scenario of an autonomous driving method provided by an embodiment of the present invention;

[0068] Figure 8 A schematic diagram of the structure of an automatic driving device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] When the ACC system or AEB system determines that the vehicle in front needs to decelerate based on the driving status of the vehicle in front, in order to avoid a collision with the vehicle in front, the vehicle will be controlled to follow the vehicle in front to decelerate. However, when the distance between the vehicle behind the vehicle and the vehicle is close, the vehicle will decelerate. If the vehicle behind the vehicle does not react in time, the vehicle may collide with the vehicle behind, and the vehicle driving safety is low.

[0071] In order to solve this problem, the inventor has found through research that if the vehicle is in a deceleration state during automatic driving, the vehicle deceleration is controlled by considering the state of the vehicle in front and the state of the vehicle behind. Furthermore, if it is determined that the vehicle can change lanes during the deceleration process, the vehicle is controlled to stop decelerating and change lanes. If the vehicle cannot change lanes, the vehicle is controlled to continue decelerating.

[0072] Specifically, in the present invention, when it is determined that the vehicle is decelerating, the collision probability value between the vehicle and the rear vehicle is calculated, and based on the collision probability value, the output result of the adaptive cruise system determined according to the driving state of the front vehicle, and a plurality of different first braking intensity calculation rules, a plurality of first braking decelerations are calculated, and based on the collision probability value, the output result of the automatic emergency braking system determined according to the driving state of the front vehicle, and a second braking intensity calculation rule, a second braking deceleration is calculated, and according to the collision probability value, a braking deceleration that meets the preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking deceleration, and is used as a target braking deceleration, and the target braking deceleration is output to the vehicle braking system, so that the vehicle braking system performs a braking operation. That is, in the process of deceleration, the present invention takes into account both the driving state of the front vehicle and the driving state of the rear vehicle, and can ensure that there is no collision with the front vehicle and the rear vehicle during braking, thereby improving driving safety.

[0073] Based on the above content, another embodiment of the present invention provides an automatic driving method, which is applied to a controller in a vehicle. The controller in this embodiment can be a cruise system with a rear intelligent cruise control (RIC) function. In this embodiment, a RIC system is added on the basis of the original vehicle having an adaptive cruise control (ACC) system and an autonomous emergency brake (AEB) system.

[0074] In addition, certain improvements have been made to the original ACC system and AEB system, which can directly control the vehicle's actuators, such as the SCS braking system, etc. In the embodiment of the present invention, the ACC system and the AEB system no longer directly control the vehicle's actuators, but output signals to the RIC system in the embodiment of the present invention, and the RIC system controls the vehicle's actuators, such as the SCS braking system, EPS steering system, power transmission system, etc.

[0075] When a vehicle is actually driving, there may be a vehicle in front of the vehicle, called the front vehicle, or the front vehicle for short, and there may also be a vehicle behind the vehicle, called the rear vehicle, or the rear vehicle for short. Figure 1 , the vehicle in front of the vehicle and the vehicle behind the vehicle are located in the same lane, such as Figure 1 All three vehicles are in lane 2.

[0076] Reference Figure 3 , autonomous driving methods may include:

[0077] S11. When it is determined that the vehicle is decelerating, based on relative driving information between the vehicle and the rear vehicle, calculate a collision probability value between the vehicle and the rear vehicle.

[0078] In practical applications, when the vehicle decelerates, it can be considered that the vehicle may collide with the vehicle behind, and the logic of the present invention is executed at this time. When determining whether the vehicle decelerates, it can be determined by whether the vehicle speed decreases, and in addition, it can also be determined by whether the SCS brake system performs braking.

[0079] In one implementation of the present invention, referring to Figure 3 , “calculating the collision probability value between the vehicle and the rear vehicle based on the relative driving information between the vehicle and the rear vehicle” may include:

[0080] S21. Calculate a rear collision time according to a relative distance and a relative speed between the vehicle and the rear vehicle.

[0081] S22: Calculate the backward time headway according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle.

[0082] S23: Determine a weight coefficient corresponding to the vehicle type of the rear vehicle.

[0083] S24. Obtain the deceleration value of the rear vehicle.

