Control method and device of vehicle active emergency braking system, vehicle and medium

Abstract

The application relates to a control method and device of a vehicle active emergency braking system, a vehicle and a medium, wherein the method comprises the following steps: detecting whether a vehicle meets a preset target unrecognizable condition; when it is detected that the vehicle meets the preset target unrecognizable condition, simultaneously recognizing a single-radar target of an active emergency braking function according to radar data of the vehicle, and acquiring target attributes of the single-radar target according to the radar data; and controlling the active emergency braking system to enter a single-radar triggering mode according to the single-radar target and the target attributes, so as to trigger a first emergency braking action of the vehicle according to a preset single-radar triggering strategy. The AEB function can be triggered based on the radar target result in the case that a camera fails to successfully recognize or radar and camera target fusion fails, so that the effectiveness of the AEB function triggering and the driving safety of the vehicle in different environments are further guaranteed, the safety and reliability of the vehicle are improved, and the driving experience of a user is greatly improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a control method, device, vehicle, and medium for a vehicle active emergency braking system. Background Technology

[0002] In recent years, with the continuous increase in car ownership, in order to ensure driving safety, more and more vehicles are equipped with AEB (Autonomous Emergency Braking) to help drivers avoid rear-end collisions or mitigate the consequences of collisions.

[0003] Currently, related technologies typically employ a fusion of camera and radar to identify targets and can perform a series of optimizations and adjustments for the vehicle's AEB (Autonomous Emergency Braking) function under various weather conditions to achieve adaptive braking control strategies in different weather environments. Furthermore, these technologies can also improve image clarity by switching between long and short focal lengths when the camera is in backlight, making the camera video footage clearer in backlit conditions and improving recognition accuracy.

[0004] However, when the camera fails to output the target normally or the input is inapplicable, the relevant technology cannot directly use the radar target to trigger the AEB function, which greatly affects vehicle driving safety and urgently needs to be solved. Summary of the Invention

[0005] This application provides a control method, device, vehicle, and medium for a vehicle active emergency braking system to solve the problems of related technologies, such as the inability to directly use radar targets to trigger the AEB function when camera input is not applicable, making it difficult to effectively ensure vehicle driving safety.

[0006] The first aspect of this application provides a control method for a vehicle active emergency braking system, comprising the following steps: detecting whether the vehicle meets a preset target unrecognizable condition; when the vehicle meets the preset target unrecognizable condition, identifying a single radar target for the active emergency braking function based on the vehicle's radar data, and simultaneously acquiring the target attribute of the single radar target based on the radar data; and determining whether the radar target and its target attribute meet a preset reliability condition based on camera target and its target attribute identified by camera data when the preset target unrecognizable condition is not met; if the preset reliability condition is met, controlling the active emergency braking system to enter a single radar trigger mode based on the single radar target and its target attribute, and triggering the vehicle's first emergency braking action with a preset single radar trigger strategy; otherwise, issuing an unreliable alarm.

[0007] Based on the above technical means, the embodiments of this application can trigger the AEB function based on the radar target result when the camera fails to identify the target or the radar and camera fail to fuse their respective target identifications. This further ensures the effectiveness of the AEB function triggering and the driving safety of the vehicle in different environments, improves the safety and reliability of the vehicle, and greatly enhances the user's driving experience.

[0008] Optionally, in one embodiment of this application, the preset target recognition conditions include: the vehicle's onboard camera malfunctioning; and / or, the interference level of the target vehicle's lights on the vehicle reaching a preset level; and / or, the vehicle reaching preset backlight conditions or preset glare conditions when entering or exiting the tunnel.

[0009] Based on the aforementioned technical means, this application embodiment uses the working status of the vehicle-mounted camera, the degree of interference of the target vehicle's lights with the vehicle itself, and the degree of backlighting when entering and exiting tunnel entrances as vehicle target recognition conditions. This not only allows for comparison between the actual driving conditions of the vehicle and the target recognition conditions, but also quantifies the degree of danger of the vehicle during driving. By combining the vehicle's condition with the driving environment, the triggering method of the subsequent AEB function can be determined in a timely manner, effectively ensuring the driving safety of the vehicle and improving the safety and reliability of the vehicle.

