An AEB control method, device and equipment adapted to different road conditions

Abstract

The present application discloses an AEB control method, device and equipment adapted to different road conditions. By obtaining the self-slip rate of the vehicle under the current road conditions, determining the friction coefficient of the current road conditions according to the self-slip rate and the current driving state of the vehicle, and adjusting the automatic emergency braking function (AEB) of the vehicle according to the friction coefficient of the current road conditions. It realizes determining the road friction coefficient according to the driving state of the vehicle on different road conditions, and adjusting the intervention time of the automatic emergency braking function (AEB) based on the friction coefficient, so as to reduce the response difference of the AEB function caused by different road conditions, thereby avoiding or reducing vehicle collisions to a greater extent and improving vehicle driving safety.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle automatic emergency braking function control, and particularly to an AEB control method, device and equipment adapted to different road conditions. Background Art

[0002] The vehicle automatic emergency braking (AEB) function is a vehicle active safety technology. The realization of this function mainly detects the road ahead of the vehicle through devices such as radar, ultrasonic wave and camera in the AEB system, so as to determine the distance between the vehicle itself and the vehicle or obstacle ahead. When the distance between the vehicle itself and the vehicle or obstacle ahead is less than the safety distance and the driver does not step on the brake pedal in time, the AEB function is activated to control the vehicle to perform automatic emergency braking, thus providing guarantee for the driving safety of the vehicle.

[0003] In the existing AEB function control, the quality of the control effect directly determines the effect of avoiding or reducing collisions. However, different road conditions have different friction coefficients, and different road friction coefficients will lead to differences in the braking effect of the vehicle. If the AEB function adopts the same braking standard under different road conditions, due to the influence of the road friction coefficient, its response effects may vary greatly, resulting in a large difference in the speed reduction that cannot completely avoid collisions or reduce collisions in the same perception scenario, thus unable to effectively guarantee the driving safety of the vehicle and the life and property safety of the driver and passengers.

[0004] Therefore, how to control the AEB function to reduce the difference in its response effects under different road conditions is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The main purpose of the present application is to provide an AEB control method, device and equipment adapted to different road conditions, aiming to solve the technical problem that when the vehicle is driving under different road conditions, there are differences in the response effects of the AEB, which may lead to a large difference in the speed reduction that cannot completely avoid collisions or reduce collisions.

[0006] In a first aspect, the present application provides an AEB control method adapted to different road conditions, and the method includes the following steps:

[0007] Obtain the self-slip rate of the vehicle under the current road condition;

[0008] Determine the friction coefficient of the current road condition according to the self-slip rate and the current driving state of the vehicle;

[0009] Adjust the automatic emergency braking function (AEB) of the vehicle according to the friction coefficient of the current road condition.

[0010] In some embodiments, the obtaining the self-slip rate of the vehicle under the current road condition includes:

[0011] When the driving road condition does not change, determine the self - vehicle slip ratio of the vehicle under the current road condition according to the braking state of the vehicle under the current road condition.

[0012] In some embodiments, the determining the self - vehicle slip ratio of the vehicle under the current road condition according to the braking state of the vehicle under the current road condition includes:

[0013] Determine the self - vehicle slip ratio of the vehicle under the current road condition according to the body speed and wheel speed of the vehicle when braking under the current road condition.

[0014] In some embodiments, the determining the friction coefficient of the current road condition according to the self - vehicle slip ratio and the current driving state of the vehicle includes:

[0015] Look up a pre - set road friction coefficient confirmation table according to the self - vehicle slip ratio, the current vehicle speed, the brake pedal opening and the load of the vehicle to determine the friction coefficient of the current road condition;

[0016] Wherein, the road friction coefficient confirmation table is obtained by data fitting according to the mapping relationship between different slip ratios of the vehicle, different vehicle speeds, different brake pedal openings, different loads and different road friction coefficients.

[0017] In some embodiments, the adjusting the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road condition includes:

[0018] Adjust the intervention time of the AEB function according to the friction coefficient of the current road condition.

[0019] In some embodiments, the adjusting the intervention time of the AEB function according to the friction coefficient of the current road condition includes:

[0020] Determine the maximum braking deceleration of the vehicle when the AEB function is intervened corresponding to the friction coefficient of the current road condition according to a relationship mapping table between the pre - set road friction coefficient and the maximum braking deceleration that the vehicle can reach when the AEB function is intervened;

[0021] Determine the intervention time of the AEB function corresponding to the friction coefficient of the current road condition according to the mapping relationship between the maximum braking deceleration of the vehicle when the AEB function is intervened and the intervention time of the AEB function;

[0022] Wherein, the smaller the friction coefficient of the current road condition is, the earlier the intervention time of the AEB function is.