[0084] S25. Calculate a collision probability value between the vehicle and the rear vehicle based on the rear collision time, the rear time headway, the weight coefficient, and the deceleration value of the rear vehicle.

[0085] In practical applications, the above RIC system architecture includes RC_Conf module, RI_ACC, RI_AEB, RI_ARB, RI_LCA and other modules.

[0086] The RC_Conf module can calculate and judge the relative speed, relative distance change, rearward relative acceleration, and rearward target type between the vehicle and the rear vehicle to evaluate and comprehensively calculate the collision risk.

[0087] Furthermore, the RC_Conf algorithm mainly considers the following aspects:

[0088] The collision probability value RC_Conf between the vehicle and the rear vehicle is Func(TTC_RC, TRW_RC, ObjCls_RC, Accel_RC).

[0089] Wherein, rear collision time TTC_RC=RltvLongtDist_RC / RltvSpd_RC;

[0090] Backward time distance TRW_RC = RltvLongtDist_RC / EgoSpd;

[0091] The weight coefficient corresponding to the vehicle type of the rear vehicle:

[0092] ObjCls_RC=WeightFunc(MotorCycle,Truck,Car)

[0093] Among them, RltvLongtDist_RC is the relative distance between the rear vehicle and the vehicle, that is, the own vehicle, RltvSpd_RC is the relative speed between the rear vehicle and the own vehicle, EgoSpd is the speed of the vehicle, ObjCls_RC is the weight coefficient corresponding to the vehicle type of the rear vehicle (motorcycle, truck, car), and Accel_RC is the deceleration value of the rear vehicle.

[0094] After obtaining the rear collision time, rear time distance, weight coefficient and deceleration value of the rear vehicle through the above method, the collision probability value between the vehicle and the rear vehicle is calculated according to the above RC_Conf=Func(TTC_RC,TRW_RC,ObjCls_RC,Accel_RC), RC_Conf is 0%-100, and the higher the value, the greater the collision risk. Among them, Func represents the calibration function based on the internal variables of Func(,,), which is a set of calibration tables.

[0095] S12: Calculate a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules.

[0096] In the embodiment of the present invention, the execution subject of step S12 is the above-mentioned RI_ACC module, which is based on the traditional ACC function and superimposed with the rear intelligent related function function and interface. Compared with the traditional ACC, RI_ACC needs to increase the reception of the rear collision risk signal of RC_Conf, so as to optimize the braking request deceleration curve.

[0097] In practical applications, the adaptive cruise control system is the above-mentioned ACC system. In the normal following process, ACC can have different speed and acceleration planning curves. Although they can all maintain the braking smoothness of the vehicle, different braking plans affect the braking relationship with the vehicle in front. When the ACC system detects that there is a vehicle in front of the vehicle, it can adjust the driving state of the vehicle according to the driving state of the vehicle in front, such as the speed, etc. When the vehicle in front decelerates, the ACC system can output a deceleration value, which is called CBf_nor. In addition to the traditional CBf_nor, that is, the normal ACC deceleration request, the RI_ACC module in the present invention needs to add two ACC output signals: the minimum braking intensity request value CBf_min, and the intermediate deceleration request value CBf_mid, to reduce the peak braking intensity request under safety protection to alleviate the risk of rear collision.

[0098] That is to say, the output braking intensity of the RI_ACC module is mainly divided into CBf_nor, CBf_mid, CBf_min, refer to Figure 4 As shown in the schematic diagram of the CBf braking deceleration curve, for the same vehicle target in front, the RI_ACC end can calibrate three different braking curves to meet the safe following relationship with the vehicle in front.

[0099] CBf_nor=(normal mode),

[0100] CBf_min=(early braking point mode), braking relief is performed earlier,

[0101] CBf_mid = (gentle braking mode); the braking point remains in normal mode, but the maximum braking intensity is limited, and the time of medium braking is extended. For example, the maximum and minimum values ​​can be calculated using the uniform deceleration algorithm to calculate a braking curve that reduces the peak value.