[0010] Optionally, in one embodiment of this application, the method further includes: when it is detected that the vehicle does not meet the preset target recognition condition, identifying the camera target and its target attributes based on the vehicle's camera data, and identifying the single radar target and its target attributes based on the radar data; fusing the camera target and its target attributes and the single radar target and its target attributes to obtain a fused target and its target attributes; and controlling the active emergency braking system to enter a fusion trigger mode based on the fused target and its target attributes, thereby triggering the vehicle's second emergency braking action using a preset fusion trigger strategy.

[0011] Based on the above technical means, when the vehicle is detected to not meet the conditions for target recognition, the embodiments of this application can collect data on the observed target through cameras and radar devices respectively, obtain the fused target and its target attributes, and trigger the AEB function through the fusion trigger mode to perform emergency braking on the vehicle. This not only further improves the safety and reliability of the vehicle and reduces the probability of traffic accidents, but also enhances the user experience.

[0012] Optionally, in one embodiment of this application, the system further includes: when the active emergency braking system is in the single radar trigger mode, controlling the vehicle to provide a camera failure warning to the driver.

[0013] Based on the above technical means, the embodiments of this application can, after triggering the AEB function through a single radar triggering strategy, use in-vehicle displays or dashboards to remind the driver that the camera has failed through voice broadcasts or text and image prompts. This provides the driver with camera failure reminders in multiple ways, thereby further improving vehicle safety, enhancing the driver's driving experience, and making the vehicle more user-friendly and intelligent.

[0014] Optionally, in one embodiment of this application, while controlling the vehicle to issue a camera failure alert, the method further includes: detecting the actual speed of the vehicle; when the actual speed is detected to be greater than or equal to a preset speed and the first emergency braking action is not performed, controlling the vehicle to decelerate to the preset speed, and controlling the vehicle to issue corresponding warnings to other vehicles or pedestrians.

[0015] Based on the above-mentioned technical means, the embodiments of this application can detect the actual speed of the vehicle. When the actual speed reaches the system preset speed but no emergency braking is performed, the vehicle is controlled to decelerate and corresponding warnings are given to other vehicles or pedestrians. This controls the vehicle speed within a safe and reasonable range, ensures the safety performance of the vehicle, further improves the reliability of the vehicle, and greatly reduces the possibility of rear-end collisions and other traffic accidents.

[0016] A second aspect of this application provides a control device for a vehicle active emergency braking system, comprising: a detection module for detecting whether the vehicle meets a preset target unrecognizable condition; an acquisition module for, when the vehicle meets the preset target unrecognizable condition, identifying a single radar target for the active emergency braking function based on the vehicle's radar data, and acquiring the target attribute of the single radar target based on the radar data; and a triggering module for controlling the active emergency braking system to enter a single radar triggering mode based on the single radar target and its target attribute, thereby triggering the vehicle's first emergency braking action according to a preset single radar triggering strategy.

[0017] Optionally, in one embodiment of this application, the preset target recognition conditions include: the vehicle's onboard camera malfunctioning; and / or, the interference level of the target vehicle's lights on the vehicle reaching a preset level; and / or, the vehicle reaching preset backlight conditions or preset glare conditions when entering or exiting the tunnel.

[0018] Optionally, in one embodiment of this application, it further includes: an identification module, configured to identify a camera target and its target attributes based on the vehicle's camera data and identify the single radar target and its target attributes based on the radar data when the vehicle is detected to not meet the preset target recognition condition; a fusion module, configured to fuse the camera target and its target attributes and the single radar target and its target attributes to obtain a fused target and its target attributes; and a control module, configured to control the active emergency braking system to enter a fusion trigger mode based on the fused target and its target attributes, and trigger the vehicle's second emergency braking action according to a preset fusion trigger strategy.

[0019] Optionally, in one embodiment of this application, it further includes: a reminder module, used to control the vehicle to remind the driver of camera failure when the active emergency braking system is in the single radar trigger mode.

[0020] Optionally, in one embodiment of this application, it further includes: a speed measurement module, used to detect the actual speed of the vehicle while controlling the vehicle to issue a camera failure warning; and a warning module, used to control the vehicle to decelerate to the preset speed and to control the vehicle to issue corresponding warnings to other vehicles or pedestrians when the actual speed is detected to be greater than or equal to a preset speed and the first emergency braking action is not performed.