[0023] In some embodiments, the method further includes:

[0024] Determine whether the driving road condition of the vehicle has changed according to the tire noise of the vehicle;

[0025] If the tire noise of the vehicle changes, it is determined that the driving road condition of the vehicle has changed;

[0026] If the tire noise of the vehicle does not change, it is determined that the driving road condition of the vehicle has not changed.

[0027] In some embodiments, the method further includes:

[0028] After the driving road condition changes, if the vehicle has not braked under the current road condition, according to the tire noise of the vehicle under the current road condition, look up the pre-set relationship mapping table between the tire noise and the road friction coefficient, and determine the corresponding conservative friction coefficient of the road condition;

[0029] Adjust the intervention time of the AEB function according to the conservative friction coefficient of the road condition.

[0030] In a second aspect, the present application further provides an AEB control device adapted to different road conditions, and the device includes:

[0031] An acquisition module, which is used to acquire the self-slip rate of the vehicle under the current road condition;

[0032] A determination module, which is used to determine the friction coefficient of the current road condition according to the self-slip rate and the current driving state of the vehicle;

[0033] An adjustment module, which is used to adjust the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road condition.

[0034] In some embodiments, the acquisition module is further used for:

[0035] When the driving road condition does not change, determine the self-slip rate of the vehicle under the current road condition according to the braking state of the vehicle under the current road condition.

[0036] In some embodiments, the acquisition module is further used for:

[0037] Determine the self-slip rate of the vehicle under the current road condition according to the vehicle body speed and the wheel speed when the vehicle brakes under the current road condition.

[0038] In some embodiments, the determination module is further used for:

[0039] According to the self-slip rate, the current vehicle speed, the brake pedal opening and the load of the vehicle, look up the pre-set road friction coefficient confirmation table to determine the friction coefficient of the current road condition;

[0040] Among them, the road friction coefficient confirmation table is obtained by data fitting according to the mapping relationship between different slip rates, different vehicle speeds, different brake pedal openings, different loads of the vehicle and different road friction coefficients.

[0041] In some embodiments, the adjustment module is further configured to:

[0042] Adjust the intervention time of the AEB function according to the friction coefficient of the current road condition.

[0043] In some embodiments, the adjustment module is further configured to:

[0044] Determine the maximum braking deceleration of the vehicle when the AEB function intervenes corresponding to the friction coefficient of the current road condition according to the relationship mapping table between the preset road friction coefficient and the maximum braking deceleration that the vehicle can reach when the AEB function intervenes;

[0045] Determine the intervention time of the AEB function corresponding to the friction coefficient of the current road condition according to the mapping relationship between the maximum braking deceleration of the vehicle when the AEB function intervenes and the intervention time of the AEB function;

[0046] Among them, the smaller the friction coefficient of the current road condition, the earlier the intervention time of the AEB function.

[0047] In some embodiments, the device is further configured to:

[0048] Determine whether the driving road condition of the vehicle has changed according to the tire noise of the vehicle;

[0049] If the tire noise of the vehicle changes, it is determined that the driving road condition of the vehicle has changed;

[0050] If the tire noise of the vehicle does not change, it is determined that the driving road condition of the vehicle has not changed.

[0051] In some embodiments, the device is further configured to:

[0052] After the driving road condition changes, if the vehicle has not braked under the current road condition, according to the tire noise of the vehicle under the current road condition, look up the relationship mapping table between the preset tire noise and the road friction coefficient, and determine the corresponding conservative friction coefficient of the road condition;

[0053] Adjust the intervention time of the AEB function according to the conservative friction coefficient of the road condition.

[0054] In a third aspect, the present application also provides a computer device, which includes a processor, a memory, and a computer program stored on the memory and executable by the processor. When the computer program is executed by the processor, the steps of the AEB control method adapted to different road conditions as described above are implemented.