[0102] The above-mentioned CBf_nor, CBf_mid, and CBf_min are three different first braking decelerations, and the first braking intensity calculation rules corresponding to different first braking decelerations are different. Among them, CBf_nor is directly output by the ACC system, and CBf_mid and CBf_min are calculated by the calibration values ​​obtained by looking up the table under CBf_nor and RC_Conf respectively. The normal mode deceleration CBf_nor = a function composed of f(a_hd, K1, RltvSpd, tau, K2, RltvDist, t_set), where RltvSpd and RltvDist are the position information parameters of the vehicle and the vehicle in front of the vehicle, a_hd is the acceleration value of the vehicle in front, t_set is the following time gear selected by the driver, tau is the coefficient corresponding to t_set, and K1 and K2 correspond to the calibration parameters of RltvSpd and RltvDist;

[0103] In CBf_mid and CBf_min modes,

[0104] CBf_mid=f(a_hd,K3(RC_Conf),RltvSpd,tau,K2,RltvDist,t_set)

[0105] CBf_min=f(a_hd,K4(RC_Conf),RltvSpd,tau,K2,RltvDist,t_set)

[0106] Based on different RC_Conf, different CBf_min and CBf_mid can be obtained, where the calculated value of CBf_mid should be greater than

[0107] S13. Calculate a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system and a second braking intensity calculation rule.

[0108] The output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle.

[0109] In the embodiment of the present invention, the execution subject of step S13 is the above-mentioned RI_AEB module. Compared with the traditional AEB, RI_AEB needs to increase the reception of the rear collision risk signal of RC_Conf, so as to optimize the braking request deceleration curve.

[0110] In the RI_AEB of the present invention, the RC_Conf signal is received to perform braking response in advance, reducing the centralized and step-by-step braking intensity, thereby providing more response time for the rear vehicle, such as Figure 5 , as shown in the schematic diagram of the EBf braking deceleration curve. Wherein, Ebf_RIC refers to the braking curve output by RI_AEB in the present invention, and Ebf_no RIC refers to the braking curve output by the original AEB.

[0111] In practical applications, the automatic emergency braking system is the AEB system mentioned above. The braking process of AEB is generally late and the braking intensity is relatively large. AEB has two braking deceleration values, one is the AEB normal deceleration value, and the other is the AEB segmented deceleration value. Both deceleration values ​​are output by the AEB system. The second braking deceleration in the present invention is determined by the AEB normal deceleration value and the AEB segmented deceleration value. Specifically, the output result of the automatic emergency braking system is obtained, and the output result includes normal deceleration (i.e., the above-mentioned AEB normal deceleration value) and segmented deceleration (i.e., the above-mentioned AEB segmented deceleration value).

[0112] When the collision probability value is less than the second preset collision probability threshold, the normal deceleration is used as the second braking deceleration; when the collision probability value is greater than the second preset collision probability threshold, the segmented deceleration is used as the second braking deceleration.

[0113] Specifically,

[0114] Second braking deceleration

[0115] The calibration value is the second preset collision probability threshold in this embodiment, and the second preset collision probability threshold is set by technicians according to specific application scenarios. That is to say, in this embodiment of the present invention, when the collision probability value and the calibration value have different magnitude relationships, one of the AEB normal deceleration value and the AEB segmented deceleration value is selected as the second braking deceleration EBF.

[0116] S14. Filter out a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations according to the collision probability value, and use the braking deceleration as a target braking deceleration.

[0117] The execution body of steps S14-S15 is the above-mentioned RC_ARB module, which is mainly responsible for processing the traditional ACC braking request CBf_nor and the AEB braking request value EBf, and performing deceleration arbitration; RI_ARB needs to receive the RC_conf rearward collision risk signal, and the output of RI_ACC and RI_AEB to make a braking decision.

[0118] According to the above embodiment, there are three first braking decelerations and one second braking deceleration EBF, so in this embodiment, according to the collision probability value and the preset deceleration screening condition, one of the first braking deceleration and the second braking deceleration is selected and used as the target braking deceleration.

[0119] S15. Outputting the target braking deceleration to a vehicle braking system so that the vehicle braking system performs a braking operation.

[0120] Specifically, in this embodiment, the RC_ARB module outputs the target braking deceleration to the vehicle braking system, and the vehicle braking system performs a braking operation according to the target braking deceleration. The vehicle braking system in this embodiment may be the above-mentioned SCS braking system.