[0021] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the vehicle active emergency braking system as described in the above embodiments.

[0022] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method of the vehicle active emergency braking system described above.

[0023] Therefore, the embodiments of this application have the following beneficial effects:

[0024] (1) In the case of the camera failing to identify the target or the radar and camera failing to fuse the target identification respectively, the AEB function can be triggered based on the radar target result, thereby further ensuring the effectiveness of the AEB function triggering and the driving safety of the vehicle in different environments, improving the safety and reliability of the vehicle, and greatly improving the user's driving experience.

[0025] (2) The working status of the vehicle camera, the degree of interference of the target vehicle's lights on the vehicle, and the degree of backlight when entering and exiting the tunnel can be used as the target recognition conditions for the vehicle. This not only allows for comparison between the actual driving conditions of the vehicle and the target recognition conditions, but also quantifies the degree of danger of the vehicle during driving, combining the vehicle condition with the driving environment, and timely determining the triggering method of the subsequent AEB function, effectively ensuring the driving safety of the vehicle and improving the safety and reliability of the vehicle.

[0026] (3) When the vehicle is detected to not meet the conditions for target recognition, data can be collected from the observed target through cameras and radar devices to obtain the fused target and its attributes. The AEB function is triggered through the fusion trigger mode to perform emergency braking on the vehicle. This not only further improves the safety and reliability of the vehicle and reduces the probability of traffic accidents, but also enhances the user experience.

[0027] (4) After the AEB function is triggered by the single radar triggering strategy, the driver can be reminded that the camera has failed by means of voice broadcast or text and image prompts through the in-vehicle display screen or instrument panel. This can further improve the safety of the vehicle, improve the driving experience of the driver, and make the vehicle more humanized and intelligent.

[0028] (5) By detecting the actual speed of the vehicle, when the actual speed reaches the system preset speed but no emergency braking is performed, the vehicle can be controlled to decelerate and other vehicles or pedestrians can be warned accordingly, thereby controlling the speed within a safe and reasonable range, ensuring the safety performance of the vehicle, further improving the reliability of the vehicle, and greatly reducing the possibility of rear-end collisions and other traffic accidents.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a flowchart of a control method for a vehicle active emergency braking system according to an embodiment of this application;

[0032] Figure 2 This is a schematic diagram illustrating the execution logic of a control method for a vehicle active emergency braking system according to an embodiment of this application;

[0033] Figure 3This is an example diagram of the control device for a vehicle active emergency braking system according to an embodiment of this application;

[0034] Figure 4 A schematic diagram of the vehicle structure provided in the application embodiment.

[0035] Among them, 10-control device of vehicle active emergency braking system, 100-detection module, 200-acquisition module, 300-trigger module, 401-memory, 402-processor, 403-communication interface. Detailed Implementation

[0036] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0037] The control method, apparatus, vehicle, and medium of a vehicle active emergency braking system according to embodiments of this application are described below with reference to the accompanying drawings. Addressing the problems mentioned in the background art, this application provides a control method for a vehicle active emergency braking system. In this method, it detects whether the vehicle meets a preset target unrecognizable condition; when the vehicle meets the preset target unrecognizable condition, it identifies a single radar target for the active emergency braking function based on the vehicle's radar data, and simultaneously obtains the target attributes of the single radar target based on the radar data; and based on the camera target identified by the camera data when the preset target unrecognizable condition is not met, it judges whether the radar target and its target attributes meet a preset reliability condition. If the preset reliability condition is met, the active emergency braking system is controlled to enter a single radar trigger mode based on the single radar target and its target attributes, triggering the vehicle's first emergency braking action according to a preset single radar trigger strategy; otherwise, an unreliable alarm is issued. In cases where the camera fails to successfully identify the target or the fusion of the target identified by the radar and camera fails, the AEB function can be triggered based on the radar target result, thereby further ensuring the effectiveness of the AEB function triggering and the vehicle's driving safety in different environments, improving vehicle safety and reliability, and greatly enhancing the user's driving experience. This solves the problem that when camera input is not applicable, the AEB function cannot be directly triggered using radar targets, making it difficult to effectively ensure vehicle driving safety.

[0038] Specifically, Figure 1 This is a flowchart of a control method for a vehicle active emergency braking system provided in an embodiment of this application.