[0055] The present application provides an AEB control method, device, and equipment adapted to different road conditions. By obtaining the self-slip rate of the vehicle under the current road conditions, determining the friction coefficient of the current road conditions according to the self-slip rate and the current driving state of the vehicle, and adjusting the automatic emergency braking function (AEB) of the vehicle according to the friction coefficient of the current road conditions. It realizes determining the road friction coefficient according to the driving state of the vehicle on different road conditions, and adjusting the intervention time of the automatic emergency braking function (AEB) based on the friction coefficient, so as to reduce the response difference of the AEB function caused by different road conditions, thereby avoiding or reducing vehicle collisions to a greater extent and improving vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0057] Figure 1 It is a schematic flowchart of an AEB control method adapted to different road conditions provided by an embodiment of the present application;

[0058] Figure 2 It is a specific flowchart of the AEB control method adapted to different road conditions;

[0059] Figure 3 It is a schematic block diagram of an AEB control device adapted to different road conditions provided by an embodiment of the present application;

[0060] Figure 4 It is a schematic block diagram of the structure of a computer device involved in an embodiment of the present application.

[0061] The realization of the purpose of the present application, functional features, and advantages will be further described in conjunction with the embodiments and with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0062] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0063] The flowcharts shown in the accompanying drawings are only illustrative examples, and do not necessarily include all the content and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, combined, or partially merged, so the actual execution order may change according to the actual situation.

[0064] The embodiments of the present application provide an AEB control method, device, and equipment adapted to different road conditions. The AEB control method adapted to different road conditions can be applied to a computer device. Among them, the computer device can be an electronic device such as a vehicle controller or an in-vehicle computer.

[0065] Next, some embodiments of the present application will be described in detail in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0066] Please refer to Figure 1 , Figure 1 , which is a schematic flowchart of an AEB control method adapted to different road conditions provided for the embodiments of the present application.

[0067] As Figure 1 shown, the method includes steps S1 to S3.

[0068] Step S1: Obtain the self-vehicle slip ratio of the vehicle under the current road conditions.

[0069] Step S2: Determine the friction coefficient of the current road conditions according to the self-vehicle slip ratio and the current driving state of the vehicle.

[0070] Step S3: Adjust the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road conditions.

[0071] It should be noted that, as Figure 2 shown, before obtaining the self-vehicle slip ratio of the vehicle under the current road conditions, it further includes: determining whether the driving road conditions of the vehicle have changed according to the tire noise of the vehicle; if the tire noise of the vehicle has changed, it is determined that the driving road conditions of the vehicle have changed; if the tire noise of the vehicle has not changed, it is determined that the driving road conditions of the vehicle have not changed.

[0072] It should be understood that tire noise refers to the noise generated by the tires. When the vehicle is driving on different road surfaces, such as concrete roads, asphalt roads, or dirt roads, the tire noise of the vehicle will change accordingly. Moreover, in this embodiment, the change in the road conditions of the vehicle can be determined based on whether the tire noise changes.

[0073] It is worth noting that in this embodiment, when a braking action occurs during vehicle driving, the braking state of the vehicle will be recorded. In this embodiment, two different algorithms are adopted to adjust AEB according to whether there is relevant data on the braking state under the current road conditions. Among them, the recorded braking state of the vehicle can include relevant data on the braking state of the vehicle when the driver brakes through the brake pedal.

[0074] In a specific real-time example, when the driving road conditions do not change, the self-slip ratio of the vehicle under the current road conditions is determined according to the braking state of the vehicle under the current road conditions.

[0075] Specifically, determining the self-slip ratio of the vehicle under the current road conditions according to the braking state of the vehicle under the current road conditions includes: determining the self-slip ratio of the vehicle under the current road conditions according to the vehicle body speed and the wheel speed when the vehicle brakes under the current road conditions.

[0076] It is worth noting that the vehicle body speed when the vehicle brakes under the current road conditions is detected by an Inertial Measurement Unit (IMU), and the wheel speed when the vehicle brakes under the current road conditions is detected by a wheel speed pulse meter. The formula for calculating the self-slip ratio is as follows:

[0077]

[0078] In the formula, s is the self-slip ratio, v is the vehicle body speed, r is the wheel radius, and ω is the wheel angular velocity. r·ω is the wheel speed.

[0079] It should be understood that after the road conditions of the vehicle change, the frictions between the vehicle and the road are different under different road conditions, and different frictions will result in different slip ratios when the vehicle brakes. Therefore, the self-slip ratio of the vehicle under the current road conditions during braking can be used as one of the conditions for determining the friction coefficient of the current road conditions.

[0080] Further, determining the friction coefficient of the current road condition according to the self-vehicle slip ratio and the current driving state of the vehicle includes: looking up a pre-set road friction coefficient confirmation table according to the self-vehicle slip ratio, the current vehicle speed, the brake pedal opening, and the load to determine the friction coefficient of the current road condition; wherein, the road friction coefficient confirmation table is obtained by data fitting according to the mapping relationship between different slip ratios of the vehicle, different vehicle speeds, different brake pedal openings, different loads, and different road friction coefficients.