[0121] In this embodiment, when it is determined that the vehicle is decelerating, the collision probability value between the vehicle and the rear vehicle is calculated, and multiple first braking decelerations are calculated based on the collision probability value, the output result of the adaptive cruise system determined according to the driving state of the front vehicle, and multiple different first braking intensity calculation rules. The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system determined according to the driving state of the front vehicle, and the second braking intensity calculation rule. According to the collision probability value, the braking deceleration that meets the preset deceleration screening condition is screened from the multiple first braking decelerations and the second braking deceleration, and is used as the target braking deceleration. The target braking deceleration is output to the vehicle braking system so that the vehicle braking system performs a braking operation. That is, in the process of deceleration, the present invention takes into account both the driving state of the front vehicle and the driving state of the rear vehicle, and can ensure that there is no collision with the front vehicle and the rear vehicle during braking, thereby improving driving safety.

[0122] The above embodiment introduces "calculating the second braking deceleration based on the collision probability value, the output result of the automatic emergency braking system and the second braking intensity calculation rule", and now the specific implementation process is introduced. Figure 6 , step S12 may include:

[0123] S31, obtaining an output result of the adaptive cruise control system.

[0124] The output result includes the first braking initial deceleration calculated by the adaptive cruise system, that is, the above-mentioned CBf_nor.

[0125] S32. Calculate a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method.

[0126] In practical applications, the calculation process of the first braking deceleration CBf_min in this embodiment refers to the above corresponding description.

[0127] S33. Calculate a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity.

[0128] In practical applications, the calculation process of the first braking deceleration CBf_mid in this embodiment refers to the above corresponding description.

[0129] S34: Use the first braking initial deceleration as the first braking deceleration.

[0130] That is, the first braking deceleration in this embodiment is the above-mentioned CBf_nor, CBf_mid, and CBf_mi n.

[0131] In this embodiment, the first braking deceleration is determined. Based on this embodiment, step S14 may include:

[0132] Based on the collision probability value and the first braking deceleration screening rule, a first braking deceleration is determined from a plurality of the first braking decelerations, and a smaller value between the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

[0133] Specifically, the RI_ARB module is responsible for all braking requests in the decision-making system, including RI_ACC and RI_AEB, and ultimately outputs the braking deceleration value Brk_accel to the SCS braking control module.

[0134] Target braking deceleration Brk_accel = min(EBf, CBf)

[0135]

[0136] In this embodiment, during the vehicle deceleration process, the comprehensive braking deceleration can be calculated based on the output results of RI_ACC and RI_AEB, as well as the collision probability values ​​of the own vehicle and the following vehicle, and the braking deceleration is used to perform vehicle braking control.

[0137] During the braking process, if it is determined that the vehicle can change lanes based on the environment around it, the lane change operation can be performed to avoid collision with the front and rear vehicles as much as possible. For details, refer to Figure 7 , after outputting the braking deceleration to the vehicle braking system, further comprising:

[0138] 1) Determine whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold.

[0139] Specifically, the RI_ARB module will output the corresponding state according to the deceleration corresponding to the previous step, ARB_brkSts to RC_Conf, where RI_ARB_brkSts specifically includes,

[0140] 0x0: CBf_nor

[0141] 0x1: CBf_min

[0142] 0x2: CBf_mid

[0143] 0x3: EBf

[0144] 0x4: RI_LCA_RC_conf

[0145] Among them, RI_LCA_RC_conf is set after receiving the RI_LCA_sts=activated state.

[0146] The above four states are determined according to the above target braking deceleration Brk_accel. If Brk_accel selects EBf, the content of ARB_brkSts is 0x3. If Brk_accel selects CBf_nor, the content of ARB_brkSts is 0x0.

[0147] The braking decision of the RI_ARB module will be synchronously fed back to the RC_Conf module. The RC_Conf module monitors the relative relationship between the vehicle and the following vehicle, and determines whether to request LCA to perform lane change control and perform emergency steering avoidance.

[0148] Specifically, determine whether the following abc is true:

[0149] a. Calibration value 4 (e.g., 90 kph) > EgoSpd > calibration value 5 (e.g., 60 kph), i.e., determining whether the vehicle speed is within the preset speed range;

[0150] b. RC_conf>calibrated value 6 (eg, 90%), i.e., determining whether the collision probability value is greater than a first preset collision probability threshold;

[0151] c. ARB_brkSts feedback is 0x3, that is, it is determined whether the target braking deceleration is the second braking deceleration.