[0039] like Figure 1 As shown, the control method of the vehicle's active emergency braking system includes the following steps:

[0040] In step S101, it is detected whether the vehicle meets the preset target recognition condition.

[0041] It is understandable that, due to the complexity of vehicle status and driving environment, in special scenarios such as camera malfunctions, interference from the target vehicle's lights, or when the vehicle enters or exits a tunnel, the vehicle camera may have difficulty accurately identifying the target, causing the AEB function to fail to trigger and posing a significant safety hazard. Therefore, in the embodiments of this application, it is possible to first detect whether the vehicle meets the system's preset target recognition conditions, and then, based on the detection results, promptly control the vehicle to switch the AEB function triggering strategy, effectively ensuring vehicle driving safety and improving the user's driving experience.

[0042] Optionally, in one embodiment of this application, the conditions under which the preset target cannot be identified include: a malfunction in the vehicle's onboard camera; and / or, the interference level of the target vehicle's lights on the vehicle reaches a preset level; and / or, the vehicle reaches a preset backlight condition or a preset glare condition when entering or exiting the tunnel.

[0043] It should be noted that, in the embodiments of this application, the working status of the vehicle camera, the degree of interference of the target vehicle's lights with the vehicle itself, and the degree of backlight when entering and exiting the tunnel can be used as conditions under which the vehicle cannot be identified as a target. The vehicle can then compare the actual driving conditions with these conditions to determine the triggering method of the subsequent AEB function.

[0044] The aforementioned camera malfunctions may include camera miscalibration or internal errors, which can be detected using appropriate fault detection equipment. Secondly, when the headlights of the target vehicle interfere with the vehicle's operation, the vehicle can use a photosensitive sensor to obtain the specific intensity value of the interfering light and set an appropriate intensity threshold to determine the degree of interference. For example, if the intensity threshold is set to 50, a detection intensity greater than or equal to 50 indicates a high level of interference, posing a threat to safe driving. The vehicle's camera will struggle to correctly identify the target ahead and will display this value on the dashboard to alert the driver. If the detection intensity is less than 50, the headlights of the other vehicle are not considered to significantly interfere with the vehicle's safe driving or the normal operation of the camera. Furthermore, when entering or exiting tunnels, the lighting changes significantly, easily causing backlighting or glare, which poses a significant threat to vehicle safety. Therefore, the vehicle can use photosensitive sensors and other equipment to record the difference in light intensity under different lighting conditions and set an appropriate difference threshold to determine whether it will affect safe driving. For example, when a vehicle enters a tunnel, the vehicle records the difference in light intensity between the inside and outside of the tunnel using corresponding sensors. If the threshold for the difference in light intensity is 40, and the recorded difference is 50, it poses a threat to the safe driving of the vehicle, and the recognition of the vehicle camera will also be affected to some extent.

[0045] It should be noted that, in the embodiments of this application, when the vehicle-mounted camera malfunctions or the interference of the target vehicle's lights with the vehicle is not less than the light intensity threshold or the light intensity difference when entering or exiting the tunnel is not less than the set threshold, it can be determined that the vehicle meets the above-mentioned conditions for the target not being identifiable, thus providing a basis for the subsequent triggering operation of the AEB function.

[0046] Therefore, by using the working status of the vehicle camera, the degree of interference of the target vehicle's lights with the vehicle itself, and the degree of backlighting when entering and exiting the tunnel as target recognition conditions, the vehicle's actual driving conditions can be compared with the target recognition conditions to quantify the degree of danger during driving. This allows the vehicle's condition to be combined with the driving environment, and the triggering method of the subsequent AEB function can be determined in a timely manner, effectively ensuring the vehicle's driving safety and improving the vehicle's safety and reliability.

[0047] In step S102, when the vehicle is detected to meet the preset target unrecognizable conditions, the single radar target of the active emergency braking function is identified based on the vehicle's radar data, and the target attributes of the single radar target are obtained based on the radar data.