[0081] It should be noted that since the vehicle speed, the opening of the brake pedal, and whether the vehicle is unloaded or heavily loaded will all affect the braking effect of the vehicle, in this embodiment, combining these data to determine the road friction coefficient enables a more ideal effect to be obtained for adjusting the AEB function according to the friction coefficient.

[0082] Further, adjusting the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road condition includes: adjusting the intervention time of the AEB function according to the friction coefficient of the current road condition.

[0083] Specifically, adjusting the intervention time of the AEB function according to the friction coefficient of the current road condition includes: determining the maximum braking deceleration of the vehicle corresponding to the AEB function intervention when the friction coefficient of the current road condition is reached according to a pre-set relationship mapping table between the road friction coefficient and the maximum braking deceleration that the vehicle can reach when the AEB function intervenes; determining the intervention time of the AEB function corresponding to the friction coefficient of the current road condition according to the mapping relationship between the maximum braking deceleration of the vehicle when the AEB function intervenes and the intervention time of the AEB function; wherein, the smaller the friction coefficient of the current road condition, the earlier the intervention time of the AEB function.

[0084] It should be noted that when the friction coefficient of the current road condition is smaller, it indicates that the braking performance of the vehicle is worse, and the maximum braking deceleration that the vehicle can reach is smaller. Therefore, a relationship mapping table between the road friction coefficient and the maximum braking deceleration that the vehicle can reach when the AEB function intervenes can be established to realize determining the maximum braking deceleration of the vehicle when the AEB function intervenes according to the friction coefficient.

[0085] The mapping relationship between the maximum braking deceleration of the vehicle when the AEB function intervenes and the intervention time of the AEB function is:

[0086]

[0087] Wherein, S is the vehicle stopping distance, v 0 is the initial speed of the self-vehicle, t is the braking time, and a is the braking deceleration.

[0088] The braking deceleration a can be determined based on the friction coefficient. When the braking distance S of the vehicle and the initial speed v of the vehicle itself are 0 constant, substituting the braking deceleration a into the formula can determine the braking time t, and thus the intervention time of the AEB function on the current road can be determined. If the braking deceleration is reduced due to the influence of the road friction coefficient, the braking time needs to be advanced. Controlling the early intervention of the AEB function can enable the vehicle to have sufficient braking distance, and to a greater extent avoid or reduce the collision of the vehicle, improving the driving safety of the vehicle.

[0089] As a preferred real-time example, after the driving road condition changes, if the vehicle has not braked under the current road condition, according to the tire noise of the vehicle under the current road condition, look up the pre-set relationship mapping table between the tire noise and the road friction coefficient to determine the corresponding conservative road friction coefficient for the road condition; adjust the intervention time of the AEB function according to the conservative road friction coefficient for the road condition.

[0090] It should be understood that after the driving road condition changes and the vehicle has not braked under the current road condition, there is no relevant data in the vehicle recording the braking state of the vehicle under this road condition. Therefore, it is impossible to determine the slip rate and friction coefficient of the vehicle itself, and it is impossible to adjust the AEB function of the vehicle according to the friction coefficient. Therefore, in this embodiment, the corresponding road friction coefficient is set according to the tire noise. Because different tire noises represent different road conditions, it is equivalent to setting the corresponding road friction coefficient for different road conditions, so as to ensure that when there is no relevant data on the braking state under this road condition, the intervention time of the AEB function can also be adjusted according to the road condition, thereby improving the effect of the AEB function and thus improving the driving safety of the vehicle.

[0091] Furthermore, after the vehicle brakes by adjusting the intervention time of the AEB function according to the conservative road friction coefficient for the road condition, the relevant data on the braking state of the vehicle this time will be recorded. When braking next time, the slip rate of the vehicle itself can be determined according to the braking state, and then the friction coefficient of the current road can be determined, so as to accurately adjust the AEB function according to the road friction coefficient of the current road.

[0092] The AEB control method for adapting to different road conditions in this application realizes determining the road friction coefficient according to the driving state of the vehicle on different road conditions, and adjusting the intervention time of the automatic emergency braking function AEB based on the road friction coefficient, so as to reduce the response difference of the AEB function caused by different road conditions, and can avoid or reduce the collision of the vehicle to a greater extent in various road condition scenarios, improving the driving safety of the vehicle.