[0152] 2) If it is determined that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold, it is determined whether a lane change operation can be performed.

[0153] Specifically, if abc are all satisfied, the LCA_Req requested by the RC_Conf module is set to 1, that is, the RC_Conf module generates and sends a lane change request to the RI_LCA lane change control module. At this time, RI_LCA will judge the surrounding information and the drivable road space to feedback whether an emergency lane change is possible. The judgment result RI_LCA_sts contains one of the following three types:

[0154] 0x0: Standby, indicating the default state of LCA;

[0155] 0x1 activated, indicating that LCA can handle the emergency lane change condition;

[0156] 0x2 The condition is not met, indicating that LCA cannot handle the emergency lane change condition.

[0157] After RI_LCA determines whether a lane change is possible, it returns the result to the RI_ARB module.

[0158] 3) If so, a stop braking instruction is sent to the vehicle braking system, and a lane change instruction is sent to the steering system, so that the steering system performs a lane change operation; the message is a message indicating that the lane change can be performed.

[0159] If RI_LCA feedback is 0x1, RI_ARB module will cancel the brake and hand over the entire control process to RI_LCA module, which controls the EPS steering system for steering control. In addition, RI_ARB module will also feedback the above 0x4 to RC_Conf module.

[0160] Otherwise, in the 0x0 and 0x2 states of RI_LCA, ARB will continue to perform longitudinal control according to RC_conf, RI_ACC, and RI_AEB.

[0161] Reference Figure 7 , Figure 7 A schematic diagram of the entire process control scenario is given, and the flow of each signal flow is as follows Figure 7 The flow mode can be used.

[0162] It should be noted that Figure 7The powertrain in is a transmission system used to assist the EPS steering system and the SCS braking system.

[0163] Optionally, based on the above embodiment of the automatic driving method, another embodiment of the present invention provides an automatic driving device, which is applied to a controller in a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are located in the same lane; the automatic driving device comprises:

[0164] A collision probability calculation module 11 is used to calculate a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle when it is determined that the vehicle is decelerating;

[0165] A first speed calculation module 12 is used to calculate a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules;

[0166] A second speed calculation module 13 is used to calculate a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle;

[0167] A speed screening module 14, configured to screen out a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations according to the collision probability value, and use the braking deceleration as a target braking deceleration;

[0168] The automatic control module 15 is used to output the target braking deceleration to the vehicle braking system so that the vehicle braking system performs a braking operation.

[0169] Furthermore, it also includes:

[0170] a first judgment module, configured to judge whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold;

[0171] a second judgment module, configured to judge whether a lane change operation can be performed if it is judged that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold;

[0172] The lane changing control module is used to send a stop braking instruction to the vehicle braking system, and send a lane changing instruction to the steering system so that the steering system performs a lane changing operation; the message is a message indicating that the lane changing can be performed.

[0173] Furthermore, the collision probability calculation module includes:

[0174] A time calculation submodule, used to calculate the rear collision time according to the relative distance and relative speed between the vehicle and the rear vehicle;

[0175] A time distance calculation submodule, used for calculating the backward time distance according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle;

[0176] A coefficient determination submodule, used to determine a weight coefficient corresponding to the vehicle type of the rear vehicle;

[0177] A speed acquisition submodule, used to acquire the deceleration value of the rear vehicle;

[0178] The probability calculation submodule is used to calculate the collision probability value between the vehicle and the rear vehicle based on the rear collision time, the rear time distance, the weight coefficient and the deceleration value of the rear vehicle.

[0179] Further, the first speed calculation module includes:

[0180] A result acquisition submodule, used for acquiring an output result of the adaptive cruise system, wherein the output result includes a first braking initial deceleration calculated by the adaptive cruise system;

[0181] A first calculation submodule, configured to calculate a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method;

[0182] A second calculation submodule, configured to calculate a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity;

[0183] The determination submodule is configured to use the first braking initial deceleration as a first braking deceleration.