[0048] Specifically, after detecting whether the vehicle meets the system's preset target indiscriminate recognition conditions, when the vehicle meets these conditions, the embodiments of this application can detect the target using radar equipment such as millimeter-wave radar. For example, the radar's good angular resolution can be used to determine the distance information to the target vehicle or pedestrian. Furthermore, the vehicle-mounted millimeter-wave radar can achieve higher-precision target speed detection through the Doppler shift principle, thereby obtaining target attributes such as the target angle, longitudinal distance, and longitudinal speed of the target vehicle ahead. Then, the target points identified by the radar are aggregated into a single radar target, such as... Figure 2 As shown, this allows for timely target detection and data acquisition via radar even when cameras cannot identify the vehicle, thereby further improving vehicle safety and reliability.

[0049] In step S103, the camera target and its target attributes identified by the camera data when the preset target cannot be identified are judged to determine whether the radar target and its target attributes meet the preset reliability conditions. If the preset reliability conditions are met, the active emergency braking system is controlled to enter the single radar trigger mode according to the single radar target and its target attributes, and the first emergency braking action of the vehicle is triggered by the preset single radar trigger strategy. Otherwise, an unreliable alarm is issued.

[0050] Based on the camera data identified when the preset target cannot be identified, the camera target and its attributes are used to determine whether the radar target and its attributes meet the preset reliability conditions. If the preset reliability conditions are met, the active emergency braking system is controlled to enter the single radar trigger mode according to the single radar target and its attributes, and the first emergency braking action of the vehicle is triggered by the preset single radar trigger strategy. Otherwise, an unreliable alarm is issued.

[0051] By acquiring the target attributes of a single radar target based on radar data and aggregating the target points identified by the radar into a single radar target, the embodiments of this application can then use the camera target and its target attributes identified by the camera when the above-mentioned target cannot be identified to determine whether the radar target and its target attributes acquired from the radar data meet the reliability conditions after the camera malfunctions.

[0052] In other words, the embodiments of this application, after a camera malfunctions, can utilize target-related information acquired before the camera malfunction to verify the reliability of radar targets and their attributes acquired via radar data after the camera malfunctions. If the radar data passes the reliability verification, the AEB function can be triggered in single-radar mode; otherwise, an unreliable alarm will be triggered. Here, the target-related information acquired before the camera malfunction refers to the last target-related information acquired before the camera malfunctioned.

[0053] For example, if the embodiments of this application acquired relevant information about obstacles in front of the vehicle before the camera malfunctioned, such as the type and location of the obstacles, then when the camera malfunctions, the obstacle information acquired by the radar is verified using the obstacle information acquired before the malfunction. For instance, if the obstacle information acquired before the camera malfunction is the same type as the obstacle acquired by the radar, and the obstacle location information acquired before the camera malfunction is combined with factors such as vehicle speed and the time of camera malfunction to analyze and calculate a location verification value, then it is determined whether the verification value and the current obstacle location acquired by the radar are within a reasonable range. If they are not within a reasonable range, it indicates that the radar data reliability is low, and the vehicle system can issue voice prompts and text reminders to the user through the vehicle's infotainment system, allowing the user to choose whether to continue executing the single radar mode. If within a reasonable range, embodiments of this application can filter targets for AEB from an existing single-radar target list based on the target recognition type (such as pedestrian targets or vehicle targets), and pass the filtered target attributes to the AEB function as the target input for triggering the AEB function. This allows the vehicle's emergency braking action to be triggered through a single-radar triggering strategy, effectively improving vehicle safety performance and reducing the possibility of rear-end collisions and other traffic accidents caused by the camera's inability to recognize targets.

[0054] Optionally, in one embodiment of this application, it further includes: when the active emergency braking system is in single radar trigger mode, controlling the vehicle to remind the driver of camera failure.

[0055] After triggering the AEB function through a single radar triggering strategy, embodiments of this application can remind the driver that the camera has failed through devices such as in-vehicle displays or dashboards using voice broadcasts or text and image prompts.

[0056] For example, when the radar trigger strategy triggers the AEB function, the vehicle system can issue a voice prompt such as "The vehicle camera has failed. Please pay attention to driving safety!" or continuously flash a camera failure icon on the vehicle's dashboard. This provides the driver with camera failure reminders in multiple ways, further improving vehicle safety, enhancing the driver's driving experience, and making the vehicle more user-friendly and intelligent.

[0057] Optionally, in one embodiment of this application, while controlling the vehicle to issue a camera failure warning, the method further includes: detecting the actual vehicle speed; when the actual vehicle speed is detected to be greater than or equal to a preset vehicle speed and no first emergency braking action is performed, controlling the vehicle to decelerate to the preset vehicle speed, and controlling the vehicle to issue corresponding warnings to other vehicles or pedestrians.