[0093] Please refer to Figure 3 , Figure 3 which is a schematic block diagram of an AEB control device for adapting to different road conditions provided by an embodiment of this application.

[0094] As shown Figure 3 in the figure, the device includes: an acquisition module for acquiring the self-slip rate of the vehicle under the current road conditions;

[0095] a determination module for determining the friction coefficient of the current road conditions according to the self-slip rate and the current driving state of the vehicle;

[0096] an adjustment module for adjusting the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road conditions.

[0097] Wherein, the acquisition module is further configured to:

[0098] When the driving road conditions change, determine the self-slip rate of the vehicle under the current road conditions according to the braking state of the vehicle under the current road conditions.

[0099] Wherein, the acquisition module is further configured to:

[0100] Determine the self-slip rate of the vehicle under the current road conditions according to the vehicle body speed and the wheel speed when the vehicle brakes under the current road conditions.

[0101] Wherein, the device is further configured to:

[0102] Determine whether the driving road conditions of the vehicle change according to the tire noise of the vehicle;

[0103] If the tire noise of the vehicle changes, it is determined that the driving road conditions of the vehicle change;

[0104] If the tire noise of the vehicle does not change, it is determined that the driving road conditions of the vehicle do not change.

[0105] Wherein, the determination module is further configured to:

[0106] According to the self-slip rate, the current vehicle speed, the brake pedal opening and the load of the vehicle, look up the pre-set road friction coefficient confirmation table to determine the friction coefficient of the current road conditions;

[0107] Wherein, the road friction coefficient confirmation table is obtained by data fitting according to the mapping relationship between different slip rates, different vehicle speeds, different brake pedal openings and different loads of the vehicle and different road friction coefficients.

[0108] Wherein, the adjustment module is further configured to:

[0109] Adjust the intervention time of the AEB function according to the friction coefficient of the current road conditions.

[0110] Wherein, the adjustment module is further configured to:

[0111] Determine the maximum braking deceleration of the vehicle when the AEB function is intervened corresponding to the friction coefficient of the current road condition according to the relationship mapping table between the preset road friction coefficient and the maximum braking deceleration that the vehicle can achieve when the AEB function is intervened.

[0112] Determine the intervention time of the AEB function corresponding to the friction coefficient of the current road condition according to the mapping relationship between the maximum braking deceleration of the vehicle when the AEB function is intervened and the intervention time of the AEB function.

[0113] Among them, the smaller the friction coefficient of the current road condition, the earlier the intervention time of the AEB function.

[0114] Among them, the device is further configured to:

[0115] After the driving road condition changes, if the vehicle has not braked under the current road condition, search the preset relationship mapping table between the tire noise of the vehicle and the road friction coefficient according to the tire noise of the vehicle under the current road condition, and determine the corresponding conservative friction coefficient of the road condition.

[0116] Adjust the intervention time of the AEB function according to the conservative friction coefficient of the road condition.

[0117] It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described device and each module and unit can refer to the corresponding processes in the foregoing embodiments, and will not be elaborated herein.

[0118] The device provided in the foregoing embodiment can be implemented in the form of a computer program, and the computer program can run on a computer device as shown in Figure 4 shown.

[0119] Please refer to Figure 4 , Figure 4 , which is a schematic block diagram of the structure of a computer device provided in an embodiment of the present application. The computer device can be a vehicle control unit.

[0120] As shown in Figure 4 shown, the computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory can include a non-volatile storage medium and an internal memory.

[0121] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any AEB control method adapted to different road conditions.

[0122] The processor is used to provide computing and control capabilities to support the operation of the entire computer device.

[0123] The internal memory provides an environment for the operation of a computer program in a non-volatile storage medium. When the computer program is executed by a processor, the processor can be caused to execute any AEB control method adapted to different road conditions.