[0184] Further, the second speed calculation module is specifically used for:

[0185] Obtaining an output result of an automatic emergency braking system; the output result includes a normal deceleration and a segmented deceleration;

[0186] When the collision probability value is less than a second preset collision probability threshold, using the normal deceleration as a second braking deceleration;

[0187] When the collision probability value is greater than a second preset collision probability threshold, the segmented deceleration is used as the second braking deceleration.

[0188] Furthermore, the speed screening module is specifically used for:

[0189] Based on the collision probability value and the first braking deceleration screening rule, a first braking deceleration is determined from a plurality of the first braking decelerations, and a smaller value between the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

[0190] In this embodiment, when it is determined that the vehicle is decelerating, the collision probability value between the vehicle and the rear vehicle is calculated, and multiple first braking decelerations are calculated based on the collision probability value, the output result of the adaptive cruise system determined according to the driving state of the front vehicle, and multiple different first braking intensity calculation rules. The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system determined according to the driving state of the front vehicle, and the second braking intensity calculation rule. According to the collision probability value, the braking deceleration that meets the preset deceleration screening condition is screened from the multiple first braking decelerations and the second braking deceleration, and is used as the target braking deceleration. The target braking deceleration is output to the vehicle braking system so that the vehicle braking system performs a braking operation. That is, in the process of deceleration, the present invention takes into account both the driving state of the front vehicle and the driving state of the rear vehicle, and can ensure that there is no collision with the front vehicle and the rear vehicle during braking, thereby improving driving safety.

[0191] It should be noted that, for the working process of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0192] Optionally, based on the above-mentioned embodiment of the automatic driving method and device, another embodiment of the present invention provides an electronic device, wherein a vehicle in front of a vehicle where the electronic device is located and a vehicle behind the vehicle are located in the same lane; the electronic device includes: a memory and a processor;

[0193] Wherein, the memory is used to store programs;

[0194] The processor calls the program and is used to:

[0195] When it is determined that the vehicle is decelerating, calculating a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle;

[0196] Calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules;

[0197] Calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle;

[0198] According to the collision probability value, selecting a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations and using the braking deceleration as a target braking deceleration;

[0199] The target braking deceleration is output to a vehicle braking system so that the vehicle braking system performs a braking operation.

[0200] Further, after the braking deceleration is output to the vehicle braking system, the method further includes:

[0201] determining whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold;

[0202] If it is determined that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold, determining whether a lane change operation can be performed;

[0203] If so, a stop braking instruction is sent to the vehicle braking system, and a lane change instruction is sent to the steering system, so that the steering system performs a lane change operation; the message is a message indicating that the lane change can be performed.

[0204] Further, based on the relative driving information between the vehicle and the rear vehicle, calculating the collision probability value between the vehicle and the rear vehicle includes:

[0205] Calculating a rear collision time according to a relative distance and a relative speed between the vehicle and the rear vehicle;

[0206] Calculating the backward time headway according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle;

[0207] determining a weight coefficient corresponding to the vehicle type of the rear vehicle;

[0208] Obtaining a deceleration value of the rear vehicle;

[0209] A collision probability value between the vehicle and the rear vehicle is calculated based on the rear collision time, the rear time headway, the weight coefficient, and the deceleration value of the rear vehicle.

[0210] Further, according to the collision probability value, the output result of the adaptive cruise control system and a plurality of different first braking intensity calculation rules, a plurality of first braking decelerations are calculated, including:

[0211] Acquiring an output result of the adaptive cruise system, wherein the output result includes a first braking initial deceleration calculated by the adaptive cruise system;

[0212] Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method;

[0213] Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity;

[0214] The first braking initial deceleration is used as the first braking deceleration.

[0215] Further, based on the collision probability value, the output result of the automatic emergency braking system and the second braking intensity calculation rule, calculating the second braking deceleration includes:

[0216] Obtaining an output result of an automatic emergency braking system; the output result includes a normal deceleration and a segmented deceleration;

[0217] When the collision probability value is less than a second preset collision probability threshold, using the normal deceleration as a second braking deceleration;

[0218] When the collision probability value is greater than a second preset collision probability threshold, the segmented deceleration is used as the second braking deceleration.