[0058] It should be noted that, while alerting the driver to camera malfunction, the embodiments of this application can also detect the vehicle's actual speed. When the actual speed reaches the system's preset speed but emergency braking is not performed, the vehicle is controlled to decelerate, and corresponding warnings are given to other vehicles or pedestrians.

[0059] For example, when the vehicle broadcasts a voice alert to the driver that the camera has failed, the vehicle simultaneously uses corresponding sensor devices to detect the current speed in real time and sets an appropriate speed threshold as the safe upper limit for the vehicle to travel in the event of camera failure. For instance, if the safe speed threshold is 30 km / h and the vehicle's actual speed is 50 km / h without emergency braking, this embodiment of the application can control the vehicle speed through the vehicle controller and reduce it to within the safe driving speed range. At the same time, it can warn other vehicles or pedestrians by flashing the vehicle's turn signal or honking the horn, thereby controlling the vehicle speed within a reasonable range, ensuring the safety of vehicle driving, further improving vehicle reliability, and greatly reducing the possibility of rear-end collisions and other traffic accidents.

[0060] Optionally, in one embodiment of this application, the method further includes: when it is detected that the vehicle does not meet the preset target recognition conditions, identifying the camera target and its target attributes based on the vehicle's camera data, and identifying the single radar target and its target attributes based on the radar data; fusing the camera target and its target attributes and the single radar target and its target attributes to obtain the fused target and its target attributes; and controlling the active emergency braking system to enter the fusion trigger mode based on the fused target and its target attributes, thereby triggering the vehicle's second emergency braking action according to the preset fusion trigger strategy.

[0061] It should be noted that when a vehicle is detected to not meet the aforementioned conditions for target identification, the embodiments of this application can collect data on the observed target using cameras and radar devices respectively. Then, feature extraction and pattern recognition processing are performed on the output data of each sensor to obtain their respective target attributes. The targets are then accurately associated by category. Finally, a fusion algorithm is used to integrate all sensor data of the same target to obtain a fused target and its target attributes, i.e., a consistent conclusion regarding the target's threat level. Subsequently, an emergency braking action of the vehicle is triggered according to the fusion triggering strategy. This not only further improves the safety and reliability of the vehicle and reduces the probability of traffic accidents, but also enhances the user experience.

[0062] The control method for a vehicle active emergency braking system proposed in this application involves detecting whether the vehicle meets a preset target recognition condition. When the preset target recognition condition is met, the system identifies the single radar target of the active emergency braking function based on the vehicle's radar data, and simultaneously obtains the target attributes of the single radar target based on the radar data. Furthermore, the active emergency braking system is controlled to enter a single radar trigger mode based on the single radar target and its attributes, triggering the vehicle's first emergency braking action using a preset single radar trigger strategy. This application allows the AEB function to be triggered based on the radar target result even when the camera fails to recognize the target or when the fusion of target recognition by the radar and camera fails. This further ensures the effectiveness of the AEB function triggering and the vehicle's driving safety in different environments, improving vehicle safety and reliability, and greatly enhancing the user's driving experience.

[0063] Next, the control device for a vehicle active emergency braking system according to an embodiment of this application is described with reference to the accompanying drawings.

[0064] Figure 3 This is a block diagram of the control device of the vehicle active emergency braking system according to an embodiment of this application.

[0065] like Figure 3 As shown, the control method of the vehicle active emergency braking system includes a detection module 100, an acquisition module 200, and a trigger module 300.

[0066] The detection module 100 is used to detect whether the vehicle meets the preset target recognition conditions.

[0067] The acquisition module 200 is used to identify the single radar target of the active emergency braking function based on the radar data of the vehicle when the vehicle meets the preset target unrecognizable conditions, and at the same time, acquire the target attributes of the single radar target based on the radar data.

[0068] The trigger module 300 is used to determine whether the radar target and its attributes meet the preset reliability conditions based on the camera target and its attributes identified by the camera data when the preset target cannot be identified. If the preset reliability conditions are met, the active emergency braking system is controlled to enter the single radar trigger mode according to the single radar target and its attributes, and the first emergency braking action of the vehicle is triggered by the preset single radar trigger strategy. Otherwise, an unreliable alarm is issued.