[0124] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0125] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0126] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0127] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. An AEB control method adaptable to different road conditions, characterized in that, it includes: Obtaining the self-slip rate of the vehicle under the current road conditions; Determining the friction coefficient of the current road conditions according to the self-slip rate and the current driving state of the vehicle; Adjusting the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road conditions; Wherein, the determining the friction coefficient of the current road conditions according to the self-slip rate and the current driving state of the vehicle includes: According to the self-slip rate, the current vehicle speed, the brake pedal opening and the load of the vehicle, looking up a pre-set road friction coefficient confirmation table to determine the friction coefficient of the current road conditions; Wherein, the road friction coefficient confirmation table is obtained by data fitting according to the mapping relationship between different slip rates, different vehicle speeds, different brake pedal openings and different loads of the vehicle and different road friction coefficients; Wherein, the method further includes: Determining whether the driving road conditions of the vehicle have changed according to the tire noise of the vehicle; If the tire noise of the vehicle changes, it is determined that the driving road conditions of the vehicle have changed; If the tire noise of the vehicle does not change, it is determined that the driving road conditions of the vehicle have not changed; Wherein, the method further includes: After the driving road conditions change, if the vehicle has not braked under the current road conditions, according to the tire noise of the vehicle under the current road conditions, looking up a pre-set mapping table of the relationship between tire noise and road friction coefficient to determine the corresponding conservative friction coefficient of the road conditions; Adjusting the intervention time of the AEB function according to the conservative friction coefficient of the road conditions; Wherein, the adjusting the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road conditions includes: Adjusting the intervention time of the AEB function according to the friction coefficient of the current road conditions; Wherein, the adjusting the intervention time of the AEB function according to the friction coefficient of the current road conditions includes: According to a pre-set mapping table of the relationship between the road friction coefficient and the maximum braking deceleration that the vehicle can reach when the AEB function intervenes, determining the maximum braking deceleration of the vehicle when the AEB function intervenes corresponding to the friction coefficient of the current road conditions; According to the mapping relationship between the maximum braking deceleration of the vehicle when the AEB function intervenes and the intervention time of the AEB function, determining the intervention time of the AEB function corresponding to the friction coefficient of the current road conditions; Wherein, the smaller the friction coefficient of the current road conditions, the earlier the intervention time of the AEB function.

2. The AEB control method adaptable to different road conditions according to claim 1, characterized in that, the obtaining the self-slip rate of the vehicle under the current road conditions includes: When the driving road conditions do not change, determining the self-slip rate of the vehicle under the current road conditions according to the braking state of the vehicle under the current road conditions.

3. The AEB control method adaptable to different road conditions according to claim 2, characterized in that, the determining the self-slip rate of the vehicle under the current road conditions according to the braking state of the vehicle under the current road conditions includes: Determining the self-slip rate of the vehicle under the current road conditions according to the body speed and the wheel speed of the vehicle when braking under the current road conditions.

4. An AEB control device adapted to different road conditions, characterized in that, it includes: an acquisition module for acquiring the self-vehicle slip ratio of the vehicle under the current road conditions; a determination module for determining the friction coefficient of the current road conditions according to the self-vehicle slip ratio and the current driving state of the vehicle; an adjustment module for adjusting the automatic emergency braking function AEB of the vehicle according to the friction coefficient of the current road conditions; wherein, the determination module is further configured to: search a preset road friction coefficient confirmation table according to the self-vehicle slip ratio, the current vehicle speed, the brake pedal opening, and the load of the vehicle to determine the friction coefficient of the current road conditions; wherein, the road friction coefficient confirmation table is obtained by data fitting according to the mapping relationship between different slip ratios of the vehicle, different vehicle speeds, different brake pedal openings, different loads, and different road friction coefficients; wherein, the device is further configured to: determine whether the driving road conditions of the vehicle have changed according to the tire noise of the vehicle; if the tire noise of the vehicle changes, it is determined that the driving road conditions of the vehicle have changed; if the tire noise of the vehicle does not change, it is determined that the driving road conditions of the vehicle have not changed; wherein, after the driving road conditions change, if the vehicle has not braked under the current road conditions, search a preset mapping table of the relationship between tire noise and road friction coefficient according to the tire noise of the vehicle under the current road conditions to determine the corresponding conservative friction coefficient of the road conditions; adjust the intervention time of the AEB function according to the conservative friction coefficient of the road conditions; wherein, the adjustment module is further configured to: adjust the intervention time of the AEB function according to the friction coefficient of the current road conditions; wherein, the adjustment module is further configured to: determine the maximum braking deceleration of the vehicle when the AEB function is intervened corresponding to the friction coefficient of the current road conditions according to a preset mapping table of the relationship between the road friction coefficient and the maximum braking deceleration that the vehicle can reach when the AEB function is intervened; determine the intervention time of the AEB function corresponding to the friction coefficient of the current road conditions according to the mapping relationship between the maximum braking deceleration of the vehicle when the AEB function is intervened and the intervention time of the AEB function.

5. A computer device, characterized in that, the computer device includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the AEB control method adapted to different road conditions as described in any one of claims 1 to 3 are implemented.

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