[0219] Further, according to the collision probability value, a braking deceleration that meets a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking decelerations and used as a target braking deceleration, including:

[0220] Determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule;

[0221] A smaller value of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

[0222] In this embodiment, when it is determined that the vehicle is decelerating, the collision probability value between the vehicle and the rear vehicle is calculated, and multiple first braking decelerations are calculated based on the collision probability value, the output result of the adaptive cruise system determined according to the driving state of the front vehicle, and multiple different first braking intensity calculation rules. The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system determined according to the driving state of the front vehicle, and the second braking intensity calculation rule. According to the collision probability value, the braking deceleration that meets the preset deceleration screening condition is screened from the multiple first braking decelerations and the second braking deceleration, and is used as the target braking deceleration. The target braking deceleration is output to the vehicle braking system so that the vehicle braking system performs a braking operation. That is, in the process of deceleration, the present invention takes into account both the driving state of the front vehicle and the driving state of the rear vehicle, and can ensure that there is no collision with the front vehicle and the rear vehicle during braking, thereby improving driving safety.

[0223] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic driving method, characterized in that: A controller applied to a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are located in the same lane; The autonomous driving method comprises: When it is determined that the vehicle is decelerating, calculating a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle; Calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules; Calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle; According to the collision probability value, selecting a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations and using the braking deceleration as a target braking deceleration; outputting the target braking deceleration to a vehicle braking system so that the vehicle braking system performs a braking operation; Wherein, according to the collision probability value, the output result of the adaptive cruise control system and a plurality of different first braking intensity calculation rules, a plurality of first braking decelerations are calculated, including: Acquiring an output result of the adaptive cruise system, wherein the output result includes a first braking initial deceleration calculated by the adaptive cruise system; Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method; Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity; using the first braking initial deceleration as the first braking deceleration; The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system and the second braking intensity calculation rule, including: Obtaining an output result of an automatic emergency braking system; the output result includes a normal deceleration and a segmented deceleration; When the collision probability value is less than a second preset collision probability threshold, using the normal deceleration as a second braking deceleration; When the collision probability value is greater than a second preset collision probability threshold, using the segmented deceleration as a second braking deceleration; According to the collision probability value, a braking deceleration that meets a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking decelerations and used as a target braking deceleration, including: Determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule; A smaller value of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

2. The automatic driving method according to claim 1, characterized in that: After outputting the braking deceleration to the vehicle braking system, the method further comprises: determining whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold; If it is determined that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold, determining whether a lane change operation can be performed; If so, a stop braking instruction is sent to the vehicle braking system, and a lane change instruction is sent to the steering system to enable the steering system to perform a lane change operation; the lane change instruction is a message indicating that the lane change can be performed.

3. The automatic driving method according to claim 1, characterized in that: Calculating a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle includes: Calculating a rear collision time according to a relative distance and a relative speed between the vehicle and the rear vehicle; Calculating the backward time headway according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle; determining a weight coefficient corresponding to the vehicle type of the rear vehicle; Obtaining a deceleration value of the rear vehicle; A collision probability value between the vehicle and the rear vehicle is calculated based on the rear collision time, the rear time headway, the weight coefficient, and the deceleration value of the rear vehicle.

4. An automatic driving device, characterized in that: A controller applied to a vehicle, wherein a vehicle in front of the vehicle and a vehicle behind the vehicle are located in the same lane; The automatic driving device comprises: a collision probability calculation module, configured to calculate a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle when it is determined that the vehicle is decelerating; a first speed calculation module, configured to calculate a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules; A second speed calculation module, configured to calculate a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle; a speed screening module, configured to screen out a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations according to the collision probability value, and use the braking deceleration as a target braking deceleration; an automatic control module, configured to output the target braking deceleration to a vehicle braking system so that the vehicle braking system performs a braking operation; Wherein, according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first braking intensity calculation rules, a plurality of first braking decelerations are calculated, including: Acquire an output result of the adaptive cruise system, wherein the output result includes a first braking initial deceleration calculated by the adaptive cruise system; Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method; Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity; using the first braking initial deceleration as the first braking deceleration; The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system and the second braking intensity calculation rule, including: Obtaining an output result of an automatic emergency braking system; the output result includes a normal deceleration and a segmented deceleration; When the collision probability value is less than a second preset collision probability threshold, using the normal deceleration as a second braking deceleration; When the collision probability value is greater than a second preset collision probability threshold, using the segmented deceleration as a second braking deceleration; According to the collision probability value, a braking deceleration that meets a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking decelerations and used as a target braking deceleration, including: Determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule; A smaller value of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