[0069] Optionally, in one embodiment of this application, the preset target identification conditions include:

[0070] The vehicle's onboard camera is malfunctioning.

[0071] And / or, the interference level of the target vehicle's lights on the vehicle reaches a preset level.

[0072] And / or, when vehicles enter or exit the tunnel, the preset backlight conditions or preset glare conditions are met.

[0073] Optionally, in one embodiment of this application, the control device 10 of the vehicle active emergency braking system of this application embodiment further includes: an identification module, a fusion module, and a control module.

[0074] The identification module is used to identify camera targets and their attributes based on the vehicle's camera data and radar targets and their attributes based on radar data when the vehicle does not meet the preset conditions for target identification.

[0075] The fusion module is used to fuse camera targets and their target attributes with single radar targets and their target attributes to obtain fused targets and their target attributes.

[0076] The control module is used to control the active emergency braking system to enter the fusion trigger mode according to the fusion target and its target attributes, and to trigger the vehicle's second emergency braking action according to the preset fusion trigger strategy.

[0077] Optionally, in one embodiment of this application, the control device 10 of the vehicle active emergency braking system of this application embodiment further includes: a reminder module, used to control the vehicle to remind the driver of camera failure when the active emergency braking system is in single radar trigger mode.

[0078] Optionally, in one embodiment of this application, the control device 10 of the vehicle active emergency braking system of this application embodiment further includes: a speed measuring module and a warning module.

[0079] The speed measurement module is used to detect the vehicle's actual speed while simultaneously issuing a camera failure warning.

[0080] The warning module is used to control the vehicle to decelerate to the preset speed when the actual vehicle speed is detected to be greater than or equal to the preset speed and the first emergency braking action is not performed, and to control the vehicle to issue corresponding warnings to other vehicles or pedestrians.

[0081] It should be noted that the foregoing explanation of the control method embodiment for the vehicle active emergency braking system also applies to the control device of the vehicle active emergency braking system in this embodiment, and will not be repeated here.

[0082] The control device for a vehicle active emergency braking system according to the embodiments of this application detects whether the vehicle meets a preset target recognition condition. When the preset target recognition condition is met, the device identifies the single radar target of the active emergency braking function based on the vehicle's radar data, and simultaneously obtains the target attributes of the single radar target based on the radar data. Based on the single radar target and its target attributes, the active emergency braking system is controlled to enter a single radar trigger mode, triggering the vehicle's first emergency braking action using a preset single radar trigger strategy. This application allows the AEB function to be triggered based on the radar target result even when the camera fails to successfully identify the target or when the fusion of target identification by the radar and camera fails. This further ensures the effectiveness of the AEB function triggering and the vehicle's driving safety in different environments, improving vehicle safety and reliability, and greatly enhancing the user's driving experience.

[0083] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The vehicle may include:

[0084] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0085] When the processor 402 executes the program, it implements the control method of the vehicle active emergency braking system provided in the above embodiments.

[0086] Furthermore, the vehicle also includes:

[0087] Communication interface 403 is used for communication between memory 401 and processor 402.

[0088] The memory 401 is used to store computer programs that can run on the processor 402.

[0089] The memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0090] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0091] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0092] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0093] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described control method for a vehicle active emergency braking system.

[0094] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0095] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0096] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0097] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0098] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0099] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0100] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0101] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A control method for a vehicle active emergency braking system, characterized in that, Includes the following steps: Detect whether the vehicle meets the preset target conditions that prevent it from being identified; When the vehicle is detected to meet the preset target unrecognizable condition, the single radar target with active emergency braking function is identified based on the vehicle's radar data, and the target attributes of the single radar target are obtained based on the radar data. as well as Based on the camera data identified when the preset target cannot be identified, the camera target and its target attributes are used to determine whether the radar target and its target attributes meet the preset reliability conditions. If the preset reliability conditions are met, the active emergency braking system is controlled to enter the single radar trigger mode according to the single radar target and its target attributes, and the first emergency braking action of the vehicle is triggered by the preset single radar trigger strategy. Otherwise, an unreliable alarm is issued. The step of determining whether the radar target and its attributes meet the preset reliability conditions based on camera data identified when the preset target cannot be identified includes: The reliability of radar targets and their attributes acquired through radar data after the camera failure is verified by using target-related information obtained before the camera failure. If the obstacle information obtained before the camera malfunctions is the same type of obstacle obtained by the radar, and the obstacle position information obtained before the camera malfunctions is combined with vehicle speed and camera malfunction time factors to analyze and calculate the position verification value, and determine whether the verification value and the current obstacle position obtained by the radar are within a reasonable range.