5. The automatic driving device according to claim 4, characterized in that: Also includes: a first judgment module, configured to judge whether the target braking deceleration is the second braking deceleration, whether the speed of the vehicle is within a preset speed range, and whether the collision probability value is greater than a first preset collision probability threshold; a second judgment module, configured to judge whether a lane change operation can be performed if it is judged that the target braking deceleration is the second braking deceleration, the speed of the vehicle is within a preset speed range, and the collision probability value is greater than a first preset collision probability threshold; a lane change control module, configured to, if yes, send a stop braking command to the vehicle braking system, and send a lane change command to the steering system, so that the steering system performs a lane change operation; The lane change instruction is a message indicating that a lane change can be performed.

6. The automatic driving device according to claim 4, characterized in that: The collision probability calculation module includes: A time calculation submodule, used to calculate the rear collision time according to the relative distance and relative speed between the vehicle and the rear vehicle; A time distance calculation submodule, used for calculating the backward time distance according to the relative distance between the vehicle and the rear vehicle and the speed of the vehicle; A coefficient determination submodule, used to determine a weight coefficient corresponding to the vehicle type of the rear vehicle; A speed acquisition submodule, used to acquire the deceleration value of the rear vehicle; The probability calculation submodule is used to calculate the collision probability value between the vehicle and the rear vehicle based on the rear collision time, the rear time distance, the weight coefficient and the deceleration value of the rear vehicle.

7. An electronic device, characterized in that: The vehicle in front of the vehicle where the electronic device is located and the vehicle behind the vehicle are located in the same lane; comprising: a memory and a processor; Wherein, the memory is used to store programs; The processor calls the program and is used to: When it is determined that the vehicle is decelerating, calculating a collision probability value between the vehicle and the rear vehicle based on relative driving information between the vehicle and the rear vehicle; Calculating a plurality of first braking decelerations according to the collision probability value, an output result of the adaptive cruise control system, and a plurality of different first braking intensity calculation rules, wherein different first braking decelerations correspond to different first braking intensity calculation rules; Calculating a second braking deceleration based on the collision probability value, an output result of the automatic emergency braking system, and a second braking intensity calculation rule; the output result of the adaptive cruise control system and the output result of the automatic emergency braking system are determined based on the driving state of the leading vehicle; According to the collision probability value, selecting a braking deceleration that meets a preset deceleration screening condition from the plurality of first braking decelerations and the second braking decelerations and using the braking deceleration as a target braking deceleration; outputting the target braking deceleration to a vehicle braking system so that the vehicle braking system performs a braking operation; Wherein, according to the collision probability value, the output result of the adaptive cruise system and a plurality of different first braking intensity calculation rules, a plurality of first braking decelerations are calculated, including: Acquire an output result of the adaptive cruise system, wherein the output result includes a first braking initial deceleration calculated by the adaptive cruise system; Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a minimum braking intensity calculation method; Calculating a first braking deceleration based on the first braking initial deceleration, the collision probability value, and a calculation method for intermediate braking intensity; using the first braking initial deceleration as the first braking deceleration; The second braking deceleration is calculated based on the collision probability value, the output result of the automatic emergency braking system and the second braking intensity calculation rule, including: Obtaining an output result of an automatic emergency braking system; the output result includes a normal deceleration and a segmented deceleration; When the collision probability value is less than a second preset collision probability threshold, using the normal deceleration as a second braking deceleration; When the collision probability value is greater than a second preset collision probability threshold, using the segmented deceleration as a second braking deceleration; According to the collision probability value, a braking deceleration that meets a preset deceleration screening condition is screened out from the plurality of first braking decelerations and the second braking decelerations and used as a target braking deceleration, including: Determining a first braking deceleration from a plurality of first braking decelerations based on the collision probability value and a first braking deceleration screening rule; A smaller value of the determined first braking deceleration and the second braking deceleration is determined as a target braking deceleration.

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