2. The method according to claim 1, characterized in that, The conditions under which the preset target cannot be identified include: The vehicle's onboard camera malfunctioned; And / or, the interference level of the target vehicle's lights on the vehicle reaches a preset level; And / or, the vehicle enters or exits the tunnel when the preset backlight condition or preset glare condition is met.

3. The method according to claim 1, characterized in that, Also includes: When it is detected that the vehicle does not meet the preset target recognition conditions, the camera target and its target attributes are identified based on the vehicle's camera data, and the single radar target and its target attributes are identified based on the radar data; By fusing the camera target and its target attributes with the single radar target and its target attributes, a fused target and its target attributes are obtained; Based on the fusion target and its target attributes, the active emergency braking system is controlled to enter the fusion trigger mode, and the second emergency braking action of the vehicle is triggered by a preset fusion trigger strategy.

4. The method according to claim 1, characterized in that, Also includes: When the active emergency braking system is in the single radar trigger mode, it controls the vehicle to alert the driver of camera failure.

5. The method according to claim 4, characterized in that, In addition to controlling the vehicle to issue a camera malfunction alert, the system also includes: Detect the actual speed of the vehicle; When the actual vehicle speed is detected to be greater than or equal to the preset vehicle speed and the first emergency braking action is not performed, the vehicle is controlled to decelerate to the preset vehicle speed, and the vehicle is controlled to issue corresponding warnings to other vehicles or pedestrians.

6. A control device for a vehicle active emergency braking system, characterized in that, include: The detection module is used to detect whether the vehicle meets the preset target conditions that prevent it from being identified. The acquisition module is used to identify a single radar target with active emergency braking function based on the radar data of the vehicle when the vehicle is detected to meet the preset target unrecognizable conditions, and to acquire the target attributes of the single radar target based on the radar data. as well as The triggering module is used to determine whether the radar target and its target attributes meet the preset reliability conditions based on the camera target and its target attributes identified by the camera data when the preset target cannot be identified is not met. If the preset reliability conditions are met, the active emergency braking system is controlled to enter the single radar triggering mode according to the single radar target and its target attributes, and the first emergency braking action of the vehicle is triggered by the preset single radar triggering strategy. Otherwise, an unreliable alarm is issued. The step of determining whether the radar target and its attributes meet the preset reliability conditions based on camera data identified when the preset target cannot be identified includes: The reliability of radar targets and their attributes acquired through radar data after the camera failure is verified by using target-related information obtained before the camera failure. If the obstacle information obtained before the camera malfunctions is the same type of obstacle obtained by the radar, and the obstacle position information obtained before the camera malfunctions is combined with vehicle speed and camera malfunction time factors to analyze and calculate the position verification value, and determine whether the verification value and the current obstacle position obtained by the radar are within a reasonable range.

7. The apparatus according to claim 6, characterized in that, The conditions under which the preset target cannot be identified include: The vehicle's onboard camera malfunctioned; And / or, the interference level of the target vehicle's lights on the vehicle reaches a preset level; And / or, the vehicle enters or exits the tunnel when the preset backlight condition or preset glare condition is met.

8. The apparatus according to claim 6, characterized in that, Also includes: The identification module is used to identify the camera target and its target attributes based on the vehicle's camera data and the single radar target and its target attributes based on the radar data when the vehicle is detected to not meet the preset target recognition conditions. A fusion module is used to fuse the camera target and its target attributes with the single radar target and its target attributes to obtain a fused target and its target attributes. The control module is used to control the active emergency braking system to enter the fusion trigger mode according to the fusion target and its target attributes, and to trigger the second emergency braking action of the vehicle with a preset fusion trigger strategy.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the control method for a vehicle active emergency braking system as described in any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the control method of the vehicle active emergency braking system as described in any one of claims 1-5.

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